Control method, powder sweeping robot, internal mixer, and storage medium

Abstract

This invention discloses a control method, a powder-sweeping robot, an internal mixer, and a storage medium. The control method includes, upon receiving a control command, controlling the working states of the corresponding internal mixer and the powder-sweeping robot according to the control command, so as to control the powder-sweeping robot to perform powder cleaning work on the internal mixer; while the powder-sweeping robot is performing powder cleaning work on the internal mixer, acquiring and recording first state information of at least one internal mixer and second state information of at least one powder-sweeping robot. This application, by controlling the working states of the corresponding internal mixer and the powder-sweeping robot according to the control command upon receiving a control command, and controlling the powder-sweeping robot to perform powder cleaning work on the internal mixer, enables the powder-sweeping robot to perform powder cleaning on the internal mixer that requires powder cleaning, eliminating the need for operators to manually clean the powder in the internal mixer with tools, thereby greatly improving the efficiency of powder cleaning of the internal mixer and reducing production costs.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, specifically to a control method, a powder sweeping robot, a mixing machine, and a storage medium. Background Technology

[0002] Internal mixers, also known as closed-circuit mixing mills, play an indispensable role in the rubber processing industry. They are primarily used for the plasticizing and mixing of rubber. Through a pair of rotors of a specific shape rotating in opposite directions, they intermittently process polymer materials in a closed environment with adjustable temperature and pressure. An internal mixer consists of a mixing chamber, rotors, sealing devices, feeding and pressing devices, unloading devices, a transmission device, and a base. It is widely used in various industrial fields requiring precise control of the material mixing process.

[0003] In current internal mixer operation, polymer powder leakage often occurs when operators feed materials into the mixing chamber and during the pressing of the hammers close to the rotor located within the mixing chamber. This leaked polymer powder adheres to the side walls of the mixing chamber and the surface of the hammers, preventing it from participating in the production process under the rotor's action, thus often affecting the quality and yield of the final product. To solve this problem, existing powder cleaning methods involve manual removal of the polymer powder; operators use tools to manually remove the powder, causing it to fall back onto the rotor for reuse in the mixing process.

[0004] However, the manual cleaning method for polymer material powder is inefficient, resulting in high production costs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application provides a control method, a powder-sweeping robot, an internal mixer, and a storage medium. Upon receiving a control command, the method controls the operating states of the corresponding internal mixer and the powder-sweeping robot, enabling the powder-sweeping robot to clean the powder from the internal mixer. This eliminates the need for manual cleaning by operators, significantly improving cleaning efficiency and reducing production costs. Furthermore, by acquiring and recording the first state information of at least one internal mixer and the second state information of at least one powder-sweeping robot during the powder-sweeping process, relevant information about the cleaning process can be recorded. This allows operators to troubleshoot based on the first and second state information, ensuring the normal operation of the powder cleaning process.

[0006] To address the above problems, the present invention provides the following technical solution: In a first aspect, embodiments of this application provide a control method, comprising: when a control command is received, controlling the working states of a corresponding internal mixer and a powder-sweeping robot according to the control command, so as to control the powder-sweeping robot to perform powder cleaning work on the internal mixer; when the powder-sweeping robot performs powder cleaning work on the internal mixer, acquiring and recording first state information of at least one internal mixer and second state information of at least one powder-sweeping robot, wherein the first state information is used to indicate the working state of the internal mixer and the second state information is used to indicate the working state of the powder-sweeping robot.

[0007] In some embodiments, the method further includes: displaying the operating status of each internal mixer based on first status information of each internal mixer.

[0008] In some implementations, the first status information includes the current operating temperature and the current operating time of the internal mixer. There are multiple first status information items, and the acquisition time of the multiple first status information items is different. The step of displaying the operating status of each internal mixer based on the first status information of each internal mixer includes: generating and displaying a first statistical chart representing the correspondence between the operating temperature and time of the internal mixer based on all the first status information of each internal mixer.

[0009] In some embodiments, the first status information includes the current operating temperature of the internal mixer, the operating duration of the current operating state, and the thickness of powder adhering to the surface of the object being cleaned in the mixing chamber of the internal mixer. There are multiple pieces of the first status information, and the acquisition time of the multiple pieces of the first status information is different. The step of displaying the operating status of each internal mixer based on the first status information of each internal mixer includes: generating and displaying a second statistical chart representing the correspondence between the operating temperature of the internal mixer, the powder thickness, and time based on all the first status information of each internal mixer.

[0010] In some embodiments, the method further includes: displaying the working status of each of the dust-sweeping robots based on second status information of each of the dust-sweeping robots.

[0011] In some embodiments, the first status information includes the first position information of the internal mixer, and the second status information includes the second position information and working status information of the powder-sweeping robot. Displaying the working status of each powder-sweeping robot based on its second status information includes: displaying whether the powder-sweeping robot is currently cleaning the internal mixer; when the powder-sweeping robot is cleaning the internal mixer, displaying the working duration and / or remaining time of the current working state of the powder-sweeping robot based on its working status information, and displaying the current position of the powder-sweeping robot and the current position of the corresponding internal mixer based on the second position information of the powder-sweeping robot and the corresponding first position information of the internal mixer.

[0012] In some embodiments, the method further includes: whenever it is determined from the second state information that the powder-sweeping robot is performing powder cleaning work on the internal mixer, acquiring and displaying in real time a first image taken by the powder-sweeping robot of the mixing chamber of the internal mixer.

[0013] In some embodiments, the step of controlling the working state of the corresponding internal mixer and the powder-sweeping robot according to the control command when a control command is received, so as to control the powder-sweeping robot to perform powder cleaning work on the internal mixer, includes: when a first control command is received, controlling the first target powder-sweeping robot corresponding to the first control command to move to the corresponding first target internal mixer, and controlling the first target internal mixer to stop working and open the feed door; controlling the first target powder-sweeping robot to use at least one powder-sweeping workpiece to perform powder cleaning work on the mixing chamber of the first target internal mixer; and / or when a second control command is received, controlling the second target powder-sweeping robot corresponding to the second control command to stop the powder cleaning work, and controlling the corresponding second target internal mixer to close the feed door and continue working.

[0014] In some embodiments, the method further includes: determining whether the internal mixer is in normal working condition based on the first state information of each internal mixer; when it is determined that the internal mixer is not in normal working condition, controlling the powder sweeping robot corresponding to the internal mixer to cancel the cleaning task corresponding to the internal mixer.

[0015] In some implementations, the first state information includes the current operating temperature and current operating state of the internal mixer. The step of determining whether the internal mixer is in normal working state based on the first state information of each internal mixer includes: determining that the internal mixer is not in normal working state when the current operating temperature is higher than the warning temperature; or determining that the internal mixer is not in normal working state when the current operating state is a fault state; otherwise, determining that the internal mixer is in normal working state.

[0016] In some embodiments, the method further includes: determining whether the powder-sweeping robot is in normal working condition based on the second state information of the powder-sweeping robot corresponding to each internal mixer; when it is determined that the powder-sweeping robot is not in normal working condition, selecting one of the other powder-sweeping robots in normal working condition as the powder-sweeping robot corresponding to the internal mixer according to a preset rule, wherein the powder-sweeping robot corresponding to the internal mixer is used to clean the powder in the mixing chamber of the internal mixer.

[0017] In some embodiments, the second state information includes the second position information and working state information of the dust-sweeping robot. The step of determining whether the dust-sweeping robot is in a normal working state based on the second state information of the dust-sweeping robot corresponding to each internal mixer includes: determining that the dust-sweeping robot is not in a normal working state when it is determined from the second state information that the dust-sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state; or determining that the dust-sweeping robot is not in a normal working state when it is determined from the working state information that the dust-sweeping robot is in a fault state; otherwise, determining that the dust-sweeping robot is in a normal working state.

[0018] In some embodiments, the first state information further includes the first position information of the internal mixer, and the second state information further includes the second position information of the dust-sweeping robot. The step of selecting a dust-sweeping robot from among other dust-sweeping robots in normal working condition as the dust-sweeping robot corresponding to the internal mixer according to a preset rule when it is determined that the dust-sweeping robot is not in normal working condition includes: determining the cleaning time period of the internal mixer based on the first state information of the internal mixer; determining all dust-sweeping robots that are idle during the cleaning time period of the internal mixer based on the second state information of all dust-sweeping robots; and selecting the dust-sweeping robot closest to the internal mixer from among all the idle dust-sweeping robots as the dust-sweeping robot corresponding to the internal mixer based on the first position information of the internal mixer and the second position information of all the corresponding idle dust-sweeping robots.

[0019] Secondly, embodiments of this application provide a dust-sweeping robot, the dust-sweeping robot comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the control method as described in the first aspect.

[0020] Thirdly, embodiments of this application provide a mixing mill, including a mixing mill body and a powder-sweeping robot as described in the second aspect. The powder-sweeping robot is installed on the mixing mill body. The mixing mill body is provided with a mixing chamber and a pressure hammer is provided in the mixing chamber. The powder-sweeping robot is used to drive the powder-sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing an executable program, which is executed by a processor to implement the control method as described in the first aspect.

[0022] This application provides a control method, a powder-sweeping robot, an internal mixer, and a storage medium. Upon receiving a control command, this application controls the working states of the corresponding internal mixer and the powder-sweeping robot according to the command. This allows the powder-sweeping robot to perform powder cleaning on the internal mixer, eliminating the need for manual cleaning by operators and significantly improving cleaning efficiency while reducing production costs. Furthermore, by acquiring and recording the first state information of at least one internal mixer and the second state information of at least one powder-sweeping robot during the powder cleaning process, relevant information about the powder cleaning process can be recorded. This facilitates troubleshooting by operators based on the first and second state information, ensuring the normal operation of the powder cleaning process. Attached Figure Description

[0023] Figure 1 This is a front view of the internal mixer in an embodiment of this application when the feed door is closed.

[0024] Figure 2 This is a front view of the internal mixer in an embodiment of this application when the feed door is open.

[0025] Figure 3 This is a schematic diagram of the first state of the internal mixer in the internal mixing chamber of the present application embodiment, showing the hammer pressing down.

[0026] Figure 4 This is a schematic diagram of the second state of the internal mixer in the internal mixing chamber of the present application embodiment, where the pressure hammer is pressed down.

[0027] Figure 5 This is a schematic diagram of the third state of the internal mixer in the internal mixing chamber of the internal mixer according to an embodiment of this application, where the pressure hammer is pressing down.

[0028] Figure 6 This is a schematic diagram of the first application scenario of the control method provided in the embodiments of this application.

[0029] Figure 7 This is a schematic diagram of a second application scenario of the control method provided in the embodiments of this application.

[0030] Figure 8 This is a schematic diagram of a third application scenario of the control method provided in the embodiments of this application.

[0031] Figure 9 This is a perspective view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application.

[0032] Figure 10 This is a top view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application.

[0033] Figure 11 This is a top view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot used in an internal mixer, according to an embodiment of this application.

[0034] Figure 12 This is a side view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot applied to a mixer according to an embodiment of this application.

[0035] Figure 13 This is a perspective view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application.

[0036] Figure 14 This is a top view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application.

[0037] Figure 15 This is a perspective view of the first mounting base in the powder sweeping robot applied to the internal mixer according to an embodiment of this application.

[0038] Figure 16 This is a top view of the first mounting base in the powder sweeping robot of the internal mixer according to an embodiment of this application.

[0039] Figure 17 This is a flowchart illustrating the control method provided in the embodiments of this application.

[0040] Figure 18 yes Figure 17 Detailed flowchart of step S100.

[0041] Figure 19AThis is a first schematic diagram of a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application.

[0042] Figure 19B This is a second schematic diagram of a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application.

[0043] Figure 19C This is a third schematic diagram of a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application.

[0044] Figure 19D This is a fourth schematic diagram of a working scenario for cleaning powder from a mixer, as provided in the embodiments of this application.

[0045] Figure 19E This is the fifth schematic diagram of a working scenario for cleaning powder from an internal mixer, as provided in the embodiments of this application.

[0046] Figure 20 This is a schematic diagram of the structure of a powder-sweeping robot provided in an embodiment of this application.

[0047] Figure 21 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] This application provides a control method, a powder-sweeping robot, an internal mixer, and a storage medium. Upon receiving a control command, the method controls the operating states of the corresponding internal mixer and the powder-sweeping robot. This allows the powder-sweeping robot to perform powder cleaning on the internal mixer, eliminating the need for manual cleaning by operators and significantly improving efficiency while reducing production costs. Furthermore, by acquiring and recording the first state information of at least one internal mixer and the second state information of at least one powder-sweeping robot during powder cleaning, the method facilitates troubleshooting by operators, ensuring the normal operation of the powder cleaning process.

[0051] In some implementations, the control method provided in this application is executed by a dust-sweeping robot.

[0052] In some implementations, the control method provided in this application is executed by a control terminal.

[0053] Optionally, the control terminal can be an electronic device such as a computer, mobile phone, or watch.

[0054] Please see Figures 1 to 5 , Figure 1 This is a front view of the internal mixer in an embodiment of this application when the feed door is closed. Figure 2 This is a front view of the internal mixer in an embodiment of this application when the feed door is open. Figure 3 This is a schematic diagram of the first state of the internal mixer in the internal mixing chamber of the present application embodiment, showing the hammer pressing down. Figure 4 This is a schematic diagram of the second state of the internal mixer in the internal mixing chamber of the present application embodiment, where the pressure hammer is pressed down. Figure 5 This is a schematic diagram of the third state of the internal mixer in the mixing chamber of this application embodiment, with the pressure hammer 13 pressing down. When it is necessary to feed material into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed door 11 to open and the pressure hammer 13 to rise to the top, as shown. Figure 2 As shown, at this time, powder can be fed into the mixing chamber 12 through the channel opened by the feed door 11. After the feeding into the mixing chamber 12 is completed, the mixing mill 1 will control the feed door 11 to close, as shown. Figure 1 As shown, at this time, the pressure hammer 13 inside the mixing chamber 12 will begin to cooperate with the rotor 14 to perform powder processing. The powder processing in the mixing chamber 12 is as follows: Figures 3 to 5As shown, the pressure hammer 13 is controlled by the pressure hammer connecting rod to press down, pressing the powder poured into the mixing chamber 12 onto the rotor 14. The pressure of the pressure hammer 13, the rotation of the rotor 14, and the heating cause the powder to gradually melt. It is understandable that during the process of feeding material into the mixing chamber 12 and pressing down the pressure hammer 13, some of the powder fed into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the pressure hammer 13. This part of the powder will not be used in the mixing process between the pressure hammer 13 and the rotor 14, resulting in a difference between the actual output and the expected output. This part of the powder is generally cleaned by workers according to the specified time or procedure, sweeping it off the inner wall of the mixing chamber 12 and the pressure hammer 13, allowing it to fall naturally onto the rotor 14 and be re-added to the mixing process. However, manually cleaning the side walls of the mixing chamber 12 and the pressure hammer 13 using tools is unstable. It is possible that workers may forget to clean the powder or fail to clean it properly due to personal factors. At the same time, polymer powder may be inhaled by workers during the process of being airborne, and long-term exposure may lead to respiratory diseases, which is detrimental to the health of workers.

[0055] The control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0056] Please see Figures 6 to 8 , Figure 6 This is a schematic diagram of the first application scenario of the control method provided in the embodiments of this application. Figure 7 This is a schematic diagram of a second application scenario of the control method provided in the embodiments of this application. Figure 8 This is a schematic diagram of a third application scenario of the control method provided in the embodiments of this application. For example... Figures 6 to 8 As shown, in some embodiments, the powder-sweeping robot 2 applied to the internal mixer 1 includes a drive device 21 and a powder-sweeping device 22. The drive device 21 is used to drive the powder-sweeping device 22 to move and / or rotate. The powder-sweeping device 22 includes a powder-sweeping workpiece 222, which is used to clean the powder from the surface of the object being cleaned.

[0057] In some implementations, the objects to be cleaned include the inner walls of the mixing chamber and the pressure hammer.

[0058] Optionally, the cleaning object may also include the hammer connecting rod.

[0059] For further information, please refer to [link / reference]. Figures 6 to 8 Considering the supply and demand relationship and actual efficiency of the internal mixer 1 and the powder sweeping robot 2, users can choose the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to their actual needs.

[0060] In some implementations, such as Figure 6As shown, the fixed end of the drive device 21 is installed on the internal mixer 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform powder cleaning work, the powder sweeping robot 2 can quickly perform the task and quickly extend the powder sweeping device 22 into the mixing chamber 12 and the pressure hammer 13 through the drive device 21, so that the powder on the surface of the object to be cleaned is cleaned.

[0061] In some implementations, such as Figure 7 and Figure 8 As shown, the powder-sweeping robot 2 also includes a transfer device 23. The fixed end of the drive device 21 is mounted on the transfer device 23, which is used to move the drive device 21 closer to or away from the internal mixer 1. Optionally, the transfer device 23 can be a floor rail laid on the workshop floor and a floor slide slidably connected to the floor rail, with the fixed end of the drive device 21 mounted on the floor slide. Optionally, the transfer device 23 can also be an AGV (Automated Guided Vehicle), with the fixed end of the drive device 21 mounted on the AGV. Optionally, the transfer device 23 can also be a suspended rail installed on the workshop ceiling or in a suspended position and a suspended slide slidably connected to the suspended rail, with the fixed end of the drive device 21 mounted on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices capable of moving the drive device 21 closer to or away from the internal mixer 1, which will not be elaborated here. It is understood that the powder-sweeping robot 2 in this embodiment can serve multiple internal mixers 1 throughout the workshop. When it receives an instruction to clean powder from a particular internal mixer 1, the transfer device 23 will drive the drive device 21 to move towards the target position according to the instruction. During the movement, the position and distance can be monitored in real time by sensors or a vision system installed on the transfer device 23 to ensure accurate arrival. After the drive device 21 reaches the target position, it starts working, extending the powder-sweeping device 22 into the mixing chamber 12 to perform powder cleaning. After the work is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the powder-sweeping robot 2 in this embodiment can move and switch quickly between different internal mixers 1, greatly improving the flexibility of powder cleaning. At the same time, since the powder-sweeping robot 2 can be shared among different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder-sweeping robot 2, thereby reducing equipment costs.

[0062] In some embodiments, to make the powder-sweeping robot 2 more flexible in its operation, the drive device 21 of this embodiment includes a freely movable robotic arm, and the powder-sweeping device 22 is connected to the free end of the robotic arm. The robotic arm is used to transport the powder-sweeping device 22 from the internal mixer 1 to the mixing chamber 12 inside the internal mixer 1 to perform powder cleaning work. The high degree of freedom of the robotic arm carries the powder-sweeping device 22, which greatly improves the efficiency of the powder cleaning work.

[0063] In some implementations, the robotic arm is a multi-axis robotic arm, such as a three-axis, four-axis, five-axis, six-axis, or seven-axis robotic arm. It is understood that robotic arms are classified according to their number of axes (i.e., the number of degrees of freedom). These axes represent how many directions the robotic arm can move independently. Therefore, a higher number of axes indicates greater flexibility, but also a higher cost. Users can choose a robotic arm with an appropriate number of axes based on their actual needs.

[0064] Preferably, a six-axis robotic arm is selected as the drive device 21. It should be noted that this embodiment is only used as a limited example to illustrate the robotic arm of the drive device 21. In other embodiments, other devices capable of driving the powder sweeping device 22 to move and / or rotate can also be used, which will not be described in detail here.

[0065] Further, please refer to Figures 9 to 14 , Figure 9 This is a perspective view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 10 This is a top view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 11 This is a top view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot used in an internal mixer, according to an embodiment of this application. Figure 12 This is a side view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 13 This is a perspective view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 14 This is a top view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figures 9 to 14 As shown, to meet the cleaning needs under different working conditions, the powder-sweeping workpiece 222 includes at least a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder-suction assembly, or a powder-blowing assembly. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the object being cleaned (e.g., the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder-suction assembly and powder-blowing assembly clean the surface of the mixing chamber 12 or the pressure hammer 13 through airflow.

[0066] The powder-sweeping workpiece 222 has the following four implementation methods: Implementation method 1: The powder sweeping workpiece 222 includes one of the following: brush 2221, scraper 2222, friction cloth, friction block 2223, powder suction component, and powder blowing component.

[0067] Implementation method 2: The powder-sweeping workpiece 222 includes a powder-absorbing component, and one of the following: a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0068] Implementation method 3: The powder sweeping workpiece 222 includes a powder blowing assembly, and one of the following: a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0069] Implementation method 4: The powder-sweeping workpiece 222 includes a powder suction component and a powder blowing component, as well as one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

[0070] This application will describe in detail three embodiments of the powder-sweeping workpiece 222, namely powder-sweeping workpiece 222a, powder-sweeping workpiece 222b, and powder-sweeping workpiece 222c.

[0071] Specifically, please refer to Figure 9 and Figure 10 , Figure 9 and Figure 10 The device includes a powder-sweeping workpiece 222a, which comprises a brush 2221, a shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211 for making point contact with the object being cleaned. The first air hole 22241a is located on the shaft 2224a, and the second air hole 2225a is located on the brush 2221. The functions of the shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be described later in the specification and will not be repeated here. Furthermore, the shaft 2224a also has a second threaded hole 22242a and a snap-fit ​​protrusion 22243a. The functions of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a will be described later in the specification and will not be repeated here.

[0072] Specifically, see Figure 11 and Figure 12 , Figure 11 and Figure 12The cleaning device includes a powder-sweeping workpiece 222b, which comprises a scraper 2222, a shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming line contact with the object being cleaned. The first air hole 22241b is located on the shaft 2224b, and the second air hole 2225b is located on the scraper 2222. The shaft 2224b is used to insert into the insertion hole 2212 on the first mounting base 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump. The second air hole 2225b is used to blow airflow toward the object being cleaned. Thus, while the edge 22221 scrapes off the powder, the airflow blown through the second air hole 2225b can also blow away and carry away the polymer material powder adhering to the side wall of the internal mixer 1 or the hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224b is also provided with a second threaded hole 22242b and a snap-fit ​​protrusion 22243b. The functions of the second threaded hole 22242b and the snap-fit ​​protrusion 22243b are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0073] Specifically, see Figure 13 and Figure 14 , Figure 13 and Figure 14 The cleaning process includes a powder-sweeping workpiece 222c, which comprises a friction block 2223, a insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The aforementioned friction cloth / friction block 2223 has a rough surface 22231 for forming surface contact with the object being cleaned. It should be noted that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft, while the friction block 2223 is hard. It is understood that while the rough surface 22231 causes polymer material powder on the side wall of the internal mixer 1 or the pressure hammer 13 to fall off due to friction, the airflow blown through the second air hole 2225c also blows away and carries away the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224c is also provided with a second threaded hole 22242c and a snap-fit ​​protrusion 22243c. The functions of the second threaded hole 22242c and the snap-fit ​​protrusion 22243c are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0074] Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 are all equipped with insert shafts, and the scraper 2222, friction cloth, and friction block 2223 are detachably connected to the insertion hole 2212 provided on the first mounting base 221 through the insert shafts.

[0075] Optionally, the following are... Figure 9 and Figure 10Taking the powder-sweeping workpiece 222a as an example, the insert shaft 2224a is provided with a second threaded hole 22242a. During installation, a screw can be passed through the first mounting base 221 and the second threaded hole 22242a to achieve a stable connection between the insert shaft 2224a and the first mounting base 221, thereby achieving a stable connection between the brush 2221, scraper 2222, friction cloth, or friction block 2223 and the first mounting base 221. Optionally, the insert shaft 2224a is also provided with a snap-fit ​​protrusion 22243a, which is used to make the insert shaft 2224a form a snap-fit ​​relationship in the insertion hole 2212.

[0076] Optionally, the brush 2221 can be a roller brush or a plate brush. The roller brush can rotate relative to the insert shaft 2224a, while the plate brush is fixed to the insert shaft 2224a.

[0077] Further, please refer to Figure 15 and Figure 16 , Figure 15 This is a perspective view of the first mounting base in the powder sweeping robot applied to the internal mixer according to an embodiment of this application. Figure 16 This is a top view of the first mounting base in the powder-sweeping robot applied to the internal mixer according to an embodiment of this application. Considering the various options for assembling the powder-sweeping workpiece 222 onto the powder-sweeping robot 2 under different working conditions, in some embodiments, the powder-sweeping device 22 further includes a first mounting base 221. The first mounting base 221 is connected to the drive device 21, and the powder-sweeping workpiece 222 is detachably connected to the first mounting base 221. Users can easily replace the powder-sweeping workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment. Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 in the powder-sweeping workpiece 222 are detachably connected to the first mounting base 221.

[0078] Optionally, the first mounting base 221 is provided with an insertion hole 2212. The brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with insertion shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the insertion hole 2212 on the first mounting base 221 through the insertion shafts provided thereon. Through a simple plug-in operation, the operator can quickly change the powder sweeping workpiece 222.

[0079] Please see Figure 15 as well as Figure 16In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head. The first air pump provides a negative pressure environment inside the powder suction container 223, and the dust suction head provides a channel for external fluid to enter the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 can largely separate the powder adhering to the mixing chamber 12 or the pressure hammer 13, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but may float briefly before re-adhering to the mixing chamber 12 or the pressure hammer 13. Based on this, the powder suction component in this embodiment provides negative pressure to the powder suction container 223 through the first air pump. This negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to draw external fluid into the powder suction container 223. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off by the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0080] Preferably, the vacuum cleaner head is mounted on the first mounting base 221. Optionally, at least two vacuum cleaner heads are evenly arranged around the insertion hole 2212, and the suction port of the vacuum cleaner head faces the same direction as the insertion port of the insertion hole 2212. Optionally, the vacuum cleaner head is the vacuum pipe 2235, and the first mounting base 221 has a vacuum hole 2211. One end of the vacuum pipe 2235 is connected to the vacuum hole 2211, and the other end is connected to the powder container 223.

[0081] In some embodiments, the powder blowing assembly includes a second air pump for providing airflow to blow powder off the object being cleaned. It should be noted that the airflow provided by the second air pump can be blown directly towards the object being cleaned through an air nozzle, or it can be blown through air passages formed in the brush 2221 / scraper 2222 / friction cloth / friction block 2223 of the powder-sweeping workpiece 222 to act on the object being cleaned; this is not limited in this embodiment.

[0082] Furthermore, this embodiment explains that the airflow provided by the second air pump is blown out through the air passages opened on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder-sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include a shaft and a second air hole opened on the shaft. The shaft is used to insert into the insertion hole 2212 on the first mounting base 221, and the second air hole is used to insert into the connecting post 2215 in the insertion hole 2212, and to make the vent hole 22151 on the connecting post 2215 connected to the second air hole. Figure 9 and Figure 10Taking the powder-sweeping workpiece 222a as an example, the workpiece 222a is provided with a first air hole 22241a and a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected by an air passage built into the workpiece 222a. The exhaust end of the second air pump is connected to the first air hole 22241a to provide outward airflow to the second air hole 2225a. It can be understood that the powder-sweeping robot 2 in this embodiment can deliver airflow to the powder-sweeping workpiece 222a through the second air pump. By using the airflow to sweep away the powder, the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder-sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a. This ejected airflow can blow away and carry away the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning.

[0083] In some embodiments, a connecting post 2215 is provided at the bottom of the insertion hole 2212 on the first mounting base 221. The connecting post 2215 has a vent hole 22151 that connects its two ends. One end of the vent hole 22151 is connected to the insertion hole 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe. Taking the powder-sweeping workpiece 222a as an example, the end of the insert shaft 2224a away from the brush 2221 is provided with a first air hole 22241a, and the brush 2221 is provided with a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected through an air passage built into the workpiece body. When the insert shaft 2224a is inserted into the insertion hole 2212, the connecting post 2215 is inserted into the first air hole 22241a, and the exhaust end of the second air pump is connected to the second air hole 2225a.

[0084] Optionally, the sidewall of the insertion hole 2212 is provided with a first threaded hole in the radial direction, and the outer sidewall of the insertion shaft 2224a of the powder sweeping workpiece 222a is provided with a corresponding second threaded hole 22242a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and the first threaded hole and the second threaded hole 22242a are only aligned and connected when the locking protrusion 22243a is located at the communication position between the second groove and the third groove and is in a self-locking state. At this time, the first threaded hole and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0085] Optionally, the connecting post 2215 is disposed at the center of the bottom of the socket 2212, and at least one of the elastic members 2214 disposed at the bottom of the socket 2212 is a spring and is disposed around the outer periphery of the connecting post 2215.

[0086] Optionally, a sealing ring is provided around the outer periphery of the connecting post 2215, which can make the connection between the connecting post 2215 and the first air hole 22241a more airtight and stable.

[0087] In some embodiments, the powder-sweeping workpiece 222 simultaneously includes one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223, as well as a powder-suction component and a powder-blowing component. The powder-suction component collects powder through a negative pressure airflow provided by a first air pump, and the powder-blowing component blows powder through a positive pressure airflow provided by a second air pump. The first and second air pumps are the same pump. It should be noted that, to prevent powder in the mixing chamber 12 of the internal mixer 1 from entering through the second air hole and remaining in the first air hole and vent 22151, a filter screen can be installed at the second air hole in this embodiment to prevent external powder from rushing in through it. In this embodiment, the same air pump is used to simultaneously supply air to both the powder-blowing component and the powder-suction component, effectively reducing product production costs while also making the collaborative work of the powder-blowing component and the powder-suction component more coordinated.

[0088] Please see Figure 17 , Figure 17 This is a flowchart illustrating the control method provided in an embodiment of this application. Figure 17 As shown, the control method includes steps S100 to S200.

[0089] Step S100: When a control command is received, the working status of the corresponding internal mixer and the powder sweeping robot is controlled according to the control command, so as to control the powder sweeping robot to clean the powder from the internal mixer.

[0090] In some implementations, the working status of the corresponding internal mixer and the corresponding powder sweeping robot is controlled according to a control command.

[0091] In some implementations, controlling the powder-sweeping robot to perform powder cleaning work on the internal mixer includes: controlling the working state of the powder-sweeping robot and the internal mixer to control the start of the powder cleaning work; controlling the working state of the powder-sweeping robot and the internal mixer to control the process of the powder cleaning work; and controlling the working state of the powder-sweeping robot and the internal mixer to control the end of the powder cleaning work.

[0092] Please see Figure 18 , Figure 18 yes Figure 17 A detailed flowchart of step S100. (See attached flowchart.) Figure 18 As shown, in some embodiments, step S100 includes steps S110 to S130.

[0093] Step S110: When the first control command is received, control the first target powder sweeping robot corresponding to the first control command to move to the corresponding first target internal mixer, and control the first target internal mixer to stop working and open the feed door.

[0094] Step S120: Control the first target powder sweeping robot to use at least one powder sweeping workpiece to clean the powder in the mixing chamber of the first target internal mixer.

[0095] In some implementations, when the first target internal mixer completes the powder cleaning work, the first target powder sweeping robot automatically controls the corresponding first target internal mixer to close the feed door and continue working.

[0096] In some implementations, step S120 includes steps S121 to S124.

[0097] Step S121: Send a third control command to the first target internal mixer to open the feed door of the internal mixer.

[0098] Step S122: Control at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber of the internal mixer.

[0099] As described above, in some embodiments, the powder-sweeping workpiece includes at least one of a brush, a scraper, a friction cloth, a friction block, a powder-suction assembly, and a powder-blowing assembly. The brush can be a roller brush or a plate brush.

[0100] In some implementations, step S122 includes steps S1221 to S1228.

[0101] Step S1221: Send a fourth control command to the internal mixer to cause the hammer of the internal mixer to be in a falling state.

[0102] Please see Figure 19A , Figure 19A This is a first schematic diagram illustrating a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application. Figure 19A As shown, in some embodiments, the powder-sweeping robot 2 performs powder cleaning work on the internal mixer 1.

[0103] In some embodiments, the internal mixer body is provided with a feed door 11 for sealing the mixing chamber. In some embodiments, during the powder cleaning process, the feed door 11 remains in a lowered state so that the powder cleaning robot 2 can perform powder cleaning work on the internal mixer 1.

[0104] Step S1222: Control the powder sweeping workpiece to perform powder cleaning work on the surface of the pressure hammer connecting rod 30.

[0105] In some implementations, because the powder on the surface of the hammer connecting rod 30 may fall into the mixing chamber or onto the surface of the hammer 13, the surface of the hammer connecting rod 30 is first cleaned of powder.

[0106] In some embodiments, a control brush is used to clean the powder from the surface of the pressure hammer connecting rod 30. Because the surface curvature of the pressure hammer connecting rod 30 is relatively large, a brush with highly flexible bristles is selected to clean the powder from the surface of the pressure hammer connecting rod 30.

[0107] Understandably, the powder-sweeping robot 2 includes a powder-sweeping workpiece and a multi-axis robotic arm. Therefore, the powder-sweeping robot 2 can change the position and angle of the powder-sweeping workpiece through the multi-axis robotic arm to perform complete powder cleaning on the surface of the object being cleaned.

[0108] Step S1223: When the pressure hammer of the internal mixer is in the falling state, control the powder sweeping workpiece to perform powder cleaning work on the first side of the inner wall of the internal mixer.

[0109] The inner wall of the mixing chamber includes a first side, a second side, and a third side. The first and second sides are opposite each other and are not blocked by the pressure hammer, while the third side is blocked by the pressure hammer when the pressure hammer is in the falling state.

[0110] In some embodiments, the powder-sweeping workpiece includes a roller brush, a scraper, a plate brush, a powder blowing assembly, and a powder suction assembly, etc.

[0111] In some implementations, a roller brush is used to clean the powder from the first side of the mixing chamber wall. Because the mixing chamber wall has a large area, a roller brush with a large cleaning area is selected to clean the powder from the mixing chamber wall. This method improves cleaning efficiency.

[0112] like Figure 19A As shown, in some embodiments, the control roller brush 2221A performs powder cleaning work on the first side A1 of the inner wall of the mixing chamber.

[0113] Step S1224: Control the powder-sweeping workpiece to perform powder cleaning work on the first part of the pressure hammer surface.

[0114] The surface of the pressure hammer includes a first part surface and a second part surface. The first part surface is close to the first side of the inner wall of the mixing chamber, and the second part surface is close to the second side of the inner wall of the mixing chamber.

[0115] Please see Figure 19B , Figure 19B This is a second schematic diagram illustrating a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application. For example... Figure 19B As shown, in some embodiments, the control roller brush 2221A performs powder cleaning work on the first part of the surface of the pressure hammer 13.

[0116] Optionally, in step S1224, there is no need to replace the roller brush 2221A or control the internal mixer 1. After step S1223, the roller brush 2221A is directly used to clean the powder from the first part of the surface of the pressure hammer 13. This method can improve cleaning efficiency. The following steps are similar.

[0117] Step S1225: Control the powder sweeping workpiece to perform powder cleaning work on the second side of the inner wall of the mixing chamber.

[0118] Please see Figure 19C , Figure 19C This is a third schematic diagram illustrating a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application. For example... Figure 19C As shown, in some embodiments, the control roller brush 2221A performs powder cleaning work on the second side A2 of the inner wall of the mixing chamber.

[0119] Step S1226: Control the powder-sweeping workpiece to perform powder cleaning work on the second part of the pressure hammer surface.

[0120] Please see Figure 19D , Figure 19D This is a fourth schematic diagram illustrating a working scenario for cleaning powder from an internal mixer, as provided in an embodiment of this application. For example... Figure 19D As shown, in some embodiments, the control roller brush 2221A performs powder cleaning work on the second part of the surface of the pressure hammer 13.

[0121] In steps S1223 to S1226, the hammer is in a falling state.

[0122] Step S1227: Send a fifth control command to the internal mixer to raise the pressure hammer of the internal mixer.

[0123] In some implementations, when the pressure hammer of the internal mixer is in the raised state, the first, second, and third sides of the inner wall of the internal mixer are not obstructed by the pressure hammer.

[0124] Step S1228: Control the powder-sweeping workpiece to perform powder cleaning work on the first, second, and third sides of the inner wall of the mixing chamber.

[0125] Please see Figure 19E , Figure 19E This is the fifth schematic diagram of a working scenario for cleaning powder from an internal mixer, as provided in the embodiments of this application. Figure 19E As shown, in some embodiments, the scraper 2222 is controlled to perform powder cleaning work on the third side A3 of the inner wall of the mixing chamber.

[0126] In some embodiments, a scraper is used to clean the powder from the first, second, and third sides of the mixing chamber wall. Because the powder may adhere quite firmly to the surface of the mixing chamber wall, a scraper 2222 with higher hardness is selected to clean the powder from the first side A1, second side A2, and third side A3 of the mixing chamber wall. In this way, the powder adhering to the surface of the mixing chamber wall can be completely cleaned.

[0127] In some embodiments, the powder-sweeping workpiece includes brushes, scrapers, friction cloths, friction blocks, powder-blowing assemblies, and powder-suction assemblies. Brushes may include roller brushes and plate brushes.

[0128] In some implementations, the powder blowing component or the powder suction component can be controlled independently to perform powder cleaning on the surface of any one or more of the above-mentioned objects to be cleaned.

[0129] Optionally, during the powder cleaning process described above, other powder sweeping components can be controlled to be used in combination with powder blowing components and / or powder suction components to perform powder cleaning work on the surface of any one or more of the cleaning objects.

[0130] In some implementations, when the dust-sweeping robot controls the dust-blowing assembly to clean the surface of the object being cleaned, it blows polymer powder into the mixing chamber, allowing the airborne polymer powder to continue participating in the production process. This method improves powder cleaning efficiency.

[0131] In some embodiments, when the dust-sweeping robot controls the dust-collecting assembly to clean the surface of the object being cleaned, the dust-sweeping robot also includes a dust-collecting container. After completing the dust cleaning of the internal mixer, with the pressure hammer in the raised position, the dust-sweeping robot pours all the dust collected by the dust-collecting container during this dust cleaning process into the mixing chamber, so that the airborne polymer material powder can continue to participate in the production process. The specific structure of the dust-collecting container is described in reference to [the relevant documentation / document / etc.]. Figure 15 and Figure 16 The description.

[0132] In some implementations, before step S122, step S120 further includes: determining the cleaning mode corresponding to the internal mixer based on the state information of the internal mixer.

[0133] In some implementations, the cleanup modes include a full cleanup model and a partial cleanup model.

[0134] In some implementations, each cleanup mode corresponds to a set of cleanup parameters.

[0135] In some implementations, the cleaning parameter set includes preset parameters such as multiple cleaning objects, the cleaning order corresponding to each cleaning object, all dust-sweeping workpieces, the cleaning time, cleaning force, and cleaning speed corresponding to each dust-sweeping workpiece.

[0136] In some implementations, the objects to be cleaned in the mixing chamber include the inner walls of the mixing chamber and the pressure hammer.

[0137] Optionally, the cleaning object may also include the hammer connecting rod.

[0138] Optionally, when the workpiece being swept is a brush, scraper, friction cloth, or friction block, the cleaning force includes the pressure value between the workpiece being swept and the surface of the object being cleaned.

[0139] In some implementations, the dust-sweeping robot also includes a pressure sensor for detecting the pressure between the dust-sweeping workpiece and the robotic arm. It is understood that after being subjected to pressure from the surface of the object being cleaned, the dust-sweeping workpiece will exert pressure on the robotic arm. According to Newton's third law, the pressure between the dust-sweeping workpiece and the surface of the object being cleaned is equal to the pressure between the dust-sweeping workpiece and the robotic arm. Optionally, the dust-sweeping robot adjusts the movement of the robotic arm based on the pressure value detected by the pressure sensor to adjust the pressure value between the dust-sweeping workpiece and the surface of the object being cleaned.

[0140] Optionally, when the dust-sweeping workpiece is a dust-suction component or a dust-blowing component, the cleaning force also includes the airflow intensity value. The dust-sweeping robot can control the airflow intensity value of the second air pump.

[0141] In some implementations, the dust-sweeping robot can control the dust-sweeping workpiece to vibrate on the surface of the object being cleaned. In this case, the cleaning force also includes the vibration frequency value.

[0142] Optionally, when a user's parameter setting instruction is received, the corresponding cleanup parameters are set according to the parameter setting instruction.

[0143] In some implementations, the first state information also includes the work sequence number corresponding to the current working state. The work sequence number is the number of the work order of the current working state in a single workflow of the internal mixer. For example, in a single workflow of the internal mixer, the internal mixer switches between four working states in sequence. The work sequence number of the first working state is 1, the work sequence number of the second working state is 2, the work sequence number of the third working state is 3, the work sequence number of the fourth working state is 4, and so on.

[0144] Understandably, when the internal mixer operates at a lower temperature, the polymer powder does not melt sufficiently, making it prone to scattering. Conversely, when the internal mixer operates at a higher temperature, the polymer powder melts more readily, reducing the likelihood of scattering. During a single cycle of operation, the preset operating temperature increases sequentially for each operating state. Therefore, the corresponding cleaning mode for the internal mixer can be determined based on its operating state.

[0145] In some implementations, when the working sequence number corresponding to the current working state in the internal mixer's status information is less than a preset number value, the cleaning mode corresponding to the internal mixer is determined as the complete cleaning mode.

[0146] Optionally, the preset number value is not greater than the end number value. The end number value refers to the work sequence number corresponding to the last working state in a single working process of the internal mixer.

[0147] Optionally, when the working sequence number corresponding to the current working state is less than the preset number value, it indicates that the current working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be the complete cleaning mode.

[0148] In some implementations, the full cleanup mode further includes a full deep cleanup mode and a full standard cleanup mode. The full deep cleanup mode has a longer cleanup time and / or a greater cleanup intensity than the full standard cleanup mode.

[0149] Furthermore, when the working sequence number corresponding to the current working state of the internal mixer is less than the preset number value, and when the current working temperature of the internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the internal mixer is determined to be the full depth cleaning mode; otherwise, the cleaning mode corresponding to the internal mixer is determined to be the full standard cleaning mode.

[0150] The preset temperature value is not necessarily the preset operating temperature of the internal mixer.

[0151] Optionally, if the working sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is lower than the preset temperature value, it further indicates that the current working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be the complete deep cleaning mode. If the working sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is not lower than the preset temperature value, it indicates that although the current working temperature of the internal mixer is low, it is not low enough to make the powder very easy to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be the complete standard cleaning mode.

[0152] Optionally, the full cleanup mode also includes full cleanup modes corresponding to other cleanup levels.

[0153] In some implementations, when the working sequence number corresponding to the current working state in the internal mixer's status information is not less than a preset number value, the cleaning mode corresponding to the internal mixer is determined as a partial cleaning mode.

[0154] Optionally, when the working sequence number corresponding to the current working state is not less than the preset number value, it indicates that the current working temperature of the internal mixer is high, the degree of melting of the polymer material powder is high, and the powder is not easy to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be the partial cleaning mode.

[0155] In some implementations, the partial cleaning mode further includes a partial deep cleaning mode and a partial standard cleaning mode. The partial deep cleaning mode has a longer cleaning time and / or a greater cleaning intensity than the partial standard cleaning mode.

[0156] Furthermore, when the working sequence number corresponding to the current working state of the internal mixer is not less than the preset number value, and when the current working temperature of the internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the internal mixer is determined to be a partial deep cleaning mode; otherwise, the cleaning mode corresponding to the internal mixer is determined to be a partial standard cleaning mode.

[0157] Optionally, when the working sequence number corresponding to the current working state is not less than a preset number value, and the current working temperature is lower than a preset temperature value, it indicates that although the current working temperature of the internal mixer is relatively high, it is not high enough to cause very little powder to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be a partial deep cleaning mode. Optionally, when the working sequence number corresponding to the current working state is not less than a preset number value, and the current working temperature is not lower than a preset temperature value, it indicates that the current working temperature of the internal mixer is relatively high, and high enough to cause very little powder to fly away. Therefore, the cleaning mode corresponding to the internal mixer is determined to be a partial standard cleaning mode.

[0158] Optionally, some cleanup modes also include partial cleanup modes corresponding to other cleanup levels.

[0159] By determining the cleaning mode of the internal mixer based on its status information, the cleaning mode can be flexibly determined according to the actual powder flying situation of the internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0160] In some implementations, when performing step S122, if the cleaning mode corresponding to the internal mixer is determined, the internal mixer's internal mixing chamber is cleaned with powder using the cleaning mode corresponding to the internal mixer.

[0161] In some implementations, the cleaning objects in the mixing chamber of the mixing machine and at least one powder-sweeping workpiece corresponding to each cleaning object are determined based on the cleaning mode corresponding to the mixing machine. Then, the target powder-sweeping robot corresponding to the mixing machine is controlled to perform powder cleaning work on the surface of the cleaning objects in the mixing chamber according to the cleaning process in the cleaning mode corresponding to the mixing machine, selecting at least one powder-sweeping workpiece corresponding to each cleaning object and using the corresponding cleaning parameters.

[0162] In some implementations, when the cleaning mode corresponding to the internal mixer is the complete cleaning mode, the objects to be cleaned inside the mixing chamber of the internal mixer are determined to include the hammer connecting rod, the inner wall of the mixing chamber, and the hammer. Then, the target powder-sweeping robot corresponding to the internal mixer is controlled to sequentially execute steps S1221, S1222, S1223, S1224, S1225, S1226, and S1227. In each step, the cleaning parameters corresponding to the complete cleaning mode are used to clean the powder from the surface of the objects to be cleaned.

[0163] Optionally, when the cleaning mode corresponding to the internal mixer is the full depth cleaning mode or the full standard cleaning mode, the cleaning parameter set corresponding to the full depth cleaning mode or the full partial cleaning mode is used in each step to perform powder cleaning on the surface of the object to be cleaned.

[0164] As described above, in some embodiments, the cleaning parameter set includes preset multiple cleaning objects, the cleaning order corresponding to each cleaning object and all dust-sweeping workpieces, the cleaning time, cleaning force and cleaning speed corresponding to each dust-sweeping workpiece, and other parameters.

[0165] Optionally, when a user's parameter setting instruction is received, the corresponding cleanup parameters are set according to the parameter setting instruction.

[0166] In some implementations, the cleaning time, cleaning force, and cleaning speed parameters for each powder-sweeping workpiece corresponding to the full depth cleaning mode and the full standard cleaning mode are all within the numerical range of the parameters corresponding to the full cleaning mode.

[0167] Optionally, the cleaning intensity value corresponding to the full deep cleaning mode is greater than the cleaning intensity value corresponding to the full standard cleaning mode, and / or the cleaning time value corresponding to the full deep cleaning mode is greater than the cleaning time value corresponding to the full standard cleaning mode.

[0168] In some implementations, when the cleaning mode corresponding to the internal mixer is partial cleaning mode, the cleaning targets inside the internal mixer are determined to include the inner wall of the internal mixer and the pressure hammer. Then, the target powder-sweeping robot corresponding to the internal mixer is controlled to sequentially execute steps S1221, S1223, S1224, S1225, S1226, and S1227. In each step, the cleaning parameters corresponding to the partial cleaning mode are used to clean the powder from the surface of the cleaning targets.

[0169] Optionally, when the cleaning mode corresponding to the internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, the cleaning parameter set corresponding to the partial deep cleaning mode or the partial standard cleaning mode is used in each step to perform powder cleaning on the surface of the object to be cleaned.

[0170] In some implementations, the cleaning time, cleaning force, and cleaning speed parameters for each powder-sweeping workpiece corresponding to the partial deep cleaning mode and the partial standard cleaning mode are all within the numerical range of the parameters corresponding to the partial cleaning mode.

[0171] Optionally, the cleaning intensity value corresponding to some deep cleaning modes is greater than the cleaning intensity value corresponding to some standard cleaning modes, and / or the cleaning time value corresponding to some deep cleaning modes is greater than the cleaning time value corresponding to some standard cleaning modes.

[0172] In some implementations, different internal mixers may process different types of polymer powders. Optionally, the first status information may also include information about the type of polymer powder currently being processed by the internal mixer.

[0173] In some embodiments, step S120 further includes: controlling the first target powder cleaning robot corresponding to the first target mixer to perform target operations during the powder cleaning process, based on the type information of the polymer powder currently being processed by the first internal mixer.

[0174] In some implementations, when the polymer powder being processed by the first target mixer is determined to be flammable and explosive based on its type, the first target powder-sweeping robot is controlled to use a second powder detection device to obtain the powder concentration in the air inside the mixer's mixing chamber and the current operating temperature of the first target mixer before starting powder cleaning. If the powder concentration is below the safe operating concentration threshold and the current operating temperature of the first target mixer is below the safe operating temperature, the first target powder-sweeping robot is controlled to begin powder cleaning; otherwise, the first target powder-sweeping robot is controlled to enter a waiting state. If sufficient dust concentration and temperature are reached during the cleaning process, a dust explosion may occur. In this way, the first target powder-sweeping robot can be controlled to begin powder cleaning when the working environment is relatively safe, thereby reducing the risk of production accidents.

[0175] Optionally, when the first target powder-sweeping robot enters a waiting state, it is controlled to detect the powder concentration in the air inside the mixing chamber of the internal mixer and obtain the current operating temperature of the first target internal mixer every second preset time. When the powder concentration is lower than the safe operating concentration threshold and the current operating temperature of the first target internal mixer is lower than the safe operating temperature, the first target powder-sweeping robot is controlled to start powder cleaning.

[0176] In some implementations, when the polymer powder being processed by the first target mixer is determined to be a powder prone to static electricity, the first target powder-sweeping robot is controlled to simultaneously employ a powder suction component, as well as one of a brush, scraper, friction cloth, or friction block for powder cleaning. In a dry environment, static electricity may attract powder back to the surface of the object being cleaned, resulting in incomplete cleaning and potential safety hazards. This method allows the powder to be sucked into a suction container, thereby improving cleaning efficiency and reducing the risk of production accidents.

[0177] In some implementations, when the polymer powder is determined to be sticky based on the type of polymer powder being processed by the first target mixer, the first target powder-sweeping robot is controlled to use one of the following for powder cleaning: a scraper, a friction cloth, or a friction block. Sticky powder tends to adhere to the surface of the object being cleaned, and it may be difficult to clean it completely using a powder suction assembly, a powder suction device, or a brush. This method allows for the use of a harder powder-sweeping workpiece, which is beneficial for thoroughly cleaning sticky powder.

[0178] In some implementations, when the polymer powder being processed by the first target mixer is determined to be corrosive based on its type, the first target powder-sweeping robot is controlled to use a powder-sweeping workpiece made of corrosion-resistant material to perform powder cleaning. This avoids using ordinary powder-sweeping workpieces made of non-corrosion-resistant materials to clean corrosive powder, thus extending the service life of ordinary powder-sweeping workpieces.

[0179] Step S123: Determine whether the powder cleaning work is complete.

[0180] In some implementations, step S123 includes: when the duration of the powder cleaning operation is greater than a first preset time, determining that the powder cleaning operation is completed; otherwise, determining that the powder cleaning operation is not completed and continuing the powder cleaning operation.

[0181] Optionally, the first preset time ranges from 5 seconds to 15 seconds. For example, the first preset time is 5 seconds, 10 seconds, or 15 seconds, etc.

[0182] In some implementations, step S123 includes steps S1231 to S1234.

[0183] Step S1231: Obtain the first image of the mixing chamber of the internal mixer.

[0184] In some implementations, the powder-sweeping robot is controlled to use a two-dimensional camera to photograph the mixing chamber of the internal mixer to obtain a first image.

[0185] In some implementations, multiple first images of the internal mixer are acquired in real time during the powder cleaning process.

[0186] Optionally, during the powder cleaning process, a first image of the internal mixer is acquired at preset time intervals.

[0187] Optionally, during the powder cleaning process, video footage taken of the internal mixer can be acquired in real time.

[0188] Step S1232: Identify the first powder-covered area in the first image.

[0189] In some implementations, the first state information also includes color information of the polymer powder currently being processed by the internal mixer.

[0190] In some implementations, an edge detection algorithm is used to identify edges in the first image, thereby identifying at least one feature region in the first image, and then determining whether each feature region is a first powder-covered area based on the color information of the polymer powder currently being processed by the internal mixer.

[0191] Step S1233: Calculate the area of ​​the first powder-covered region, and / or calculate the powder thickness of the first powder-covered region based on the pixel values ​​of the first powder-covered region.

[0192] In some implementations, a larger pixel value in the first powder-covered area indicates a darker color in the first powder-covered area, and thus a greater powder thickness in the first powder-covered area.

[0193] In some implementations, the powder thickness of the first powder-covered area is calculated based on the pixel values ​​of the first powder-covered area, including steps (1233.1) to (1233.3).

[0194] (1233.1) Obtain the curve of the relationship between pixel value and powder thickness.

[0195] In some implementations, multiple images of a first powder-covered area with various known powder thicknesses are pre-captured. A graph showing the relationship between pixel values ​​and powder thickness is calculated by fitting the pixel values ​​of the first powder-covered area in the multiple images to the corresponding known powder thicknesses. In this way, even if the relationship between pixel values ​​and powder thickness is not linear, the corresponding powder thickness can be accurately calculated based on the pixel values.

[0196] (1233.2) Calculate the powder thickness corresponding to each pixel point based on the pixel value of each pixel point in the first powder coverage area and the curve of the correspondence between pixel value and powder thickness.

[0197] In some implementations, the powder thickness corresponding to each pixel value is determined based on the pixel value of each pixel in the graph showing the relationship between pixel value and powder thickness.

[0198] (1233.3) Calculate the powder thickness of the first powder coverage area based on the powder thickness corresponding to each pixel in the first powder coverage area.

[0199] In some embodiments, the powder thickness of the first powder-covered area is the average powder thickness of the first powder-covered area.

[0200] Optionally, the powder thickness corresponding to each pixel in the first powder-covered area is added together and then divided by the total number of all pixels in the first powder-covered area to obtain the average powder thickness of the first powder-covered area.

[0201] In some implementations, the powder thickness of the first powder-covered area includes the powder thickness corresponding to each pixel in the first powder-covered area.

[0202] Step S1234: When the area of ​​the first powder-covered area is greater than the first preset area, and / or the powder thickness of the first powder-covered area is greater than the first preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0203] In some implementations, when the area of ​​the first powder-covered region is greater than the first preset area, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0204] In some implementations, when the powder thickness of the first powder-covered area is greater than a first preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0205] In some implementations, when the area of ​​the first powder-covered region is greater than the first preset area and the powder thickness of the first powder-covered region is greater than the first preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0206] In some implementations, step S123 includes steps S1236 to S1237.

[0207] Step S1236: During the powder cleaning process, obtain the powder concentration in the air inside the mixing chamber of the internal mixer.

[0208] In some embodiments, the powder-sweeping robot also includes a first powder detection device. During powder cleaning, the first powder detection device is used to obtain the powder concentration in the air within the mixing chamber of the internal mixer.

[0209] In some embodiments, the internal mixer also includes a second powder detection device. During powder cleaning operations, the second powder detection device is used to obtain the powder concentration in the air within the mixing chamber of the internal mixer.

[0210] Step S1237: When the powder concentration is lower than the preset concentration, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0211] In some implementations, when the powder concentration is lower than a preset concentration, it indicates that less powder is airborne during the powder cleaning process, further suggesting that the powder on the surface of the object being cleaned has been essentially cleaned.

[0212] Step S124: When it is determined that the powder cleaning work is completed, a sixth control command is sent to the internal mixer to make the internal mixer close the feed door and continue to work.

[0213] In some implementations, when the operator determines that the powder cleaning work is complete based on the first and second status information, a second control command is sent to control the second target powder-sweeping robot corresponding to the second control command to stop the powder cleaning work, and to control the corresponding second target internal mixer to close the feed door and continue working. At this time, step S100 also includes step S130.

[0214] Step S130: When the second control command is received, control the second target powder sweeping robot corresponding to the second control command to stop the powder cleaning work, and control the corresponding second target internal mixer to close the feed door and continue working.

[0215] In some implementations, the first target dust-sweeping robot and the second target dust-sweeping robot are the same dust-sweeping robot, and the first target internal mixer and the second target internal mixer are the same internal mixer.

[0216] In some implementations, step S120 or step S130 can be performed separately, the first target dust sweeping robot and the second target dust sweeping robot may not be the same dust sweeping robot, and the first target internal mixer and the second target internal mixer may not be the same internal mixer.

[0217] Step S200: When the powder sweeping robot is cleaning the powder in the internal mixer, acquire and record the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot.

[0218] The first state information is used to indicate the working state of the internal mixer, and the second state information is used to indicate the working state of the powder sweeping robot.

[0219] By acquiring and recording the first state information of at least one internal mixer and the second state information of at least one powder-sweeping robot when the powder-sweeping robot is cleaning the powder in the internal mixer, relevant information of the powder cleaning process can be recorded. This allows operators to troubleshoot based on the first and second state information, thereby ensuring the normal operation of the powder cleaning work.

[0220] In some implementations, the internal mixer switches between multiple operating states sequentially during a single operation.

[0221] In some implementations, each operating state of the internal mixer corresponds to a preset operating temperature. The internal mixer processes the polymer powder to the corresponding preset operating temperature in each operating state.

[0222] In some implementations, during a single operation of the internal mixer, the preset operating temperature for each operating state increases sequentially. For example, during a single operation, the internal mixer sequentially switches between four operating states: the preset operating temperature for the first state is 95 degrees Celsius, for the second state it is 120 degrees Celsius, for the third state it is 140 degrees Celsius, and for the fourth state it is 155 degrees Celsius. The internal mixer processes the polymer powder to 95 degrees Celsius in the first state, 120 degrees Celsius in the second state, 140 degrees Celsius in the third state, and 155 degrees Celsius in the fourth state. In this way, the internal mixer can gradually melt the polymer powder.

[0223] In some implementations, the first state information includes the current operating temperature and current operating state of the internal mixer.

[0224] Optionally, the current operating status of the internal mixer can be one of the operating states in the workflow, such as a fault state or a cleaning state.

[0225] In some implementations, the first state information also includes the first position information of the internal mixer.

[0226] In some implementations, the working states of the dust-collecting robot include working state, idle state, fault state, and charging state.

[0227] In some implementations, the method further includes step S300: displaying the working status of each internal mixer based on the first status information of each internal mixer.

[0228] In some implementations, each operating state of the internal mixer corresponds to a first state icon, and the first state icon corresponding to each operating state of the internal mixer is displayed.

[0229] In some implementations, the first state information includes the current operating temperature of the internal mixer and the operating duration of the current operating state.

[0230] In some implementations, there are multiple first state information items, and the acquisition time of the multiple first state information items is different.

[0231] In some implementations, step S300 includes: generating and displaying a first statistical chart representing the relationship between the operating temperature and time of the internal mixer based on all first state information of each internal mixer.

[0232] Optionally, the first statistical graph may be a line graph, histogram, or table.

[0233] Optionally, the first statistical chart can dynamically display the relationship between the operating temperature of the internal mixer and time.

[0234] In some implementations, the first state information includes the current operating temperature of the internal mixer, the duration of the current operating state, and the thickness of powder adhering to the surface of the object being cleaned inside the internal mixer.

[0235] In some implementations, step S300 includes: generating and displaying a second statistical chart representing the correspondence between the operating temperature of the internal mixer, powder thickness, and time, based on all the first state information of each internal mixer.

[0236] Optionally, the second statistical chart may be a line chart, histogram, or table.

[0237] Optionally, the second statistical chart dynamically displays the relationship between the operating temperature of the internal mixer, powder thickness, and time.

[0238] By displaying the working status of each internal mixer based on its initial status information, operators can easily monitor the working status of the internal mixers in real time to ensure the normal operation of all internal mixers. This also facilitates troubleshooting of internal mixer malfunctions.

[0239] In some implementations, the method further includes step S400: displaying the working status of each dust-sweeping robot based on the second status information of each dust-sweeping robot.

[0240] In some implementations, each working state of the dust-sweeping robot corresponds to a second state icon, displaying the second state icon corresponding to each working state of the dust-sweeping robot.

[0241] By displaying the working status of each dust-sweeping robot based on its second status information, operators can easily monitor the working status of the dust-sweeping robots in real time, ensuring the normal operation of all dust-sweeping robots and facilitating troubleshooting of the dust-sweeping robots.

[0242] In some implementations, the first state information includes the first position information of the internal mixer, and the second state information includes the second position information and working state information of the powder sweeping robot.

[0243] In some implementations, step S400 includes steps S410 to S420.

[0244] Step S410: Display whether the powder cleaning robot is cleaning the powder from the internal mixer based on the working status information of each powder cleaning robot.

[0245] In some implementations, when the working status information indicates that the powder-sweeping robot is in operation, it shows that the powder-sweeping robot is cleaning powder from the internal mixer. When the working status information indicates that the powder-sweeping robot is idle, it shows that the powder-sweeping robot is not cleaning powder from the internal mixer.

[0246] Step S420: When the powder sweeping robot is cleaning the powder in the internal mixer, the working time and / or remaining time of the current working state of the powder sweeping robot are displayed according to the working status information of the powder sweeping robot. The current position of the powder sweeping robot and the current position of the corresponding internal mixer are displayed according to the second position information of the powder sweeping robot and the first position information of the corresponding internal mixer.

[0247] In some implementations, a map displaying all internal mixers and dust collectors is generated based on first and second location information. The map displays the current location of the dust collector and the current location of the corresponding internal mixer.

[0248] Optionally, the map can display the current working duration and / or remaining time of the dust-collecting robot in its current working state. The current working duration of the dust-collecting robot refers to the duration of its current working state.

[0249] In some implementations, a countdown timer is used to display the remaining time of the current working state of the dust-collecting robot.

[0250] By displaying the working status of each dust-sweeping robot based on its second status information, operators can easily monitor the working status of the dust-sweeping robots in real time, ensuring the normal operation of all dust-sweeping robots and facilitating troubleshooting.

[0251] In some implementations, the method further includes step S500: whenever it is determined from the second state information that the powder sweeping robot is cleaning the powder in the internal mixer, the first image obtained by the powder sweeping robot from the mixing chamber of the internal mixer is acquired and displayed in real time.

[0252] By acquiring and displaying the first image taken by the powder-sweeping robot of the mixing chamber of the internal mixer in real time, operators can easily monitor the powder cleaning process in real time, ensuring the normal execution of the powder cleaning process.

[0253] In some implementations, the powder-sweeping robot is controlled to use a two-dimensional camera to photograph the mixing chamber of the internal mixer to obtain a first image.

[0254] In some implementations, multiple first images of the internal mixer are acquired and displayed in real time during the powder cleaning process.

[0255] Optionally, during the powder cleaning process, a first image of the internal mixer is acquired at preset time intervals.

[0256] Optionally, during the powder cleaning process, video footage taken of the internal mixer can be acquired and displayed in real time.

[0257] In some implementations, the internal mixer or the target dust collection robot may malfunction before the powder cleaning operation begins, preventing the cleaning task from being performed correctly. Therefore, before starting powder cleaning of the internal mixer's mixing chamber, it is necessary to ensure that both the internal mixer and the corresponding target dust collection robot are functioning properly.

[0258] In some implementations, the method further includes steps S600 to S700.

[0259] Step S600: Determine whether the internal mixer is in normal working condition based on the first state information of each internal mixer.

[0260] As mentioned above, the first status information includes the current operating temperature and current operating status of the internal mixer.

[0261] In some implementations, the first state information inside the mixing chamber of the internal mixer is acquired again, and it is determined whether the internal mixer is in normal working condition based on the currently acquired first state information. This is because the internal mixer may need to wait for the corresponding powder-sweeping robot to sweep the powder, and during the waiting process, the internal mixer may malfunction. Since the time since the first acquisition of the first state information has been some time ago, it is now outdated, so it is necessary to acquire the first state information inside the mixing chamber of the internal mixer again.

[0262] In some implementations, when the current operating state is a fault state, it is determined that the internal mixer is not in a normal operating state.

[0263] In some implementations, the internal mixer may not actively report an error when a malfunction occurs, but will still determine the current operating state as normal. However, the current operating temperature of the internal mixer will be higher than the warning temperature.

[0264] In some implementations, the internal mixer is determined to be not in normal working condition when the current operating temperature is higher than the warning temperature.

[0265] In some implementations, the internal mixer is determined to be in normal working condition when the current operating temperature is not higher than the warning temperature and the current operating state is not a fault state.

[0266] Step S700: When it is determined that the internal mixer is not in normal working condition, control the powder sweeping robot corresponding to the internal mixer to cancel the cleaning task corresponding to the internal mixer.

[0267] In some implementations, when the internal mixer is not in normal working order, a task cancellation command is sent to the corresponding dust-sweeping robot to cancel the cleaning task for that internal mixer. This allows the dust-sweeping robot to perform other cleaning tasks without wasting time.

[0268] In some implementations, when the internal mixer is not in normal working condition, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the internal mixer.

[0269] In some implementations, the method further includes steps S800 to S900.

[0270] Step S800: Determine whether the dust sweeping robot is in normal working condition based on the second state information of the dust sweeping robot corresponding to each internal mixer.

[0271] As described above, in some embodiments, the second state information includes the second position information and working status information of the dust-sweeping robot.

[0272] Optionally, the working status of the dust-collecting robot includes working status, idle status, fault status, and charging status.

[0273] In some implementations, when the dust-sweeping robot is determined to be in a faulty state based on the working status information, it is determined that the dust-sweeping robot is not in a normal working state.

[0274] In some implementations, the dust-collecting robot may not actively report an error when a malfunction occurs, but will still determine its current working state as normal. However, in this case, the dust-collecting robot will not move, nor will it be in a charging state.

[0275] In some implementations, if it is determined based on the second state information that the powder-sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state, it is determined that the powder-sweeping robot is not in a normal working state.

[0276] In some implementations, when it is determined based on the working status information that the dust-sweeping robot is not in a fault state and does not move for a first preset time while not in a charging state, the dust-sweeping robot is determined to be in a normal working state.

[0277] Step S900: When it is determined that the dust sweeping robot is not in normal working condition, select one dust sweeping robot from the other dust sweeping robots in normal working condition according to the preset rules as the dust sweeping robot corresponding to the internal mixer.

[0278] Among them, the powder cleaning robot corresponding to the internal mixer is used to clean the powder in the mixing chamber of the internal mixer.

[0279] In some implementations, when the dust-sweeping robot is not in normal working condition, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the dust-sweeping robot.

[0280] By using the above method, when a cleaning task cannot be executed normally, the cleaning task can be canceled in a timely manner, so that the internal mixer can be cleaned of powder in a timely manner.

[0281] As described above, in some embodiments, the first state information further includes the first position information of the internal mixer, and the second state information further includes the second position information of the powder sweeping robot.

[0282] In some implementations, step S900 includes steps S910 to S930.

[0283] Step S910: When it is determined that the dust sweeping robot is not in normal working condition, the cleaning time period of the internal mixer is determined based on the first state information of the internal mixer.

[0284] In some implementations, the cleaning start time of the internal mixer is determined based on the first state information of the internal mixer, and then the cleaning time period of the internal mixer is determined based on the cleaning start time and a preset first time. The first preset time is the preset duration of the powder cleaning operation.

[0285] Optionally, the start time of the cleaning period for the internal mixer is the cleaning start time of the internal mixer, and the duration is a first preset time.

[0286] Optionally, the first preset time ranges from 5 seconds to 15 seconds. For example, the first preset time is 5 seconds, 10 seconds, or 15 seconds, etc.

[0287] As described above, in some embodiments, the internal mixer switches between multiple operating states sequentially during a single operation.

[0288] In some implementations, the end time of each operating state, except for the last operating state of the internal mixer, is the cleaning start time of the internal mixer. In some implementations, when the current operating temperature in the first status information reaches the preset operating temperature, the cleaning start time of the internal mixer is the current time.

[0289] When the current operating temperature of the internal mixer reaches the preset operating temperature corresponding to the current operating state, it indicates that the internal mixer should enter the next operating state. At this time, it is determined to perform powder cleaning work on the internal mixer so that the flying polymer material powder can continue to participate in the production process before the internal mixer enters the next operating state, thereby improving the quality and yield of the final product.

[0290] In some implementations, the preset operating temperature range is 50 degrees to 200 degrees. For example, the preset operating temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees, etc.

[0291] In some implementations, the cleaning start time of the internal mixer is the time when the working duration of the current working state reaches a preset duration.

[0292] When the internal mixer reaches the preset time corresponding to the current working state, it indicates that the internal mixer should enter the next working state. At this time, it is determined to perform powder cleaning work on the internal mixer so that the flying polymer material powder can continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and yield of the final product.

[0293] Step S920: Based on the second state information of all dust-sweeping robots, determine all dust-sweeping robots that are idle during the cleaning time period of the internal mixer.

[0294] In some implementations, each dust-sweeping robot corresponds to a task list, and the dust-sweeping robot is used to perform cleaning tasks in the task list. A cleaning task is the task of cleaning powder from the target internal mixer corresponding to the dust-sweeping robot.

[0295] In some implementations, each cleaning task includes a preset cleaning time period, and the second status information also includes the expected working status of the dust-sweeping robot in the current and future time.

[0296] In some implementations, the working status of the dust-sweeping robot in the current and future time is determined based on the second state information of the dust-sweeping robot. When the dust-sweeping robot is idle during the cleaning time period of the internal mixer, it is determined that the dust-sweeping robot is idle during the cleaning time period of the internal mixer.

[0297] Step S930: Based on the first position information of the internal mixer and the second position information of all idle powder-sweeping robots, select the powder-sweeping robot that is closest to the internal mixer from all idle powder-sweeping robots as the powder-sweeping robot corresponding to the internal mixer.

[0298] In some implementations, each internal mixer belongs to a work area.

[0299] Optionally, the work areas can be divided according to the production workshop, with one production workshop constituting one work area.

[0300] Optionally, the work areas can be divided according to the type of polymer powder processed by the internal mixer, and all internal mixers that process the same type of polymer powder belong to the same work area.

[0301] In some implementations, each work area has a priority order.

[0302] In some implementations, step S930 includes steps S9301 to S9305.

[0303] Step S9301: Determine the operating area to which the internal mixer belongs based on the first position information of the internal mixer.

[0304] In some implementations, each work area has a preset location range. When the location range of the internal mixer is determined to be within a work area based on the first location information of the internal mixer, the internal mixer is determined to belong to that work area.

[0305] Step S9302: Determine the working area of ​​each dust-sweeping robot based on the second position information of each idle state dust-sweeping robot corresponding to each internal mixer.

[0306] In some implementations, a mixing mill corresponds to at least one dust-sweeping robot that is idle during the cleaning period of the mixing mill.

[0307] In some implementations, when the location of the dust-sweeping robot is determined to be within a working area based on the second location information, the dust-sweeping robot is determined to belong to that working area.

[0308] Step S9303: When there is a powder-sweeping robot in the same working area as the internal mixer among all the idle powder-sweeping robots, all powder-sweeping robots in the same working area as the internal mixer are identified as the third device.

[0309] The third device is a powder-sweeping robot that is idle during the cleaning period of the internal mixer and belongs to the same work area as the internal mixer.

[0310] Step S9304: Based on the first position information of the internal mixer and the second position information of all third devices, select the third device closest to the internal mixer as the target powder sweeping robot corresponding to the internal mixer.

[0311] By prioritizing the selection of idle dust-sweeping robots belonging to the same work area as the internal mixer as the target dust-sweeping robot for the internal mixer, the internal mixer and dust-sweeping robot in each work area can be independently paired and scheduled, avoiding interference with the scheduling of other work areas.

[0312] In some implementations, if none of the idle powder-sweeping robots belong to the same work area as the internal mixer, then a powder-sweeping robot from a lower-priority work area can be scheduled to clean the powder from that internal mixer first. This approach ensures the internal mixer is cleaned as promptly as possible while minimizing impact on other higher-priority work areas.

[0313] Step S9305: When there is no cleaning robot in the same working area as the internal mixer among all the idle cleaning robots, select the cleaning robot closest to the internal mixer as the target cleaning robot corresponding to the internal mixer from all the idle cleaning robots whose priority order of their working areas is lower than that of the internal mixer's working area.

[0314] In some implementations, selecting a dust-sweeping robot that is closest to the internal mixer as the target dust-sweeping robot for the internal mixer can minimize the time it takes for the target dust-sweeping robot to reach the internal mixer, thereby ensuring that the internal mixer is cleaned in a timely manner.

[0315] In some embodiments, after step S900, the method further includes controlling a target powder-sweeping robot corresponding to each internal mixer to perform powder cleaning work on the mixing chamber of the internal mixer. See the description of step S100 for details.

[0316] In summary, the control method provided by the embodiments of this application has the following advantages: 1. Upon receiving a control command, the system controls the corresponding internal mixer and powder-sweeping robot's operating status accordingly. This allows the powder-sweeping robot to clean the powder from the internal mixer, eliminating the need for manual cleaning by operators and significantly improving efficiency while reducing production costs. Furthermore, by acquiring and recording the first status information of at least one internal mixer and the second status information of at least one powder-sweeping robot during the cleaning process, the system records relevant information about the powder cleaning process. This facilitates troubleshooting by operators based on the first and second status information, ensuring the normal operation of the powder cleaning process.

[0317] 2. By displaying the working status of each internal mixer based on its first status information, operators can easily monitor the working status of the internal mixers in real time to ensure the normal operation of all internal mixers. It also facilitates troubleshooting of internal mixers.

[0318] 3. By displaying the working status of each dust-sweeping robot based on its second status information, operators can easily monitor the working status of the dust-sweeping robots in real time to ensure the normal operation of all dust-sweeping robots. It also facilitates troubleshooting of dust-sweeping robots by operators.

[0319] 4. By acquiring and displaying the first image of the internal mixer chamber captured by the powder-sweeping robot in real time, operators can easily monitor the powder cleaning process in real time, ensuring the normal execution of the powder cleaning process.

[0320] Please see Figure 20 , Figure 20 This is a schematic diagram of the structure of a powder-collecting robot provided in an embodiment of this application. Figure 20 As shown, the dust-collecting robot 400 includes: one or more processors 410 and a memory 420. Figure 20 Take a processor 410 as an example.

[0321] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 20 Taking the example of a connection between China and Israel via a bus.

[0322] In some embodiments, the processor 410 is configured to acquire and record first state information of at least one internal mixer and second state information of at least one powder-sweeping robot. The first state information is used to indicate the working state of the internal mixer, and the second state information is used to indicate the working state of the powder-sweeping robot. The powder-sweeping robot is used to clean the powder in the mixing chamber of the internal mixer. When a control command is received, the processor controls the working state of the corresponding internal mixer and / or powder-sweeping robot according to the control command.

[0323] In some embodiments, the memory 420 serves as a non-volatile computer-readable storage medium, used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules of the control method in the embodiments of this application. The processor 410 executes various functional applications and data processing of the dust-sweeping robot 400 by running the non-volatile software programs, instructions, and modules stored in the memory 420, thereby implementing the control method of the above-described method embodiments.

[0324] In some embodiments, memory 420 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the dust-collecting robot 400, etc. Furthermore, memory 420 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 420 may optionally include memory remotely located relative to processor 410, and this remote memory may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0325] In some implementations, one or more modules are stored in memory 420 and, when executed by one or more processors 410, perform the control methods described in any of the above method embodiments, for example, the methods described above. Figure 17 The method steps S100 to S200.

[0326] In some implementations, the dust-sweeping robot can be a chip, such as a data processing unit (DPU) chip used in data centers. Alternatively, the dust-sweeping robot can be a network interface card that includes a chip and multiple interfaces (such as PCI / PCIE interfaces, UART interfaces, USB interfaces, etc.). Or, the dust-sweeping robot can be a traditional server, or a server that includes a network interface card or chip. The server includes a host and a data processor. The data processor is used to schedule packets to the host or the data processor itself for processing. The host is used to process the packets scheduled by the data processor.

[0327] Please refer to Figure 21 , Figure 21 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the control method described in the above method embodiments.

[0328] The computer-readable storage medium 500 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-volatile computer-readable medium. The computer-readable storage medium 500 has storage space for program code that performs any of the method steps of the control method described above. This program code can be read from or written to one or more computer program products. The program code may, for example, be compressed in a suitable form.

[0329] In some embodiments, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the control method described above.

[0330] In summary, this application provides a control method, a powder-sweeping robot, an internal mixer, and a storage medium. The control method includes: upon receiving a control command, controlling the working states of the corresponding internal mixer and the powder-sweeping robot according to the control command, so as to control the powder-sweeping robot to perform powder cleaning work on the internal mixer; while the powder-sweeping robot is performing powder cleaning work on the internal mixer, acquiring and recording first state information of at least one internal mixer and second state information of at least one powder-sweeping robot, wherein the first state information is used to indicate the working state of the internal mixer, and the second state information is used to indicate the working state of the powder-sweeping robot, and the powder-sweeping robot is used to perform powder cleaning work on the mixing chamber of the internal mixer. This application, by controlling the working states of the corresponding internal mixer and the powder-sweeping robot according to the control command upon receiving a control command, can control the powder-sweeping robot to perform powder cleaning work on the internal mixer, eliminating the need for operators to manually clean the powder in the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning of the internal mixer and reducing production costs. Furthermore, by acquiring and recording at least one first state information of the internal mixer and at least one second state information of the powder-sweeping robot when the powder-sweeping robot is cleaning the powder in the internal mixer, relevant information of the powder cleaning process can be recorded, which facilitates the operator to troubleshoot based on the first and second state information, thereby ensuring the normal operation of the powder cleaning work.

[0331] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method, characterized in that, The method includes: When a control command is received, the working status of the corresponding internal mixer and the powder cleaning robot is controlled according to the control command, so as to control the powder cleaning robot to clean the powder from the internal mixer. When a control command is received, the corresponding internal mixer and powder-sweeping robot are controlled according to the control command to perform powder cleaning work on the internal mixer, including: When a first control command is received, the robot corresponding to the first target powder sweeping command is controlled to move to the corresponding first target internal mixer, and the first target internal mixer is controlled to stop working and open the feed door. When the first control command is received, the first target dust sweeping robot corresponding to the first control command is controlled to move to the corresponding first target internal mixer, and the first target internal mixer is controlled to stop working and open the feed door; Send a third control command to the first target internal mixer to cause the internal mixer to open the feed door; Based on the status information of the internal mixer, the cleaning mode corresponding to the internal mixer is determined. The cleaning mode includes a complete cleaning model and a partial cleaning mode. Each cleaning mode corresponds to a set of cleaning parameters. The set of cleaning parameters includes multiple preset cleaning objects, the cleaning sequence corresponding to each cleaning object and all powder-sweeping workpieces, the cleaning time, cleaning force and cleaning speed corresponding to each powder-sweeping workpiece. The powder-sweeping workpieces include brushes, scrapers, friction cloths, friction blocks, powder blowing components and powder suction components. The brushes include roller brushes and plate brushes. When the cleaning mode corresponding to the internal mixer is determined, the internal mixing chamber of the internal mixer is cleaned with powder using the corresponding cleaning mode. Specifically, a fourth control command is sent to the internal mixer to lower the pressure hammer; the plate brush is controlled to clean the surface of the pressure hammer connecting rod with powder; while the pressure hammer is lowered, the roller brush is controlled to clean the first side of the inner wall of the internal mixing chamber with powder; the roller brush is controlled to clean the first part of the surface of the pressure hammer with powder; the roller brush is controlled to clean the second side of the inner wall of the internal mixing chamber with powder; the roller brush is controlled to clean the second part of the surface of the pressure hammer with powder; a fifth control command is sent to the internal mixer to raise the pressure hammer; and the scraper is controlled to clean the first, second, and third sides of the inner wall of the internal mixing chamber with powder. When the second control command is received, the second target powder sweeping robot corresponding to the second control command is controlled to stop the powder cleaning work, and the corresponding second target internal mixer is controlled to close the feed door and continue to work; When the powder-sweeping robot performs powder cleaning work on the internal mixer, it acquires and records at least one first state information of the internal mixer and at least one second state information of the powder-sweeping robot. The first state information is used to indicate the working state of the internal mixer, and the second state information is used to indicate the working state of the powder-sweeping robot. Based on the second state information of the powder sweeping robot corresponding to each internal mixer, it is determined whether the powder sweeping robot is in normal working condition; When it is determined that the powder-sweeping robot is not in normal working condition, a powder-sweeping robot is selected from other powder-sweeping robots in normal working condition according to preset rules as the powder-sweeping robot corresponding to the internal mixer. The powder-sweeping robot corresponding to the internal mixer is used to clean the powder in the mixing chamber of the internal mixer. The first status information also includes the first position information of the internal mixer, and the second status information also includes the second position information of the powder-sweeping robot. The step of selecting a powder-sweeping robot from among other powder-sweeping robots in normal working condition as the powder-sweeping robot corresponding to the internal mixer according to a preset rule when it is determined that the powder-sweeping robot is not in normal working condition includes: When it is determined that the dust-sweeping robot is not in normal working condition, the cleaning time period of the internal mixer is determined based on the first state information of the internal mixer; Based on the second state information of all the powder-sweeping robots, determine all powder-sweeping robots that are idle during the cleaning time period of the internal mixer; Based on the first position information of the internal mixer and the second position information of all idle powder-sweeping robots, select the powder-sweeping robot closest to the internal mixer from all the idle powder-sweeping robots as the powder-sweeping robot corresponding to the internal mixer.

2. The control method according to claim 1, characterized in that, The method further includes: The operating status of each internal mixer is displayed based on the first status information of each internal mixer.

3. The control method according to claim 2, characterized in that, The first status information includes the current operating temperature and the current operating duration of the internal mixer. There are multiple pieces of the first status information, and the acquisition times of these multiple pieces of first status information are different. Displaying the operating status of each internal mixer based on the first status information of each internal mixer includes: A first statistical chart representing the relationship between the operating temperature and time of each internal mixer is generated and displayed based on all the first state information of each internal mixer.

4. The control method according to claim 2, characterized in that, The first status information includes the current operating temperature of the internal mixer, the operating duration of the current operating state, and the thickness of powder adhering to the surface of the object being cleaned within the mixing chamber of the internal mixer. There are multiple pieces of the first status information, and the acquisition times of these multiple pieces of first status information are different. Displaying the operating status of each internal mixer based on the first status information of each internal mixer includes: A second statistical chart is generated and displayed based on all the first state information of each internal mixer, showing the correspondence between the operating temperature of the internal mixer, powder thickness and time.

5. The control method according to claim 1, characterized in that, The method further includes: The working status of each dust-sweeping robot is displayed based on the second status information of each dust-sweeping robot.

6. The control method according to claim 5, characterized in that, The first status information includes the first position information of the internal mixer, and the second status information includes the second position information and working status information of the powder-sweeping robot. Displaying the working status of each powder-sweeping robot based on the second status information of each of the powder-sweeping robots includes: The working status information of each of the powder-sweeping robots indicates whether the powder-sweeping robot is currently performing powder cleaning work on the internal mixer; When the powder-sweeping robot is cleaning powder from the internal mixer, the working time and / or remaining time of the current working state of the powder-sweeping robot are displayed according to the working status information of the powder-sweeping robot. The current position of the powder-sweeping robot and the current position of the corresponding internal mixer are also displayed according to the second position information of the powder-sweeping robot and the first position information of the corresponding internal mixer.

7. The control method according to any one of claims 1-6, characterized in that, The method further includes: Whenever it is determined from the second status information that the powder-sweeping robot is cleaning powder from the internal mixer, the first image captured by the powder-sweeping robot of the mixing chamber of the internal mixer is acquired and displayed in real time.

8. The control method according to claim 1, characterized in that, The method further includes: Based on the first state information of each internal mixer, determine whether the internal mixer is in normal working condition; When it is determined that the internal mixer is not in normal working condition, the corresponding powder-sweeping robot is controlled to cancel the cleaning task of the internal mixer.

9. The control method according to claim 8, characterized in that, The first status information includes the current operating temperature and current operating status of the internal mixer. The step of determining whether the internal mixer is in normal operating condition based on the first status information of each internal mixer includes: When the current operating temperature is higher than the warning temperature, it is determined that the internal mixer is not in normal working condition; or When the current working state is a fault state, it is determined that the internal mixer is not in a normal working state; otherwise, it is determined that the internal mixer is in a normal working state.

10. The control method according to claim 1, characterized in that, The second status information includes the second position information and working status information of the dust-sweeping robot. The step of determining whether the dust-sweeping robot is in normal working condition based on the second status information of the dust-sweeping robot corresponding to each internal mixer includes: When, based on the second state information, it is determined that the powder-sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state, it is determined that the powder-sweeping robot is not in a normal working state; or When the working status information indicates that the dust-sweeping robot is in a fault state, it is determined that the dust-sweeping robot is not in a normal working state; otherwise, it is determined that the dust-sweeping robot is in a normal working state.

11. A powder-sweeping robot, characterized in that, The powder-sweeping robot includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the control method as described in any one of claims 1 to 10.

12. A type of internal mixer, characterized in that, The invention includes a mixing mill body and a powder-sweeping robot as described in claim 11. The powder-sweeping robot is installed on the mixing mill body. The mixing mill body is provided with a mixing chamber and a pressure hammer is provided in the mixing chamber. The powder-sweeping robot is used to drive the powder-sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an executable program, which is executed by a processor to implement the control method as described in any one of claims 1 to 10.

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