Powder sweeping control method, powder sweeping robot, internal mixer and storage medium

Abstract

The invention discloses a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium. The powder sweeping control method comprises the following steps: acquiring first state information of internal mixing chambers of a plurality of internal mixers; acquiring second state information of at least one powder scanning robot; and based on the multiple pieces of first state information and all the second state information, at least one powder sweeping robot is controlled to conduct powder cleaning work on an internal mixing chamber of at least one internal mixer. According to the method and the device, the at least one powder sweeping robot is controlled to carry out powder cleaning work on the internal mixing chamber of the at least one internal mixer based on the multiple pieces of first state information and all the second state information, and the powder sweeping robot can be automatically scheduled to carry out powder cleaning work on the internal mixing chamber of the target internal mixer needing to carry out powder cleaning work; and an operator does not need to manually clean powder in the internal mixing chamber of the internal mixer by using a tool, so that the efficiency of cleaning the powder in the internal mixing chamber of the internal mixer is greatly improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment industry, and in particular to a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium. Background Art

[0002] Closed rubber mixer, also known as internal mixer, plays an indispensable role in the rubber processing industry. Internal mixer is mainly used for plasticizing and mixing rubber. It uses a pair of rotors with specific shapes and relative rotation to intermittently process polymer materials in a closed environment with adjustable temperature and pressure. Internal mixer consists of a mixing chamber, rotor, sealing device, feeding and pressing device, unloading device, transmission device and machine base, etc., and is widely used in various industrial fields that require precise control of the material mixing process.

[0003] In the current operation process of the internal mixer, when the operator feeds materials into the internal mixer, and when the hammer is pressed down to approach the rotor set in the internal mixer, the polymer material powder often flies. The flying polymer material powder will adhere to the side wall of the internal mixer and the surface of the hammer, and cannot participate in the production process under the action of the rotor, which often affects the quality and output of the final product. To solve this problem, the existing powder cleaning method is to manually clean the polymer material powder, that is, the operator uses a tool to manually clean the polymer material powder so that it falls back above the rotor to re-participate in the mixing process.

[0004] However, the manual cleaning method of polymer material powder has low cleaning efficiency, resulting in high production costs. Summary of the invention

[0005] In response to the deficiencies in the prior art, the present application provides a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium. By controlling at least one powder sweeping robot to perform powder cleaning work on a mixing chamber of at least one internal mixer based on multiple first state information and all second state information, the powder sweeping robot can be automatically dispatched to perform powder cleaning work on the mixing chamber of a target internal mixer that needs powder cleaning work. There is no need for an operator to use tools to manually clean the powder in the mixing chamber of the internal mixer, thereby greatly improving the efficiency of powder cleaning work in the mixing chamber of the internal mixer and reducing production costs.

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a powder sweeping control method, comprising: obtaining first status information of mixing chambers of multiple internal mixers, wherein the first status information is used to indicate the working status of the mixing chambers of the internal mixers; obtaining second status information of at least one powder sweeping robot, wherein the second status information is used to indicate the working status of the powder sweeping robot; and controlling at least one powder sweeping robot to perform powder cleaning work on the mixing chamber of at least one internal mixer based on multiple first status information and all second status information.

[0008] In some embodiments, the controlling of at least one of the powder sweeping robots to perform powder cleaning work on the mixing chamber of at least one of the internal mixers based on multiple first state information and all second state information includes: determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning work based on multiple first state information; determining a target powder sweeping robot corresponding to each of the target internal mixers based on the first state information of each of the target internal mixers and the second state information of all the powder sweeping robots; and controlling the target powder sweeping robot corresponding to each of the target internal mixers to perform powder cleaning work on the mixing chamber of the target internal mixer.

[0009] In some embodiments, the first status information includes the current operating temperature of the internal mixer, and determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning work based on multiple first status information includes: when the current operating temperature in the first status information reaches a preset operating temperature, determining the internal mixer corresponding to the first status information as the target internal mixer that needs to perform powder cleaning work at the current time.

[0010] In some embodiments, the first status information includes the working time of the current working state of the internal mixer, and determining at least one target internal mixer that needs to perform powder cleaning work among the multiple internal mixers based on multiple first status information includes: when the working time in the first status information reaches a preset time, determining the internal mixer corresponding to the first status information as the target internal mixer.

[0011] In some embodiments, the first status information includes the thickness of powder attached to the surface of the cleaning object in the internal mixing chamber of the internal mixer, and the method of determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning work based on multiple first status information includes: when the powder thickness is greater than a first preset thickness, determining the internal mixer as the target internal mixer.

[0012] In some embodiments, 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 method of determining the target powder sweeping robot corresponding to each target internal mixer based on the first status information of each target internal mixer and the second status information of all the powder sweeping robots includes: determining the cleaning time period of the target internal mixer based on the first status information of each target internal mixer; determining all the powder sweeping robots that are idle during the cleaning time period of the target internal mixer based on the second status information of all the powder sweeping robots; and selecting a powder sweeping robot that is closest to the target internal mixer from all the idle powder sweeping robots based on the first position information of the target internal mixer and the corresponding second position information of all the idle powder sweeping robots as the target powder sweeping robot corresponding to the target internal mixer.

[0013] In some embodiments, each of the target internal mixers belongs to an operating area, and each of the operating areas has a priority order. Based on the first position information of the target internal mixer and the second position information of all corresponding idle powder-sweeping robots, a powder-sweeping robot that is closest to the target internal mixer is selected from all the idle powder-sweeping robots as the target powder-sweeping robot corresponding to the target internal mixer, including: determining the operating area to which the target internal mixer belongs based on the first position information of the target internal mixer; determining the operating area to which each powder-sweeping robot belongs based on the second position information of each idle powder-sweeping robot corresponding to each of the target internal mixers; when there is a powder-sweeping robot with the same distance as the target internal mixer among all the idle powder-sweeping robots When there is a powder sweeping robot belonging to the same operating area as the target internal mixer, all powder sweeping robots belonging to the same operating area as the target internal mixer are determined as third devices; based on the first position information of the target internal mixer and the second position information of all the third devices, a third device closest to the target internal mixer is selected as the target powder sweeping robot corresponding to the target internal mixer; when there is no powder sweeping robot belonging to the same operating area as the target internal mixer among all the idle powder sweeping robots, a powder sweeping robot closest to the target internal mixer is selected as the target powder sweeping robot corresponding to the target internal mixer from among all the idle powder sweeping robots whose priority order of all the operating areas is lower than the priority order of the operating area to which the target internal mixer belongs.

[0014] In some embodiments, the controlling of the target powder sweeping robot corresponding to each of the target internal mixers to perform powder cleaning work on the internal mixer chamber of the target internal mixer includes: constructing a task list for each of the target powder sweeping robots based on the correspondence between each of the target internal mixers and the target powder sweeping robots; judging whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition based on the task list of the target powder sweeping robot corresponding to the target internal mixer; when it is judged that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, controlling the target powder sweeping robot corresponding to the target internal mixer to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0015] In some embodiments, the task list of the target powder sweeping robot corresponding to the target internal mixer is based on determining whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition, including: calculating the function value of the objective function corresponding to each cleaning task in the task list; sorting each of the cleaning tasks in the task list according to the function value of the corresponding objective function to obtain the execution order of each cleaning task; when the execution order of the cleaning task corresponding to the target internal mixer is the first execution order, determining that the cleaning task corresponding to the target internal mixer meets the cleaning start condition.

[0016] In some embodiments, each of the target internal mixers belongs to an operating area, and each of the operating areas has a priority order. The calculation of the function value of the objective function corresponding to each cleaning task in the task list includes: obtaining the cleaning start time corresponding to each cleaning task in the task list, the importance parameter of the target internal mixer, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area; performing weighted calculation based on the cleaning start time corresponding to each cleaning task in the task list, the importance parameter of the target internal mixer, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

[0017] In some embodiments, calculating the function value of the objective function corresponding to each cleaning task in the task list includes: calculating the initial function value of the objective function corresponding to each cleaning task in the task list according to the calculation formula of the objective function; iteratively calculating the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list according to preset rules; when it is determined that the iteration stop condition has been met according to the preset rules, obtaining the final function value of the objective function corresponding to each cleaning task in the task list.

[0018] In some embodiments, controlling the target powder sweeping robot corresponding to each of the target internal mixers to perform powder cleaning work on the internal mixer chamber of the target internal mixer includes: controlling the target powder sweeping robot corresponding to the target internal mixer to send a first control instruction to the target internal mixer to enable the target internal mixer to open a feed door; determining a cleaning mode corresponding to the target internal mixer based on first status information of the target internal mixer; controlling the target powder sweeping robot corresponding to the target internal mixer to perform powder cleaning work on the internal mixer chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer; judging whether the powder cleaning work is completed; when judging that the powder cleaning work is completed, controlling the target powder sweeping robot corresponding to the target internal mixer to send a second control instruction to the target internal mixer to enable the target internal mixer to close the feed door and continue working.

[0019] In some embodiments, the cleaning mode includes a complete cleaning mode and a partial cleaning mode, the first state information of the target internal mixer includes a working sequence number corresponding to the current working state, and determining the cleaning mode corresponding to the target internal mixer based on the first state information of the target internal mixer includes: when the working sequence number corresponding to the current working state in the first state information of the target internal mixer is less than a preset number value, determining the cleaning mode corresponding to the target internal mixer as the complete cleaning mode; when the working sequence number corresponding to the current working state in the first state information of the target internal mixer is not less than the preset number value, determining the cleaning mode corresponding to the target internal mixer as the partial cleaning mode.

[0020] In some embodiments, each of the cleaning modes corresponds to a set of cleaning parameters, and the target powder sweeping robot corresponding to the target internal mixer is controlled to adopt the cleaning mode corresponding to the target internal mixer to perform powder cleaning on the mixing chamber of the target internal mixer, including: determining the cleaning object in the mixing chamber of the target internal mixer and at least one powder sweeping workpiece corresponding to each of the cleaning objects based on the cleaning mode corresponding to the target internal mixer; controlling the target powder sweeping robot corresponding to the target internal mixer to select at least one powder sweeping workpiece corresponding to each of the cleaning objects according to the cleaning process in the cleaning mode corresponding to the target internal mixer, and adopting the corresponding cleaning parameters to perform powder cleaning on the surface of the cleaning object in the mixing chamber.

[0021] In a second aspect, an embodiment of the present application provides a powder 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, and the instructions are executed by the at least one processor so that the at least one processor can execute the powder sweeping control method as described in the first aspect.

[0022] In the third aspect, an embodiment of the present application provides an internal mixer, comprising an internal mixer body and a powder sweeping robot as described in the second aspect, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the powder sweeping control method as described in the first aspect.

[0024] The present application provides a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium. The present application controls at least one powder sweeping robot to perform powder cleaning work on the internal mixer chamber of at least one internal mixer based on multiple first state information and all second state information. The powder sweeping robot can be automatically dispatched to perform powder cleaning work on the internal mixer chamber of the target internal mixer that needs to perform powder cleaning work. There is no need for an operator to use tools to manually clean the powder in the internal mixer chamber, thereby greatly improving the efficiency of powder cleaning work in the internal mixer chamber and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened. Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application. Figure 4 It is a schematic diagram of a second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 It is a schematic diagram of the third state of the pressure hammer pressing down in the internal mixer of the embodiment of the present application. Figure 6 This is a schematic diagram of the first application scenario of the powder sweeping control method provided in an embodiment of the present application. Figure 7 This is a schematic diagram of a second application scenario of the powder sweeping control method provided in an embodiment of the present application. Figure 8 This is a schematic diagram of the third application scenario of the powder sweeping control method provided in an embodiment of the present application. Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used for an internal mixer according to an embodiment of the present application. Fig.10 This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.12This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.14 This is a top view of the friction block and the plug-in shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application. Fig.16 This is a top view of the first mounting seat of the powder sweeping robot used in the internal mixer according to an embodiment of the present application. Fig.17 It is a flow chart of the powder sweeping control method provided in an embodiment of the present application. Fig.18 yes Fig.17 Detailed flowchart of step S300. Fig.19A This is the first schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19B This is a second schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19C This is the third schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19D This is the fourth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19E This is the fifth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig. 20 It is a structural schematic diagram of a powder sweeping robot provided in an embodiment of the present application. Fig.21 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] The present application provides a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium. By controlling at least one powder sweeping robot to perform powder cleaning work on the internal mixer chamber of at least one internal mixer based on multiple first state information and all second state information, the powder sweeping robot can be automatically dispatched to perform powder cleaning work on the internal mixer chamber of the target internal mixer that needs powder cleaning work. There is no need for an operator to use tools to manually clean the powder in the internal mixer chamber, thereby greatly improving the efficiency of powder cleaning work in the internal mixer chamber and reducing production costs.

[0029] In some embodiments, the powder sweeping control method provided in the present application is performed by a powder sweeping robot.

[0030] In some embodiments, the powder sweeping control method provided in the present application is executed by a control terminal, and the control terminal is used to control a powder sweeping robot to use at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber of the internal mixer.

[0031] See also Figures 1 to 5 , Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened. Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application. Figure 4 It is a schematic diagram of a second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 1 is a schematic diagram of the third state of the hammer pressing down in the mixing chamber of the internal mixer of the embodiment of the present application. When it is necessary to feed materials into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed door 11 to open and the hammer 13 to rise to the top, as shown in FIG. Figure 2 As shown, at this time, powder can be added into the mixing chamber 12 through the channel opened by the feeding door 11. When the feeding into the mixing chamber 12 is completed, the mixer 1 controls the feeding door 11 to close. Figure 1 As shown in FIG. 1 , at this time, the hammer 13 in the mixing chamber 12 will start to cooperate with the rotor 14 to perform the powder processing work. Figures 3 to 5As shown, the hammer 13 is pressed down by the hammer connecting rod to press the powder poured into the mixing chamber 12 onto the rotor 14, and the powder is gradually melted by the pressure of the hammer 13, the rotation of the rotor 14 and the heating. It is understandable that in the process of feeding into the mixing chamber 12 and pressing the hammer 13 down, part of the powder put into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the hammer 13, and this part of the powder will not be added to the mixing work between the hammer 13 and the rotor 14, resulting in a gap between the actual output and the expected output. For this part of the powder, workers generally clean it according to the specified time or specified process, sweep it off the inner wall of the mixing chamber 12 and the hammer 13, and let it fall naturally onto the rotor 14 to rejoin the mixing work. However, manually using tools to clean the side walls of the mixing chamber 12 and the pressure hammer 13 is unstable. Workers may forget to sweep the powder or fail to sweep the powder properly due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract of workers during the flying process. Long-term exposure may cause respiratory diseases, which is not good for the health of workers.

[0032] The powder sweeping control method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0033] See also Figures 6 to 8 , Figure 6 This is a schematic diagram of the first application scenario of the powder sweeping control method provided in an embodiment of the present application. Figure 7 This is a schematic diagram of a second application scenario of the powder sweeping control method provided in an embodiment of the present application. Figure 8 is a schematic diagram of a third application scenario of the powder sweeping control method provided in the embodiment of the present application. Figures 6 to 8 As shown, in some embodiments, the powder sweeping robot 2 applied to the internal mixer 1 includes a driving device 21 and a powder sweeping device 22, the driving 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, and the powder sweeping workpiece 222 is used to perform powder cleaning on the surface of the cleaning object.

[0034] In some embodiments, the cleaning object includes the inner wall of the mixing chamber and the pressure hammer. Optionally, the cleaning object also includes a pressure hammer connecting rod.

[0035] For further information, please refer to Figures 6 to 8 Considering the supply and demand relationship and actual performance of the internal mixer 1 and the powder sweeping robot 2, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to actual needs.

[0036] In some embodiments, Figure 6As shown, the fixed end of the driving 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 execute it, and quickly extend the powder sweeping device 22 into the internal mixer chamber 12 and the pressure hammer 13 through the driving device 21, so that the powder on the surface of the cleaning object can be cleaned.

[0037] In some embodiments, Figure 7 and Figure 8 As shown, the powder sweeping robot 2 also includes a transfer device 23, and the fixed end of the driving device 21 is installed on the transfer device 23, and the transfer device 23 is used to drive the driving device 21 to approach or move away from the internal mixer 1. Optionally, the transfer device 23 can be a ground rail laid on the floor of the workshop and a ground slide slidably connected to the ground rail, and the fixed end of the driving device 21 is installed on the ground slide. Optionally, the transfer device 23 can also be an AGV trolley, and the fixed end of the driving device 21 is installed on the AGV trolley. Optionally, the transfer device 23 can also be a suspended rail installed on the ceiling of the workshop or in the air and a suspended slide slidably connected to the suspended rail, and the fixed end of the driving device 21 is installed on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices that can drive the driving device 21 to approach or move away from the internal mixer 1, which will not be repeated here. It can be understood that the powder sweeping robot 2 in this embodiment can serve multiple internal mixers 1 in the entire workshop. When receiving an instruction that a certain internal mixer 1 needs to perform powder cleaning work, the transfer device 23 will drive the driving device 21 to move to the target position according to the instruction. During the movement, the position and distance can be monitored in real time by the sensor or visual system installed on the transfer device 23 to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work and extends the powder sweeping device 22 into the internal mixer chamber 12 to perform powder cleaning work. 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 of this embodiment can quickly move and switch between different internal mixers 1, which greatly improves the flexibility of powder cleaning work. At the same time, since the powder sweeping robot 2 can be shared between different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder sweeping robot 2, thereby reducing equipment costs.

[0038] In some embodiments, in order to make the powder sweeping robot 2 more flexible in performing operations, the driving device 21 of this embodiment includes a freely movable mechanical arm, and the powder sweeping device 22 is connected to the free end of the mechanical arm. The mechanical arm is used to send the powder sweeping device 22 from the internal mixer 1 to the internal mixer chamber 12 to perform powder cleaning work, and the high degree of freedom of the mechanical arm is used to carry the powder sweeping device 22 to move, which greatly improves the efficiency of the powder cleaning work.

[0039] In some embodiments, the robot arm is a multi-axis robot arm, such as a three-axis robot arm, a four-axis robot arm, a five-axis robot arm, a six-axis robot arm, or a seven-axis robot arm, etc. It is understandable that the robot arm is classified according to its number of axes (i.e., the number of degrees of freedom), which represents the number of directions in which the robot arm can move independently. Therefore, the higher the number of axes of the robot arm, the more flexible the robot arm is, but the corresponding cost is also higher. Users can choose a robot arm with a suitable number of axes according to their actual needs.

[0040] Preferably, a six-axis robot is selected as the driving device 21. It should be explained that this embodiment only illustrates a limited number of examples of the robot of the driving device 21, and in other embodiments, other devices that can drive the powder sweeping device 22 to move and / or rotate can also be used, which will not be described in detail here.

[0041] For further information, see Figures 9 to 14 , Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used for an internal mixer according to an embodiment of the present application. Fig.10 This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.12 This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.14 This is a top view of the friction block and the plug shaft of the powder sweeping workpiece in the powder sweeping robot used in the internal mixer according to the embodiment of the present application. Figures 9 to 14 As shown, in order to meet the cleaning requirements under different working conditions, the powder sweeping workpiece 222 at least includes a brush 2221 or a scraper 2222 or a friction cloth or a friction block 2223 or a powder suction component or a powder blowing component. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the cleaning object (such as the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder suction component and the powder blowing component act on the surface of the mixing chamber 12 or the pressure hammer 13 through airflow for cleaning.

[0042] Among them, there are four implementation methods for sweeping the powder workpiece 222:

[0043] Embodiment 1: The powder sweeping workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder suction component, and a powder blowing component.

[0044] Embodiment 2: The powder-sweeping workpiece 222 includes a powder suction component and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0045] Embodiment 3: The powder-sweeping workpiece 222 includes a powder blowing assembly and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0046] Embodiment 4: The powder sweeping workpiece 222 includes a powder suction component and a powder blowing component, and one of the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 .

[0047] Among them, this application will introduce three embodiments of the powder sweeping workpiece 222 in detail, namely the powder sweeping workpiece 222a, the powder sweeping workpiece 222b, and the powder sweeping workpiece 222c.

[0048] Specifically, see Fig. 9 and Fig.10 , Fig. 9 and Fig.10 The powder sweeping workpiece 222a is included, and the powder sweeping workpiece 222a includes a brush 2221, an insert shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211, which are used to form point contact with the cleaning object. The first air hole 22241a is arranged on the insert shaft 2224a, and the second air hole 2225a is arranged on the brush 2221. The functions of the insert shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be introduced in the following part of the specification, and will not be repeated here. Furthermore, the insert shaft 2224a is also provided with a second threaded hole 22242a and a clamping protrusion 22243a. The functions of the second threaded hole 22242a and the clamping protrusion 22243a will be introduced in the following part of the specification, and will not be repeated here.

[0049] Specifically, see Fig.11 and Fig.12 , Fig.11 and Fig.12The powder sweeping workpiece 222b includes a scraper 2222, an insert shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming a line contact with the cleaning object. The first air hole 22241b is arranged on the insert shaft 2224b, and the second air hole 2225b is arranged on the scraper 2222. The insert shaft 2224b is used to be plugged into the socket 2212 on the first mounting seat 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump, and the second air hole 2225b is used to blow air flow toward the cleaning object, so that while the edge 22221 scrapes off the powder, the air flow blown out through the second air hole 2225b can also blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242b and a clamping protrusion 22243b are also provided on the insertion shaft 2224b. The functions of the second threaded hole 22242b and the clamping protrusion 22243b are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0050] Specifically, see Fig.13 and Fig.14 , Fig.13 and Fig.14 The powder sweeping workpiece 222c includes a friction block 2223, an insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The friction cloth / friction block 2223 has a rough surface 22231 for forming a surface contact with the cleaning object. It should be explained that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft and the friction block 2223 is hard. It can be understood that while the rough surface 22231 rubs to cause the polymer material powder on the side wall of the internal mixer 1 or the pressure hammer 13 to fall off, the air flow blown out through the second air hole 2225c also blows and takes away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242c and a clamping protrusion 22243c are also provided on the insertion shaft 2224c. The functions of the second threaded hole 22242c and the clamping protrusion 22243c are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0051] Specifically, the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 are all provided with plug-in shafts, and the scraper 2222 , the friction cloth, and the friction block 2223 are detachably connected with the socket 2212 provided on the first mounting seat 221 through the plug-in shafts.

[0052] Optionally, the following Fig. 9 and Fig.10For example, the second threaded hole 22242a is provided on the plug shaft 2224a. During installation, a screw can be used to pass through the first mounting seat 221 and the second threaded hole 22242a to achieve a stable connection between the plug shaft 2224a and the first mounting seat 221, thereby achieving a stable connection between the brush 2221 or the scraper 2222 or the friction cloth or the friction block 2223 and the first mounting seat 221. Optionally, a snap-fitting protrusion 22243a is also provided on the plug shaft 2224a, and the snap-fitting protrusion 22243a is used to form a snap-fitting relationship between the plug shaft 2224a and the socket 2212.

[0053] Optionally, the brush 2221 may be a roller brush or a scrub brush. The roller brush may rotate relative to the insertion shaft 2224a, while the scrub brush may be fixed to the insertion shaft 2224a.

[0054] For further information, see Fig.15 and Fig.16 , Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application. Fig.16 The top view of the first mounting seat in the powder sweeping robot used for the internal mixer in the embodiment of the present application. Considering the various options of assembling the powder sweeping workpiece 222 on the powder sweeping robot 2 under different working conditions, in some embodiments, the powder sweeping device 22 also includes a first mounting seat 221, the first mounting seat 221 is connected to the driving device 21, and the powder sweeping workpiece 222 is detachably connected to the first mounting seat 221. The user 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, the scraper 2222, the friction cloth and the friction block 2223 in the powder sweeping workpiece 222 are detachably connected to the first mounting seat 221.

[0055] Optionally, a socket 2212 is provided on the first mounting seat 221, and the brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with plug-in shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the socket 2212 on the first mounting seat 221 through the plug-in shafts provided thereon. Through simple plug-in operations, the operator can quickly replace the powder sweeping workpiece 222.

[0056] See also Fig.15 as well as Fig.16In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head, wherein the first air pump is used to provide a negative pressure environment inside the powder suction container 223, and the dust suction head is used to provide a channel for introducing external fluid into the inside of 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 separate the powder adhered to the mixing chamber 12 or the pressure hammer 13 to a large extent, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but re-adhere to the mixing chamber 12 or the pressure hammer 13 after a short period of floating. Based on this, the powder suction assembly in this embodiment provides negative pressure for the powder suction container 223 through the first air pump, and the negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to suck the 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 the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0057] Preferably, the dust suction head is mounted on the first mounting seat 221. Optionally, at least two dust suction heads are evenly arranged around the plug hole 2212, and the dust suction port of the dust suction head faces the same direction as the insertion port of the plug hole 2212. Optionally, the dust suction head is a dust suction pipe 2235, and a dust suction hole 2211 is provided on the first mounting seat 221, one end of the dust suction pipe 2235 is connected to the dust suction hole 2211, and the other end is connected to the powder suction container 223.

[0058] In some embodiments, the powder blowing assembly includes a second air pump, which is used to provide airflow to blow the powder off the cleaning object. It should be explained that the airflow provided by the second air pump can be blown directly toward the cleaning object through the air nozzle, or can be blown through the air path channel on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 to act on the cleaning object, which is not limited in this embodiment.

[0059] Furthermore, in this embodiment, an explanation is given for the airflow provided by the second air pump being blown out through the air path on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 provided 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 an insert shaft and a second air hole provided on the insert shaft. The insert shaft is used to be plugged into the socket 2212 on the first mounting seat 221. The second air hole is used to be plugged into the connecting column 2215 in the socket 2212, and the air vent 22151 on the connecting column 2215 is connected to the second air hole. Fig. 9 and Fig.10As an example, the powder sweeping workpiece 222a in the embodiment 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 through an air passage built into the powder sweeping workpiece 222a, and the exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow to the second air hole 2225a. It can be understood that the powder sweeping robot 2 of this embodiment can convey an airflow to the powder sweeping workpiece 222a through the second air pump, and by using the airflow to blow the powder, the polymer material powder attached 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, and the ejected airflow can blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning.

[0060] In some embodiments, a connecting column 2215 is provided at the bottom of the socket 2212 on the first mounting seat 221, and an air vent 22151 is provided on the connecting column 2215 to connect the two ends thereof, one end of the air vent 22151 is connected to the socket 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, a first air vent 22241a is provided at the end of the plug shaft 2224a away from the brush 2221, and a second air vent 2225a is provided on the brush 2221, and the first air vent 22241a and the second air vent 2225a are connected through an air duct built into the workpiece body; when the plug shaft 2224a is inserted into the socket 2212, the connecting column 2215 is inserted into the first air vent 22241a, and the exhaust end of the second air pump is connected to the second air vent 2225a.

[0061] Optionally, a first threaded hole is radially opened on the side wall of the insertion hole 2212, and a corresponding second threaded hole 22242a is arranged on the outer side wall of the insertion shaft 2224a of the powder sweeping workpiece 222a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and only when the clamping protrusion 22243a is located at the connecting position of the second groove and the third groove to be in a self-locking state, the first threaded hole and the second threaded hole 22242a are aligned and connected. 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.

[0062] Optionally, the connecting column 2215 is disposed at the center of the bottom of the insertion hole 2212 , and at least one of the elastic members 2214 disposed at the bottom of the insertion hole 2212 is a spring and is disposed around the outer circumference of the connecting column 2215 .

[0063] Optionally, a sealing ring is provided on the outer periphery of the connecting column 2215, and the sealing ring can make the connection between the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0064] In some embodiments, the powder sweeping workpiece 222 includes a brush 2221, a scraper 2222, a friction cloth, one of the friction blocks 2223, a powder suction component and a powder blowing component. The powder suction component collects powder through the negative pressure airflow provided by the first air pump, and the powder blowing component blows the powder through the positive pressure airflow provided by the second air pump. The first air pump and the second air pump are the same air pump. It should be noted that in order to prevent the powder in the mixing chamber 12 of the mixer 1 from entering through the second air hole and being retained in the first air hole and the vent 22151, a filter can be set at the second air hole in this embodiment to prevent external powder from pouring in through the second air hole. In this embodiment, the same air pump is used to simultaneously realize the air source supply to the powder blowing component and the powder suction component, which effectively reduces the product production cost and makes the collaborative work of the powder blowing component and the powder suction component more coordinated.

[0065] See also Fig.17 , Fig.17 is a flow chart of the powder sweeping control method provided in the embodiment of the present application. Fig.17 As shown, the powder sweeping control method includes: step S100 to step S300.

[0066] Step S100: obtaining first state information of the mixing chambers of a plurality of internal mixers.

[0067] The first state information is used to indicate the working state in the mixing chamber of the internal mixer.

[0068] In some embodiments, a corresponding powder sweeping robot is configured for each internal mixer, and the internal mixer corresponds to the powder sweeping robot one by one. At this time, when the powder sweeping control method is executed by the powder sweeping robot, the powder sweeping robot obtains the first state information of the corresponding internal mixer. When the powder sweeping control method is executed by the control terminal, the first state information of the internal mixer corresponding to each powder sweeping robot is obtained.

[0069] In some embodiments, each internal mixer includes a powder sweeping robot mounted on the internal mixer body.

[0070] The present application also provides an internal mixer, including an internal mixer body and a powder sweeping robot as described above, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0071] The specific structure of the internal mixer is as follows Figures 1 to 5 Description.

[0072] Step S200: Obtain second status information of at least one powder sweeping robot.

[0073] Among them, the second status information is used to indicate the working status of the powder sweeping robot.

[0074] In some embodiments, the working state of the powder sweeping robot includes a working state, an idle state, a fault state, a charging state, etc.

[0075] Step S300: Based on the plurality of first state information and all the second state information, at least one powder sweeping robot is controlled to perform powder cleaning work on a mixing chamber of at least one internal mixer.

[0076] See also Fig.18 , Fig.18 yes Fig.17 Detailed flow chart of step S300 in FIG. Fig.18 As shown, in some implementations, step S300 includes steps S310 to S330.

[0077] Step S310: determining at least one target internal mixer that needs to perform powder cleaning work among the multiple internal mixers based on the multiple first status information.

[0078] In some embodiments, the first state information includes the current operating temperature of the internal mixer, and step S310 includes: when the current operating temperature in the first state information reaches the preset operating temperature, determining the internal mixer corresponding to the first state information as the target internal mixer that needs to perform powder cleaning work at the current time.

[0079] Optionally, the cleaning start time of the target internal mixer is the current time.

[0080] In some embodiments, the preset working temperature ranges from 50 degrees to 200 degrees. For example, the preset working temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees.

[0081] In some embodiments, during a single operation of the internal mixer, the internal mixer switches between multiple working states in sequence.

[0082] In some embodiments, each working state of the internal mixer corresponds to a preset working temperature. In each working state, the internal mixer processes the polymer powder to the corresponding preset working temperature.

[0083] In some embodiments, during a single operation of the internal mixer, the preset working temperature in each working state is increased sequentially. For example, during a single operation of the internal mixer, the internal mixer switches four working states sequentially, the preset working temperature of the first working state is 95 degrees, the preset working temperature of the second working state is 120 degrees, the preset working temperature of the third working state is 140 degrees, and the preset working temperature of the fourth working state is 155 degrees. The internal mixer processes the polymer powder to 95 degrees in the first working state, the polymer powder to 120 degrees in the second working state, the polymer powder to 140 degrees in the third working state, and the polymer powder to 155 degrees in the fourth working state. In this way, the internal mixer can gradually melt the polymer material powder.

[0084] In some embodiments, step S310 includes: when the current working temperature reaches a preset working temperature corresponding to the current working state, determining the internal mixer corresponding to the first state information as a target internal mixer that needs to perform powder cleaning at the current time.

[0085] When the current working temperature of the internal mixer reaches the preset working temperature corresponding to the current working state, it indicates that the internal mixer should enter the next working state, and the internal mixer is determined as the target internal mixer. Then, the target internal mixer is cleaned of powder to allow the flying polymer material powder to continue to participate in the production process before the target internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0086] In some embodiments, the first state information includes the working time of the current working state of the internal mixer, and step S310 includes: when the working time in the first state information reaches a preset time, determining the internal mixer corresponding to the first state information as the target internal mixer.

[0087] When the working time of the internal mixer reaches the preset time corresponding to the current working state, it means that the internal mixer should enter the next working state, and the internal mixer is determined as the target internal mixer. Then, the powder cleaning work is performed on the target internal mixer to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0088] Optionally, the cleaning start time of the target internal mixer is the time when the working time reaches a preset time.

[0089] In some embodiments, because the internal mixer has completed a working process when the last working state of the internal mixer ends, the polymer material powder is generally completely melted and powder is not easy to fly, so there is no need to clean the powder of the internal mixer when the last working state of the internal mixer ends.

[0090] In some embodiments, during a single operation of the internal mixer, at the end of each operating state except the last operating state, the internal mixer is determined as the target internal mixer.

[0091] In some embodiments, the state information includes a work sequence number corresponding to the current working state of the internal mixer, and step S310 includes: when the work sequence number corresponding to the current working state is less than the end number value, the internal mixer is determined as the target internal mixer. The work sequence number is the number of the work sequence of the current working state in a single work process of the internal mixer. 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. For example, in a single work process of the internal mixer, the internal mixer switches to 4 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.

[0092] In some embodiments, the internal mixer further comprises a first detection device disposed on the internal mixer body, and the first detection device is used to detect the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber.

[0093] Optionally, the first detection device includes at least one of a two-dimensional camera, a three-dimensional camera or other detection equipment.

[0094] In some embodiments, the first state information includes the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber, and step S310 includes: when the powder thickness is greater than a first preset thickness, determining the internal mixer as a target internal mixer.

[0095] Step S320: determining a target powder sweeping robot corresponding to each target internal mixer based on the first state information of each target internal mixer and the second state information of all powder sweeping robots.

[0096] In some embodiments, the first state information further includes first position information of the internal mixer, and the second state information further includes second position information of the powder sweeping robot.

[0097] In some implementations, step S320 includes steps S321 to S323.

[0098] Step S321: determining a cleaning time period of each target internal mixer based on the first state information of each target internal mixer.

[0099] In some embodiments, the cleaning start time of the target internal mixer is determined while the target internal mixer is determined. For example, when the current working temperature in the first state information reaches the preset working temperature, the cleaning start time of the target internal mixer is the current time. For another example, the cleaning start time of the target internal mixer is the time when the working time of the current working state reaches the preset time.

[0100] In some embodiments, the cleaning time period of the target internal mixer is determined based on the cleaning start time of the target internal mixer and a preset first preset time. The first preset time is a preset duration of the powder cleaning work.

[0101] Optionally, the starting time point of the cleaning time period of the target internal mixer is the cleaning start time of the target internal mixer, and the duration is the first preset time.

[0102] 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.

[0103] Step S322: determining all powder sweeping robots that are in an idle state during a cleaning time period of the target internal mixer based on the second state information of all powder sweeping robots.

[0104] In some embodiments, each powder sweeping robot corresponds to a task list, and the powder sweeping robot is used to perform the cleaning tasks in the task list.

[0105] In some embodiments, each cleaning task includes a preset cleaning time period, and the second status information also includes an expected working status of the powder sweeping robot at present and in the future.

[0106] In some embodiments, the working status of the powder sweeping robot at present and in the future is determined based on the second status information of the powder sweeping robot. When the powder sweeping robot is in an idle state during the cleaning time period of the target internal mixer, the powder sweeping robot is determined to be a powder sweeping robot that is in an idle state during the cleaning time period of the target internal mixer.

[0107] Step S323: Based on the first position information of the target internal mixer and the second position information of all corresponding idle powder sweeping robots, a powder sweeping robot closest to the target internal mixer is selected from all idle powder sweeping robots as the target powder sweeping robot corresponding to the target internal mixer.

[0108] In some embodiments, each target internal mixer belongs to an operation area.

[0109] Optionally, the operation areas are divided according to production workshops, with one production workshop being one operation area.

[0110] Optionally, the operation areas are divided according to the types of polymer powders processed by the internal mixers, and all internal mixers processing the same type of polymer powder belong to the same operation area.

[0111] In some embodiments, each operating area has a priority order.

[0112] In some embodiments, step S323 includes steps S3231 to S3235.

[0113] Step S3231: Determine the operating area to which the target internal mixer belongs based on the first position information of the target internal mixer.

[0114] In some embodiments, each operating area has a preset location range, and when it is determined that the target internal mixer is within the location range of an operating area based on the first location information of the target internal mixer, it is determined that the target internal mixer belongs to the operating area.

[0115] Step S3232: Determine the working area to which each powder sweeping robot belongs based on the second position information of each idle powder sweeping robot corresponding to each target internal mixer.

[0116] In some embodiments, one target internal mixer corresponds to at least one powder sweeping robot that is idle during a cleaning period of the target internal mixer.

[0117] In some embodiments, when it is determined that the powder sweeping robot is within the position range of a working area based on the second position information, it is determined that the powder sweeping robot belongs to the working area.

[0118] Step S3233: When there is a powder sweeping robot belonging to the same operating area as the target internal mixer among all the powder sweeping robots in the idle state, all the powder sweeping robots belonging to the same operating area as the target internal mixer are determined as the third device.

[0119] The third device is a powder sweeping robot which is idle during the cleaning period of the target internal mixer and belongs to the same operating area as the target internal mixer.

[0120] Step S3234: Based on the first position information of the target internal mixer and the second position information of all third devices, a third device which is closest to the target internal mixer is selected as the target powder sweeping robot corresponding to the target internal mixer.

[0121] By preferentially selecting an idle powder sweeping robot belonging to the same operating area as the target internal mixer as the target powder sweeping robot corresponding to the target internal mixer, the internal mixer and powder sweeping robot in each operating area can be independently paired and scheduled to avoid affecting the scheduling of other operating areas.

[0122] In some embodiments, among all the idle powder sweeping robots, there is no powder sweeping robot that belongs to the same operating area as the target internal mixer. In this case, the powder sweeping robots in the operating area with lower priority can be dispatched to clean the powder of the target internal mixer first. In this way, the target internal mixer can be cleaned in time as much as possible, while reducing the impact on other operating areas with higher priority.

[0123] Step S3235: When there is no powder sweeping robot belonging to the same working area as the target internal mixer among all the idle powder sweeping robots, a powder sweeping robot that is closest to the target internal mixer is selected from among all the idle powder sweeping robots whose working areas have a lower priority than the working area to which the target internal mixer belongs, as the target powder sweeping robot corresponding to the target internal mixer.

[0124] In some embodiments, selecting a powder sweeping robot that is closest to a target internal mixer as the target powder sweeping robot corresponding to the target internal mixer can minimize the time it takes for the target powder sweeping robot to reach the target internal mixer, thereby allowing the target internal mixer to be cleaned in time.

[0125] Step S330: controlling the target powder sweeping robot corresponding to each target internal mixer to clean the powder in the internal mixer chamber.

[0126] In some embodiments, step S330 includes steps S331 to S333.

[0127] Step S331: constructing a task list for each powder sweeping robot based on the correspondence between each target internal mixer and the target powder sweeping robot.

[0128] In some implementations, a corresponding target powder sweeping robot is determined for each target internal mixer.

[0129] Optionally, one powder sweeping robot can correspond to multiple target internal mixers.

[0130] Optionally, a task list of a powder sweeping robot includes multiple cleaning tasks, and each cleaning task includes the ID and first state information of each target internal mixer.

[0131] Step S332: judging whether the cleaning task corresponding to the target internal mixer satisfies the cleaning start condition based on the task list of the target powder sweeping robot corresponding to the target internal mixer.

[0132] In some embodiments, step S332 includes steps S3321 to S3323.

[0133] Step S3321: Calculate the function value of the objective function corresponding to each cleaning task in the task list.

[0134] As described above, in some embodiments, each target internal mixer belongs to an operation area.

[0135] Optionally, the operation areas are divided according to production workshops, with one production workshop being one operation area.

[0136] Optionally, the operation areas are divided according to the types of polymer powders processed by the internal mixers, and all internal mixers processing the same type of polymer powder belong to the same operation area.

[0137] In some embodiments, each operating area has a priority order.

[0138] In some embodiments, step S3321 includes step (3321.1) to step (3321.2).

[0139] (3321.1) Obtain the cleaning start time, the importance parameter of the target internal mixer, the priority parameter of each operating area, the first weight parameter of the cleaning task and the second weight parameter of the operating area corresponding to each cleaning task in the task list.

[0140] (3321.2) A weighted calculation is performed based on the cleaning start time corresponding to each cleaning task in the task list, the importance parameter of the target internal mixer, the priority parameter of each operating area, the first weight parameter of the cleaning task and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

[0141] The cleaning start time corresponding to the cleaning task is the cleaning start time of the target internal mixer corresponding to the cleaning task as described above, and the determination method is as described above.

[0142] In some embodiments, the objective function is calculated as:

[0143] Among them, y(t) represents the function value of the objective function, a represents the first weight parameter of the cleaning task, tcurrent represents the current time, tstart represents the cleaning start time corresponding to the cleaning task, I represents the importance parameter of the target mixer, Imax represents the preset maximum value of the importance parameter, b represents the second weight parameter of the operating area, P represents the priority parameter of the operating area, and Pmax represents the preset maximum value of the priority parameter.

[0144] It can be understood that tcurrent-tstart is less than or equal to zero.

[0145] In some embodiments, the larger the value of the importance parameter, the more important the corresponding cleaning task is. The larger the value of the priority parameter, the higher the priority of the corresponding operation area. The smaller the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0146] In other embodiments, the smaller the value of the importance parameter, the more important the corresponding cleaning task is. The smaller the value of the priority parameter, the higher the priority of the corresponding operation area. The larger the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0147] In some embodiments, step S3321 includes step (3321.3) to step (3321.4).

[0148] (3321.3) Obtain the importance parameter of the target mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area.

[0149] (3321.4) A weighted calculation is performed based on the importance parameter of the target mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

[0150] In some embodiments, the objective function is calculated as:

[0151] Function value=importance parameter of the target internal mixer corresponding to the cleaning task×first weight parameter+priority parameter of the operating area of ​​the target internal mixer corresponding to the cleaning task×second weight parameter.

[0152] Optionally, the larger the value of the importance parameter, the more important the corresponding cleaning task is. The larger the value of the priority parameter, the higher the priority of the corresponding operation area. The larger the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0153] Optionally, the smaller the value of the importance parameter, the more important the corresponding cleaning task is. The smaller the value of the priority parameter, the higher the priority of the corresponding operation area. The smaller the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0154] In some embodiments, step S3321 includes steps (3321.5) to (3321.7).

[0155] (3321.5) Calculate the initial function value of the objective function corresponding to each cleaning task in the task list according to the calculation formula of the objective function.

[0156] In some embodiments, the objective function is calculated as:

[0157] Among them, y(t) represents the function value of the objective function, a represents the first weight parameter of the cleaning task, tcurrent represents the current time, tstart represents the cleaning start time corresponding to the cleaning task, I represents the importance parameter of the target mixer, Imax represents the preset maximum value of the importance parameter, b represents the second weight parameter of the operating area, P represents the priority parameter of the operating area, and Pmax represents the preset maximum value of the priority parameter.

[0158] Wherein, the cleaning start time corresponding to the cleaning task is the cleaning start time of the target internal mixer corresponding to the cleaning task as described above, and the determination method is as described above. When calculating the initial function value of the objective function, tstart represents the initial cleaning start time corresponding to the cleaning task. When iteratively calculating the function value of the intermediate process of the objective function, tstart represents the updated cleaning start time corresponding to the cleaning task.

[0159] (3321.6) Iteratively calculate the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list according to the preset rules.

[0160] In some embodiments, after the initial function value of the objective function corresponding to each cleaning task is calculated, each cleaning task is sorted according to the initial function value of the objective function corresponding to each cleaning task in the task list, and after sorting, the updated cleaning start time corresponding to each cleaning task is determined, and then the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list is iteratively calculated.

[0161] Optionally, the duration of each cleaning task is a first preset time, and the time interval between two cleaning tasks is a first preset time interval. The first preset time interval is used to reserve time for the powder sweeping robot to move from one target internal mixer to another target internal mixer.

[0162] Exemplarily, the cleaning tasks in the first execution order are executed with the highest priority, the updated cleaning start time of the cleaning tasks in the second execution order is the cleaning start time of the cleaning tasks in the first execution order plus the first preset time and the first preset time interval, the updated cleaning start time of the cleaning tasks in the third execution order is the updated cleaning start time of the cleaning tasks in the second execution order plus the first preset time and the first preset time interval, and so on.

[0163] In some embodiments, each time after determining the updated cleaning start time corresponding to each cleaning task, the calculation formula of the objective function as described above is used to calculate the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list, where tstart represents the updated cleaning start time corresponding to the cleaning task.

[0164] In some embodiments, after each calculation, the execution order of one or several cleaning tasks is adjusted after obtaining the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list. Then, the updated cleaning start time corresponding to each cleaning task is determined again and the calculation formula of the objective function as described above is used to calculate the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list, so that the sum of the function values ​​of the objective functions corresponding to all cleaning tasks in the task list is maximized or minimized.

[0165] Optionally, the gradient function of the objective function is calculated, and the gradient descent method is used to adjust the execution order of one or more cleaning tasks according to the gradient function of the objective function so that the sum of the function values ​​of the objective functions corresponding to all cleaning tasks in the task list is maximized or minimized.

[0166] Optionally, when the function value of the objective function is larger, indicating that the corresponding cleaning task has a higher priority, the sum of the function values ​​of the objective function corresponding to all cleaning tasks in the task list is maximized. When the function value of the objective function is smaller, indicating that the corresponding cleaning task has a higher priority, the sum of the function values ​​of the objective function corresponding to all cleaning tasks in the task list is minimized.

[0167] (3321.7) When it is determined according to the preset rules that the iteration stop condition has been met, the final function value of the objective function corresponding to each cleaning task in the task list is obtained.

[0168] In some embodiments, the iteration stop condition is that the number of times the updated function value of the objective function is calculated reaches a preset number of iterations, or the sum of the function values ​​of the objective function is greater than a first preset stop threshold or less than a second preset stop threshold.

[0169] Optionally, when the function value of the objective function is larger, indicating that the priority of the corresponding cleaning task is higher, the iteration stop condition may be that the sum of the function values ​​of the objective function is greater than a first preset stop threshold.

[0170] Optionally, when the function value of the objective function is smaller, indicating that the priority of the corresponding cleaning task is higher, the iteration stop condition may be that the sum of the function values ​​of the objective function is less than a second preset stop threshold.

[0171] Step S3322: Sort each cleaning task in the task list according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0172] In some embodiments, when the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list is iteratively calculated, the final function value of the objective function corresponding to each cleaning task and the execution order of each cleaning task are obtained when the iterative calculation is stopped.

[0173] In some embodiments, when the function value of the objective function is larger, it means that the priority of the corresponding cleaning task is higher. Each cleaning task in the task list is sorted from large to small according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0174] In some embodiments, when the function value of the objective function is smaller, indicating that the corresponding cleaning task has a higher priority, each cleaning task in the task list is sorted in ascending order according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0175] Step S3323: When the execution order of the cleaning task corresponding to the target internal mixer is the first execution order, it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition.

[0176] Step S333: when it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the target powder sweeping robot corresponding to the target internal mixer is controlled to perform powder cleaning on the mixing chamber of the target internal mixer.

[0177] In some embodiments, step S330 or step S333 includes steps S334 to S338.

[0178] Step S334: controlling the target powder sweeping robot corresponding to the target internal mixer to send a first control instruction to the target internal mixer, so that the target internal mixer opens a material feeding door.

[0179] At this point, the target internal mixer stops working.

[0180] Step S335: determining a cleaning mode corresponding to the target internal mixer based on the first state information of the target internal mixer.

[0181] In some implementations, the cleaning mode includes a full cleaning mode and a partial cleaning mode.

[0182] In some implementations, each cleaning mode corresponds to a set of cleaning parameters.

[0183] In some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as a cleaning time, a cleaning force and a cleaning speed corresponding to each powder-sweeping workpiece.

[0184] Optionally, when the powder sweeping workpiece is a brush, a scraper, a friction cloth or a friction block, the cleaning force includes a pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0185] In some embodiments, the powder sweeping robot further includes a pressure sensor, which is used to detect the pressure value between the powder sweeping workpiece and the robot arm. It is understandable that after the pressure generated by the surface of the cleaning object on the powder sweeping workpiece, the powder sweeping workpiece will generate pressure on the robot arm. According to Newton's third law, the pressure value between the powder sweeping workpiece and the surface of the cleaning object is equal to the pressure value between the powder sweeping workpiece and the robot arm. Optionally, the powder sweeping robot adjusts the movement of the robot arm according to the pressure value detected by the pressure sensor to adjust the pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0186] Optionally, when the powder sweeping workpiece is a powder suction component or a powder blowing component, the cleaning force also includes an airflow intensity value. The powder sweeping robot can control the airflow intensity value of the second air pump.

[0187] In some embodiments, the powder sweeping robot can control the powder sweeping workpiece to vibrate on the surface of the cleaning object. At this time, the cleaning force also includes a vibration frequency value.

[0188] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0189] In some embodiments, the first state information of the target internal mixer includes a work sequence number corresponding to the current work state. The work sequence number is the number of the work sequence of the current work state in a single work process of the internal mixer. For example, in a single work process of the internal mixer, the internal mixer switches to 4 work states in sequence, the work sequence number of the first work state is 1, the work sequence number of the second work state is 2, the work sequence number of the third work state is 3, the work sequence number of the fourth work state is 4, and so on.

[0190] In some implementations, when the working sequence number corresponding to the current working state in the first state information of the target internal mixer is less than a preset number value, the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0191] Optionally, the preset number value is not greater than the end number value. The end number value refers to the working sequence number corresponding to the last working state in a single working process of the internal mixer.

[0192] Optionally, during a single operation of the internal mixer, the preset working temperature in each working state increases in sequence. When the working sequence number corresponding to the current working state is less than the preset number value, it means that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0193] In some embodiments, the full cleaning mode further includes a full deep cleaning mode and a full standard cleaning mode. The cleaning time of the full deep cleaning mode is longer than the cleaning time of the full standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the full standard cleaning mode.

[0194] Furthermore, when the working sequence number corresponding to the current working state of the target internal mixer is less than the preset number value, when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode, otherwise the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0195] The preset temperature value is not necessarily the preset working temperature of the target internal mixer.

[0196] Optionally, when the work 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 can be further explained that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode. When the work 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 means that although the current working temperature of the target internal mixer is low, it is not so low that the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0197] Optionally, the complete cleaning mode also includes complete cleaning modes corresponding to other cleaning levels.

[0198] In some implementations, when the working sequence number corresponding to the current working state in the first state information of the target internal mixer is not less than a preset number value, the cleaning mode corresponding to the target internal mixer is determined as the partial cleaning mode.

[0199] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, it means that the current working temperature of the target internal mixer is high, the melting degree of the polymer material powder is high, and the powder is not easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as a partial cleaning mode.

[0200] In some embodiments, the partial cleaning mode further includes a partial deep cleaning mode and a partial standard cleaning mode. The cleaning time of the partial deep cleaning mode is longer than the cleaning time of the partial standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the partial standard cleaning mode.

[0201] Furthermore, when the working sequence number corresponding to the current working state of the target internal mixer is not less than the preset number value, and when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as a partial deep cleaning mode; otherwise, the cleaning mode corresponding to the target internal mixer is determined as a partial standard cleaning mode.

[0202] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, but not so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial deep cleaning mode. Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, and is so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial standard cleaning mode.

[0203] Optionally, the partial cleaning mode also includes partial cleaning modes corresponding to other cleaning degrees.

[0204] By determining the cleaning mode corresponding to the target internal mixer based on the first state information of the target internal mixer, the cleaning mode can be flexibly determined according to the actual powder flying situation of the target internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0205] Step S336: controlling the target powder sweeping robot corresponding to the target internal mixer to perform powder cleaning work on the internal mixer chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer.

[0206] In some embodiments, step S336 includes step S3361 to step S3362.

[0207] Step S3361: determining the cleaning objects in the mixing chamber of the target internal mixer based on the cleaning mode corresponding to the target internal mixer, and at least one powder sweeping workpiece corresponding to each cleaning object.

[0208] In some embodiments, the cleaning objects in the mixing chamber include the inner wall of the mixing chamber and the pressure hammer.

[0209] Optionally, the cleaning object also includes a hammer connecting rod.

[0210] 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 component and a powder blowing component. The brush can be a roller brush or a plate brush.

[0211] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the complete cleaning mode, the cleaning objects in the internal mixer of the target internal mixer are determined to include the hammer connecting rod, the inner wall of the internal mixer and the hammer, the hammer connecting rod corresponds to the plate brush, the inner wall of the internal mixer corresponds to the roller brush and the scraper, and the hammer corresponds to the roller brush.

[0212] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the partial cleaning mode, the cleaning objects in the internal mixer chamber of the target internal mixer are determined to include the inner wall of the internal mixer chamber and the pressure hammer, the inner wall of the internal mixer chamber corresponds to the roller brush and the scraper, and the pressure hammer corresponds to the roller brush.

[0213] Step S3362: Control the target powder sweeping robot corresponding to the target internal mixer to select at least one powder sweeping workpiece corresponding to each cleaning object and use corresponding cleaning parameters to perform powder cleaning on the surface of the cleaning object in the internal mixer according to the cleaning process in the cleaning mode corresponding to the target internal mixer.

[0214] Optionally, when the cleaning mode corresponding to the target internal mixer is the complete deep cleaning mode or the complete standard cleaning mode, in each step, the cleaning parameter set corresponding to the complete deep cleaning mode or the complete partial cleaning mode is used to perform powder cleaning on the surface of the cleaning object.

[0215] Optionally, when the cleaning mode corresponding to the target internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, a 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 cleaning object.

[0216] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the complete cleaning mode, step S3362 includes steps (3362.1) to (3362.8).

[0217] (3362.1) Control the target powder sweeping robot corresponding to the target internal mixer to send a fourth control instruction to the target internal mixer, so that the pressure hammer of the target internal mixer is in a falling state.

[0218] See also Fig.19A , Fig.19A 1 is a first schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19A As shown, in some embodiments, the powder sweeping robot 2 performs powder cleaning work on the target internal mixer 1.

[0219] In some embodiments, the internal mixer body is provided with a feed door 11 for closing the internal mixer chamber. In some embodiments, during the powder cleaning process, the feed door 11 remains in a falling state so that the powder sweeping robot 2 can perform powder cleaning on the target internal mixer 1.

[0220] (3362.2) Control the target powder sweeping robot to select the powder sweeping workpiece and use corresponding cleaning parameters to perform powder cleaning on the surface of the hammer connecting rod 30.

[0221] In some embodiments, because the powder on the surface of the hammer connecting rod 30 will fall into the mixing chamber or the surface of the hammer 13, the powder on the surface of the hammer connecting rod 30 is first cleaned.

[0222] In some embodiments, the target powder sweeping robot is controlled to select a scrub brush and use corresponding cleaning parameters to clean the powder on the surface of the hammer connecting rod 30. Because the surface curvature of the hammer connecting rod 30 is relatively large, a scrub brush with relatively large bristle bendability is selected to clean the powder on the surface of the hammer connecting rod 30.

[0223] It can be understood that the powder sweeping robot 1 includes a powder sweeping workpiece and a multi-axis robotic arm, so the powder sweeping robot 1 can change the position and angle of the powder sweeping workpiece through the multi-axis robotic arm to completely clean the powder on the surface of the cleaning object.

[0224] (3362.3) When the hammer of the target internal mixer is in a falling state, the target powder sweeping robot is controlled to select a powder sweeping workpiece and use corresponding cleaning parameters to perform powder cleaning on the first side surface of the inner wall of the internal mixer.

[0225] The inner wall of the mixing chamber includes a first side surface, a second side surface and a third side surface. The first side surface and the second side surface are opposite to each other and are not blocked by the pressure hammer. The third side surface is blocked by the pressure hammer when the pressure hammer is in a falling state.

[0226] In some embodiments, the target powder sweeping robot is controlled to select a roller brush and use corresponding cleaning parameters to perform powder cleaning on the first side of the inner wall of the mixing chamber. Because the area of ​​the inner wall of the mixing chamber is large, a roller brush with a larger cleaning area is selected to perform powder cleaning on the inner wall of the mixing chamber. In this way, the cleaning efficiency can be improved.

[0227] like Fig.19A As shown, in some embodiments, the target powder sweeping robot is controlled to select the roller brush 2221A and use corresponding cleaning parameters to perform powder cleaning on the first side surface A1 of the inner wall of the mixing chamber.

[0228] (3362.4) Control the target powder sweeping robot to select the powder sweeping workpiece and use corresponding cleaning parameters to perform powder cleaning on the first part of the surface of the pressure hammer.

[0229] The surface of the pressure hammer includes a first surface portion and a second surface portion, the first surface portion is close to a first side surface of an inner wall of the mixing chamber, and the second surface portion is close to a second side surface of an inner wall of the mixing chamber.

[0230] See also Fig.19B , Fig.19B 2 is a second schematic diagram of a working scene of performing powder cleaning on a target internal mixer provided in an embodiment of the present application. Fig.19B As shown, in some embodiments, the target powder sweeping robot is controlled to select the roller brush 2221A and use corresponding cleaning parameters to perform powder cleaning on the first part of the surface of the pressure hammer 13.

[0231] Optionally, in step (3362.4), the roller brush 2221A does not need to be replaced and the target internal mixer 1 is controlled to operate. After step (3362.3), the roller brush 2221A is directly used to clean the powder on the first part of the surface of the hammer 13. In this way, the cleaning efficiency can be improved. The following steps are similar.

[0232] (3362.5) Control the target powder sweeping robot to select a powder sweeping workpiece to perform powder cleaning on the second side of the inner wall of the mixing chamber.

[0233] See also Fig.19C , Fig.19C 3 is a third schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19C As shown, in some embodiments, the target powder sweeping robot is controlled to select the roller brush 2221A to perform powder cleaning on the second side surface A2 of the inner wall of the mixing chamber.

[0234] (3362.6) Control the target powder sweeping robot to select the powder sweeping workpiece to perform powder cleaning on the second part of the surface of the pressure hammer.

[0235] See also Fig.19D , Fig.19D 4 is a fourth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19D As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the second part of the surface of the hammer 13 .

[0236] In step (3362.2) to step (3362.6), the pressure hammer is always in a falling state.

[0237] (3362.7) Control the target powder sweeping robot to send the fifth control instruction to the target internal mixer to put the hammer of the target internal mixer in a raised state.

[0238] In some embodiments, when the pressure hammer of the target internal mixer is in a raised state, the first side surface, the second side surface, and the third side surface of the inner wall of the internal mixer are not blocked by the pressure hammer.

[0239] (3362.8) Control the target powder sweeping robot to select a powder sweeping workpiece to perform powder cleaning on the first side, the second side and the third side of the inner wall of the mixing chamber.

[0240] See also Fig.19E , Fig.19E 1 is a fifth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19E As shown, in some embodiments, the target powder sweeping robot is controlled to select the scraper 2222 to perform powder cleaning on the third side surface A3 of the inner wall of the mixing chamber.

[0241] In some embodiments, the scraper is controlled to clean the powder from the first side, the second side, and the third side of the inner wall of the mixing chamber. Because the powder may be firmly attached to the inner wall surface of the mixing chamber, the scraper 2222 with greater hardness is selected to clean the powder from the first side A1, the second side A2, and the third side A3 of the inner wall of the mixing chamber. In this way, the powder attached to the inner wall surface of the mixing chamber can be completely cleaned.

[0242] In some embodiments, when the cleaning mode corresponding to the target internal mixer is a partial cleaning mode, step S3362 includes step (3362.1), step (3362.3), step (3362.4), step (3362.5), step (3362.6), step (3362.7) and step (3362.8).

[0243] In some embodiments, the powder blowing component or the powder suction component can be independently controlled to perform powder cleaning on the surface of any one or more of the cleaning objects.

[0244] In some embodiments, other powder sweeping components can be controlled to be used in combination with the powder blowing component and / or the powder suction component to perform powder cleaning on the surface of any one or more of the above-mentioned cleaning objects.

[0245] In some embodiments, when the powder sweeping robot controls the powder blowing component to perform powder cleaning on the surface of the cleaning object, the polymer powder is blown into the mixing chamber so that the flying polymer material powder continues to participate in the production process. In this way, the powder cleaning efficiency can be improved.

[0246] In some embodiments, when the powder sweeping robot controls the powder suction component to perform powder cleaning on the surface of the cleaning object, the powder sweeping robot also includes a powder suction container. After completing the powder cleaning of the target internal mixer, when the pressure hammer is in the raised state, the powder sweeping robot pours all the powder collected by the powder suction container during this powder cleaning process into the internal mixer, so that the flying polymer material powder continues to participate in the production process. The specific structure of the powder suction container refers to Fig.14 and Fig.15 Description.

[0247] In some embodiments, different internal mixers may process different types of polymer powders. Optionally, the first state information also includes information on the type of polymer powder currently processed by the internal mixer.

[0248] In some embodiments, step S330 further includes: controlling a target powder sweeping robot corresponding to the target internal mixer to perform a target operation during the powder cleaning process according to information on the type of polymer powder currently processed by the target internal mixer.

[0249] In some embodiments, when the polymer powder is judged to be flammable and explosive powder based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a second powder detection device to obtain the powder concentration in the air in the internal mixer chamber of the internal mixer before starting the powder cleaning work, and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe working concentration threshold, and the current operating temperature of the target internal mixer is lower than the safe working temperature, the target powder sweeping robot is controlled to start the powder cleaning work, otherwise the 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 target powder sweeping robot can be controlled to start the powder cleaning work when the working environment is relatively safe, thereby reducing the risk of production accidents.

[0250] Optionally, when the target powder sweeping robot enters the waiting state, the target powder sweeping robot is controlled to detect the powder concentration in the air in the mixing chamber of the internal mixer every second preset time and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe operating concentration threshold and the current operating temperature of the target internal mixer is lower than the safe operating temperature, the target powder sweeping robot is controlled to start the powder cleaning work.

[0251] In some embodiments, when the polymer powder is judged to be a powder that is prone to static electricity based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a powder suction component and one of a brush, a scraper, a friction cloth and a friction block to perform powder cleaning work. In a dry environment, static electricity may attract powder back to the surface of the cleaning object, resulting in incomplete cleaning and potential safety hazards. In this way, the powder can be sucked into the powder suction container, thereby improving the cleaning efficiency and reducing the risk of production accidents.

[0252] In some embodiments, when the polymer powder is determined to be sticky powder according to the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use one of a scraper, a friction cloth and a friction block to perform powder cleaning work when performing powder cleaning work. Sticky powder is easy to adhere to the surface of the cleaning object, and it may be difficult to clean it completely if a powder suction component, a powder suction component or a brush is used. In this way, a powder sweeping workpiece with greater hardness can be used for powder cleaning work, which is conducive to thoroughly cleaning sticky powder.

[0253] In some embodiments, when the polymer powder currently processed by the target internal mixer is judged to be corrosive powder according to the type information of the polymer powder, the target powder sweeping robot is controlled to use a powder sweeping workpiece made of an anti-corrosion material to perform powder cleaning work. In this way, it is possible to avoid using an ordinary powder sweeping workpiece made of a non-corrosion-resistant material to clean the corrosive powder, and the working life of the ordinary powder sweeping workpiece can be extended.

[0254] Step S337: Determine whether the powder cleaning work is completed.

[0255] In some embodiments, step S337 includes: when the duration of the powder cleaning work is greater than a first preset time, determining that the powder cleaning work is completed; otherwise, determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0256] 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.

[0257] In some embodiments, step S337 includes steps S3371 to S3374.

[0258] Step S3371: Acquire a first image of the internal mixing chamber of the target internal mixer.

[0259] In some embodiments, the powder sweeping robot is controlled to use a two-dimensional camera to photograph the mixing chamber of an initial target mixer to obtain a first image.

[0260] In some embodiments, during the powder cleaning process, multiple first images of the target internal mixer are acquired in real time.

[0261] Optionally, during the powder cleaning process, a first image of the target internal mixer is acquired at a preset time interval.

[0262] Optionally, during the powder cleaning process, a video of the target internal mixer is acquired in real time.

[0263] Step S3372: Identify the first powder covered area in the first image.

[0264] In some embodiments, the first status information further includes color information of the polymer powder currently being processed by the target internal mixer.

[0265] In some embodiments, an edge detection algorithm is used to identify edges in the first image, thereby identifying at least one characteristic region in the first image, and then determining whether each characteristic region is a first powder coverage region based on color information of the polymer powder currently processed by the target internal mixer.

[0266] Step S3373: Calculate the area of ​​the first powder covered area, and / or calculate the powder thickness of the first powder covered area based on the pixel value of the first powder covered area.

[0267] In some embodiments, a larger pixel value of the first powder covered area indicates a darker color of the first powder covered area, which means a greater powder thickness of the first powder covered area.

[0268] In some embodiments, calculating the powder thickness of the first powder covered area based on the pixel values ​​of the first powder covered area includes steps (3373.1) to (3373.3).

[0269] (3373.1) Obtain a curve graph showing the corresponding relationship between pixel value and powder thickness.

[0270] In some embodiments, multiple images of the first powder coverage area with multiple known powder thicknesses are taken in advance, and a corresponding relationship curve graph of pixel values ​​and powder thickness is obtained based on the pixel values ​​of the first powder coverage area in the multiple images and the corresponding known powder thickness. In this way, even if the corresponding relationship between pixel values ​​and powder thickness is not a linear relationship, the corresponding powder thickness can be accurately calculated based on the pixel values.

[0271] (3373.2) 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 corresponding relationship curve between the pixel value and the powder thickness.

[0272] In some embodiments, in a graph of the corresponding relationship between pixel value and powder thickness, the powder thickness corresponding to the pixel value of each pixel point is determined according to the pixel value of each pixel point.

[0273] (3373.3) Calculate the powder thickness of the first powder coverage area based on the powder thickness corresponding to each pixel point in the first powder coverage area.

[0274] In some embodiments, the powder thickness of the first powder covered region is an average powder thickness of the first powder covered region.

[0275] Optionally, the powder thickness corresponding to each pixel in the first powder coverage area is added up, and then divided by the total number of all pixel points in the first powder coverage area to obtain an average powder thickness of the first powder coverage area.

[0276] In some embodiments, the powder thickness of the first powder coverage area includes the powder thickness corresponding to each pixel in the first powder coverage area.

[0277] Step S3374: When the area of ​​the first powder coverage area is greater than the first preset area, and / or the powder thickness of the first powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0278] In some embodiments, when the area of ​​the first powder-covered region is larger than the first preset area, it indicates that the area of ​​powder adhesion is large. When the powder thickness of the first powder-covered region is larger than the second preset thickness, it indicates that the powder is flying more.

[0279] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0280] In some embodiments, when the average powder thickness of the first powder coverage area is greater than the second preset thickness, the powder cleaning operation is determined to be completed; otherwise, the powder cleaning operation is determined to be incomplete and the powder cleaning operation is continued.

[0281] In some embodiments, when the powder thickness corresponding to a first preset number of pixel points in the first powder coverage area is greater than the first preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0282] In some embodiments, when the area of ​​the first powder coverage area is greater than the second preset area, and the powder thickness of the first powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0283] In some embodiments, step S337 includes step S3376 to step S3377.

[0284] Step S3376: When performing the powder cleaning operation, obtain the powder concentration in the air in the internal mixing chamber of the target internal mixer.

[0285] In some embodiments, the powder sweeping robot further comprises a first powder detection device. When performing the powder cleaning operation, the first powder detection device is used to obtain the powder concentration in the air in the mixing chamber of the target mixer.

[0286] In some embodiments, the internal mixer further comprises a second powder detection device. When performing the powder cleaning operation, the second powder detection device is used to obtain the powder concentration in the air in the internal mixer chamber of the target internal mixer.

[0287] Step S3377: When the powder concentration is lower than the preset concentration, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0288] In some embodiments, when the powder concentration is lower than a preset concentration, it indicates that less powder is blown into the air during the powder cleaning process, which can further indicate that the powder on the surface of the cleaning object has been basically cleaned.

[0289] Step S338: When it is determined that the powder cleaning work is completed, the target powder sweeping robot corresponding to the target internal mixer is controlled to send a second control instruction to the target internal mixer, so that the target internal mixer closes the feed door and continues to work.

[0290] In some embodiments, the target internal mixer or the target powder sweeping robot may fail before the powder cleaning operation begins, resulting in the cleaning task not being performed normally. Therefore, before starting the powder cleaning operation on the internal mixer chamber of the target internal mixer, it is necessary to ensure that the target internal mixer and the corresponding target powder sweeping robot can both operate normally.

[0291] In some embodiments, before starting to clean the powder in the mixing chamber of the target internal mixer in step S300 or step S330, step S300 or step S330 further includes steps S301 to S305.

[0292] Step S301: acquiring the first state information in the mixing chamber of the target mixer again, and determining whether the target mixer is in a normal working state based on the currently acquired first state information.

[0293] In some embodiments, when it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the first state information is obtained again. Because the target internal mixer may need to wait for the corresponding target powder sweeping robot to sweep powder for it, and during the waiting process, the target internal mixer may fail, and the time when the first state information was first obtained has been a period of time, so it is outdated, so it is necessary to obtain the first state information in the internal mixer chamber of the target internal mixer again.

[0294] In some embodiments, the first state information is used to indicate that the current working state of the target internal mixer is a fault state. When it is determined based on the first state information that the current working state of the target internal mixer is a fault state, it is determined that the target internal mixer is not in a normal working state.

[0295] In some embodiments, the target internal mixer may not actively report an error when a fault occurs, but will still determine the current working state as a normal working state. However, the current working temperature of the target internal mixer will be higher than the warning temperature.

[0296] In some implementations, when it is determined based on the first state information that the current operating temperature of the target internal mixer is higher than the warning temperature, it is determined that the target internal mixer is not in a normal working state.

[0297] In some implementations, when it is determined based on the first status information that the current operating temperature of the target internal mixer is not higher than the warning temperature and the current operating state of the target internal mixer is a normal operating state, it is determined that the target internal mixer is in a normal operating state.

[0298] Step S302: when the target internal mixer is not in a normal working state, cancel the cleaning task corresponding to the target internal mixer.

[0299] In some embodiments, when the target internal mixer is not in a normal working state, a cancel task instruction is sent to the target powder sweeping robot corresponding to the target internal mixer to cancel the cleaning task corresponding to the target internal mixer. In this way, the target powder sweeping robot can perform other cleaning tasks without wasting time.

[0300] In some embodiments, when the target internal mixer is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to check the fault of the target internal mixer.

[0301] Step S303: Obtain the second state information of the target powder sweeping robot corresponding to the target internal mixer.

[0302] Optionally, the second status information includes location information and working status information of the target powder-sweeping robot.

[0303] Optionally, the working state of the target powder sweeping robot includes a working state, an idle state, a fault state, a charging state, etc.

[0304] Step S304: Determine whether the target powder sweeping robot is in a normal working state based on the second state information.

[0305] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a fault state, it is determined that the target powder sweeping robot is not in a normal working state; otherwise, it is determined that the target powder sweeping robot is in a normal working state.

[0306] In some embodiments, the target powder sweeping robot may not actively report an error when a fault occurs, and will still determine the current working state as a normal working state. However, at this time, the target powder sweeping robot will not move and will not be in a charging state.

[0307] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot has not moved for a second preset time and is not in a charging state, it is determined that the target powder sweeping robot is not in a normal working state.

[0308] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a normal working state, and does not move for a second preset time when not in a charging state, it is determined that the target powder sweeping robot is in a normal working state.

[0309] Step S305: when the target powder sweeping robot is not in a normal working state and the target internal mixer is in a normal working state, another powder sweeping robot is selected to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0310] The method for selecting other powder sweeping robots to clean the powder in the mixing chamber of the target mixer is similar to the method in step S320.

[0311] In some embodiments, when the target powder sweeping robot is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the target powder sweeping robot.

[0312] By means of the above method, when a cleaning task cannot be normally performed, the cleaning task can be cancelled in time, so that the target internal mixer can be cleaned of powder in time.

[0313] In summary, the powder sweeping control method provided in the embodiment of the present application has the following advantages:

[0314] 1. By controlling at least one powder sweeping robot to perform powder cleaning work on the mixing chamber of at least one internal mixer based on multiple first state information and all second state information, the powder sweeping robot can be automatically dispatched to perform powder cleaning work on the mixing chamber of the target internal mixer that needs powder cleaning work, without the need for operators to use tools to manually clean the powder in the mixing chamber of the internal mixer, thereby greatly improving the efficiency of powder cleaning work in the mixing chamber of the internal mixer and reducing production costs.

[0315] 2. By performing powder cleaning on the target internal mixer before the internal mixer enters the next working state, 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 output of the final product.

[0316] 3. By giving priority to selecting an idle powder-sweeping robot that belongs to the same operating area as the target internal mixer as the target powder-sweeping robot corresponding to the target internal mixer, the internal mixer and powder-sweeping robot in each operating area can be independently paired and scheduled, avoiding affecting the scheduling of other operating areas.

[0317] 4. By dispatching the powder sweeping robot in the lower priority operation area to clean the powder of the target internal mixer first, the target internal mixer can be cleaned in time as much as possible, while reducing the impact on other higher priority operation areas.

[0318] See also Fig. 20 , Fig. 20 Schematic diagram of the structure of a powder sweeping robot provided in an embodiment of the present application. Fig. 20 As shown, the powder sweeping robot 400 includes: one or more processors 410 and a memory 420, Fig. 20 A processor 410 is taken as an example.

[0319] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Fig. 20 The example of connecting through bus is taken in the following.

[0320] In some embodiments, the processor 410 is used to obtain first state information of mixing chambers of multiple internal mixers, the first state information being used to indicate the working state of the mixing chambers of the internal mixers; obtain second state information of at least one powder sweeping robot, the second state information being used to indicate the working state of the powder sweeping robot; and control at least one powder sweeping robot to perform powder cleaning work on the mixing chamber of at least one internal mixer based on multiple first state information and all second state information.

[0321] In some embodiments, the memory 420 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules of the powder sweeping control method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the powder sweeping robot 400 by running the non-volatile software programs, instructions and modules stored in the memory 420, that is, the powder sweeping control method of the above method embodiment is implemented.

[0322] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the powder sweeping robot 400, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0323] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the powder sweeping control method in any of the above method embodiments is executed, for example, the above described Fig.17 The method comprises steps S100 to S300.

[0324] In some embodiments, the powder sweeping robot can be a chip, such as a data processor (Data Processing Unit, DPU) chip used in a data center, or the powder sweeping robot can also be a network interface card including a chip and multiple interfaces (such as PCI / PCIE interface, UART interface, USB interface, etc.), or the powder sweeping robot can also be a traditional server, or it can also be a server including a network interface card or a chip, the server includes a host and a data processor, the data processor is used to dispatch messages to the host or the data processor itself for processing, and the host is used to process messages dispatched by the data processor.

[0325] Please refer to Fig.21 , Fig.21 5 is a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the powder sweeping control method described in the above method embodiment.

[0326] The computer readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer readable storage medium. The computer readable storage medium 500 has a storage space for program codes for executing any method steps in the above-mentioned powder sweeping control method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0327] In some implementations, the embodiments of the present application further provide a computer program product, including a computer program, which implements the above-mentioned powder sweeping control method when executed by a processor.

[0328] In summary, the present application provides a powder sweeping control method, a powder sweeping robot, an internal mixer and a storage medium, the powder sweeping control method comprising: obtaining first state information of the internal mixer chambers of multiple internal mixers, the first state information being used to indicate the working state in the internal mixer chambers; obtaining second state information of at least one powder sweeping robot, the second state information being used to indicate the working state of the powder sweeping robot; and controlling at least one powder sweeping robot to perform powder cleaning work on the internal mixer chamber of at least one internal mixer based on multiple first state information and all second state information. The present application controls at least one powder sweeping robot to perform powder cleaning work on the internal mixer chamber of at least one internal mixer based on multiple first state information and all second state information, and can automatically dispatch the powder sweeping robot to perform powder cleaning work on the internal mixer chamber of the target internal mixer that needs to perform powder cleaning work, without the need for operators to manually perform powder cleaning work on the internal mixer chamber using tools, thereby greatly improving the efficiency of powder cleaning work on the internal mixer chamber and reducing production costs.

[0329] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements 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 the present application.

Claims

1. A powder sweeping control method, characterized in that: The method comprises: Acquire first state information of the internal mixing chambers of a plurality of internal mixers, wherein the first state information is used to indicate the working state of the internal mixing chambers of the internal mixers; Acquire second status information of at least one powder sweeping robot, where the second status information is used to indicate a working status of the powder sweeping robot; Based on the plurality of the first state information and all the second state information, at least one of the powder sweeping robots is controlled to perform powder cleaning work on the mixing chamber of at least one of the internal mixers.

2. The powder sweeping control method according to claim 1, characterized in that: The controlling at least one of the powder sweeping robots to perform powder cleaning work on the mixing chamber of at least one of the internal mixers based on the plurality of the first state information and all the second state information comprises: Determine at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning based on the multiple first status information; Determine a target powder sweeping robot corresponding to each of the target internal mixers based on the first state information of each of the target internal mixers and the second state information of all of the powder sweeping robots; The target powder sweeping robot corresponding to each target internal mixer is controlled to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

3. The powder sweeping control method according to claim 2, characterized in that: The first state information includes the current working temperature of the internal mixer, and the step of determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning based on the multiple first state information includes: When the current working temperature in the first state information reaches the preset working temperature, the internal mixer corresponding to the first state information is determined as the target internal mixer that needs to perform powder cleaning work at the current time.

4. The powder sweeping control method according to claim 2, characterized in that: The first state information includes the working time of the current working state of the internal mixer, and the determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning based on the multiple first state information includes: When the working time in the first state information reaches a preset time, the internal mixer corresponding to the first state information is determined as the target internal mixer.

5. The powder sweeping control method according to claim 2, characterized in that: The first state information includes the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber of the internal mixer, and the step of determining at least one target internal mixer among the multiple internal mixers that needs to perform powder cleaning based on the multiple first state information includes: When the powder thickness is greater than a first preset thickness, the internal mixer is determined as the target internal mixer.

6. The powder sweeping control method according to any one of claims 2 to 5, characterized in that: The first state information further includes the first position information of the internal mixer, the second state information further includes the second position information of the powder sweeping robot, and the step of determining the target powder sweeping robot corresponding to each target internal mixer based on the first state information of each target internal mixer and the second state information of all the powder sweeping robots includes: Determining a cleaning time period of the target internal mixer based on the first status information of each target internal mixer; Determine all powder sweeping robots that are in an idle state during a cleaning time period of the target internal mixer based on the second state information of all the powder sweeping robots; Based on the first position information of the target internal mixer and the second position information of all corresponding idle powder sweeping robots, a powder sweeping robot that is closest to the target internal mixer is selected from all the idle powder sweeping robots as the target powder sweeping robot corresponding to the target internal mixer.

7. The powder sweeping control method according to claim 6, characterized in that: Each of the target internal mixers belongs to an operation area, each of the operation areas has a priority order, and based on the first position information of the target internal mixer and the second position information of all corresponding idle powder sweeping robots, a powder sweeping robot closest to the target internal mixer is selected from all the idle powder sweeping robots as the target powder sweeping robot corresponding to the target internal mixer, including: Determining an operating area to which the target internal mixer belongs based on the first position information of the target internal mixer; Determine the working area to which each powder sweeping robot belongs based on the second position information of each idle powder sweeping robot corresponding to each target internal mixer; When there is a powder sweeping robot belonging to the same operating area as the target internal mixer among all the powder sweeping robots in the idle state, all the powder sweeping robots belonging to the same operating area as the target internal mixer are determined as the third device; Based on the first position information of the target internal mixer and the second position information of all the third devices, a third device which is closest to the target internal mixer is selected as the target powder sweeping robot corresponding to the target internal mixer; When there is no powder sweeping robot belonging to the same operating area as the target internal mixer among all the idle powder sweeping robots, a powder sweeping robot that is closest to the target internal mixer is selected from all the idle powder sweeping robots whose operating areas have a lower priority than the operating area to which the target internal mixer belongs as the target powder sweeping robot corresponding to the target internal mixer.

8. The powder sweeping control method according to any one of claims 2 to 5, characterized in that: The controlling the target powder sweeping robot corresponding to each target internal mixer to perform powder cleaning work on the internal mixer chamber of the target internal mixer comprises: Constructing a task list for each of the powder sweeping robots based on the corresponding relationship between each of the target internal mixers and the target powder sweeping robots; Determining whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition based on the task list of the target powder sweeping robot corresponding to the target internal mixer; When it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the target powder sweeping robot corresponding to the target internal mixer is controlled to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

9. The powder sweeping control method according to claim 8, characterized in that: The determining whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition based on the task list of the target powder sweeping robot corresponding to the target internal mixer comprises: Calculate the function value of the objective function corresponding to each cleaning task in the task list; Sort each of the cleaning tasks in the task list according to the function value of the corresponding objective function to obtain the execution order of each of the cleaning tasks; When the execution order of the cleaning task corresponding to the target internal mixer is the first execution order, it is determined that the cleaning task corresponding to the target internal mixer satisfies the cleaning start condition.

10. The powder sweeping control method according to claim 9, characterized in that: Each of the target internal mixers belongs to an operation area, each of the operation areas has a priority order, and the function value of the objective function corresponding to each cleaning task in the task list is calculated, including: Obtaining the cleaning start time corresponding to each of the cleaning tasks in the task list, the importance parameter of the target internal mixer, the priority parameter of each of the operating areas, the first weight parameter of the cleaning task, and the second weight parameter of the operating area; A weighted calculation is performed based on the cleaning start time corresponding to each cleaning task in the task list, the importance parameter of the target internal mixer, the priority parameter of each operating area, the first weight parameter of the cleaning task and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

11. The powder sweeping control method according to claim 9, characterized in that: The calculating the function value of the objective function corresponding to each cleaning task in the task list includes: Calculating an initial function value of the objective function corresponding to each cleaning task in the task list according to a calculation formula of the objective function; Iteratively calculating the function value of the intermediate process of the objective function corresponding to each cleaning task in the task list according to a preset rule; When it is determined according to the preset rule that the iteration stop condition has been met, the final function value of the objective function corresponding to each cleaning task in the task list is obtained.

12. The powder sweeping control method according to claim 2, characterized in that: The controlling the target powder sweeping robot corresponding to each target internal mixer to perform powder cleaning work on the internal mixer chamber of the target internal mixer comprises: Controlling a target powder sweeping robot corresponding to the target internal mixer to send a first control instruction to the target internal mixer so as to open a feeding door of the target internal mixer; Determining a cleaning mode corresponding to the target internal mixer based on the first state information of the target internal mixer; Controlling a target powder sweeping robot corresponding to the target internal mixer to perform powder cleaning work on a mixing chamber of the target internal mixer using a cleaning mode corresponding to the target internal mixer; Determining whether the powder cleaning work is completed; When it is determined that the powder cleaning work is completed, the target powder sweeping robot corresponding to the target internal mixer is controlled to send a second control instruction to the target internal mixer, so that the target internal mixer closes the feed door and continues to work.

13. The powder sweeping control method according to claim 12, characterized in that: The cleaning mode includes a complete cleaning mode and a partial cleaning mode, the first state information of the target internal mixer includes a working sequence number corresponding to the current working state, and the cleaning mode corresponding to the target internal mixer is determined based on the first state information of the target internal mixer, including: When the working sequence number corresponding to the current working state in the first state information of the target internal mixer is less than the preset number value, the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode; When the working sequence number corresponding to the current working state in the first state information of the target internal mixer is not less than the preset number value, the cleaning mode corresponding to the target internal mixer is determined as the partial cleaning mode.

14. The powder sweeping control method according to claim 13, characterized in that: Each of the cleaning modes corresponds to a cleaning parameter set, and the target powder sweeping robot corresponding to the target internal mixer is controlled to perform powder cleaning work on the internal mixer chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer, including: Determine, based on the cleaning mode corresponding to the target internal mixer, a cleaning object in the internal mixer chamber of the target internal mixer and at least one powder sweeping workpiece corresponding to each cleaning object; The target powder sweeping robot corresponding to the target internal mixer is controlled to select at least one powder sweeping workpiece corresponding to each cleaning object and perform powder cleaning on the surface of the cleaning object in the internal mixer according to the cleaning process in the cleaning mode corresponding to the target internal mixer.

15. A powder sweeping robot, characterized in that: The powder sweeping robot comprises: 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, and the instructions are executed by the at least one processor so that the at least one processor can execute the powder sweeping control method as described in any one of claims 1 to 14.

16. An internal mixer, characterized in that: It comprises an internal mixer body and the powder sweeping robot as described in claim 15, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the powder sweeping control method according to any one of claims 1 to 14.

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