Method for controlling a dusting robot, dusting robot, internal mixer and storage medium

Abstract

The application 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 mixing chambers of a plurality of internal mixers; acquiring second state information of at least one powder sweeping robot; and controlling the at least one powder sweeping robot to perform powder cleaning work on the mixing chambers of the at least one internal mixer based on the plurality of first state information and all the second state information. According to the application, the powder sweeping robot can be automatically dispatched to perform powder cleaning work on the mixing chamber of the target internal mixer which needs to perform powder cleaning work based on the plurality of first state information and all the second state information, so that the operator does not need to manually perform powder cleaning work on the mixing chamber of the internal mixer by using a tool, and thus the efficiency of the powder cleaning work on the mixing chamber of the internal mixer is greatly improved, and the production cost is reduced.

Description

Technical Field

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

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

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

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

[0005] To address the shortcomings of existing technologies, this application provides a powder cleaning control method, a powder cleaning robot, an internal mixer, and a storage medium. By controlling at least one powder cleaning robot to clean the mixing chamber of at least one internal mixer based on multiple first state information and all second state information, the method can automatically schedule the powder cleaning robot to clean the mixing chamber of the target internal mixer that requires powder cleaning. This eliminates the need for operators to manually clean the mixing chamber of the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning of the mixing chamber of the internal mixer and reducing production costs.

[0006] To address the above problems, the present invention provides the following technical solution:

[0007] In a first aspect, embodiments of this application provide a powder cleaning control method, comprising: acquiring first state information of the mixing chambers of a plurality of internal mixers, the first state information being used to indicate the working state of the mixing chambers of the internal mixers; acquiring second state information of at least one powder cleaning robot, the second state information being used to indicate the working state of the powder cleaning robot; and controlling at least one powder cleaning robot to perform powder cleaning work on the mixing chambers of at least one internal mixer based on the plurality of first state information and all the second state information.

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

[0009] In some implementations, the first status information includes the current operating temperature of the internal mixer, and determining at least one target internal mixer 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 implementations, the first status information includes the working duration of the current working state of the internal mixer, and the step of 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 duration in the first status information reaches a preset duration, determining the internal mixer corresponding to the first status information as the target internal mixer.

[0011] In some implementations, the first state information includes the thickness of powder adhering to the surface of the object to be cleaned in the mixing chamber of the internal mixer. The step of determining at least one target internal mixer among the plurality of internal mixers that needs to be cleaned based on the plurality of first state 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 state information further includes the first position information of the internal mixer, and the second state information further includes the second position information of the dust-sweeping robot. The step of determining the target dust-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 dust-sweeping robots includes: determining the cleaning time period of the target internal mixer based on the first state information of each target internal mixer; determining all dust-sweeping robots that are idle during the cleaning time period of the target internal mixer based on the second state information of all the dust-sweeping robots; and selecting, from all the idle dust-sweeping robots, the dust-sweeping robot closest to the target internal mixer as the target dust-sweeping robot corresponding to the target internal mixer, based on the first position information of the target internal mixer and the second position information of all the corresponding idle dust-sweeping robots.

[0013] In some implementations, each target internal mixer belongs to a work area, and each work area has a priority order. The step of selecting a dust-sweeping robot closest to the target internal mixer from all idle dust-sweeping robots, based on the first location information of the target internal mixer and the second location information of all corresponding idle dust-sweeping robots, as the target dust-sweeping robot corresponding to the target internal mixer, includes: determining the work area to which the target internal mixer belongs based on the first location information of the target internal mixer; determining the work area to which each dust-sweeping robot belongs based on the second location information of each idle dust-sweeping robot corresponding to each target internal mixer; and when among all idle dust-sweeping robots, there exists one that is closest to the target internal mixer... When a dust-sweeping robot belongs to the same work area as the target internal mixer, all dust-sweeping robots belonging to the same work area as the target internal mixer are identified as third devices. Based on the first location information of the target internal mixer and the second location information of all the third devices, a third device that is closest to the target internal mixer is selected as the target dust-sweeping robot corresponding to the target internal mixer. When there is no dust-sweeping robot belonging to the same work area as the target internal mixer among all the dust-sweeping robots in the idle state whose work area priority order is lower than that of the work area to which the target internal mixer belongs, a dust-sweeping robot that is closest to the target internal mixer is selected as the target dust-sweeping robot corresponding to the target internal mixer.

[0014] In some embodiments, controlling the target powder-sweeping robot corresponding to each target internal mixer to perform powder cleaning work in the mixing chamber of the target internal mixer includes: constructing a task list for each powder-sweeping robot based on the correspondence between each target internal mixer and the target powder-sweeping robot; 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; and when it is determined 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 in the mixing chamber of the target internal mixer.

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

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

[0017] In some implementations, calculating the function value of the objective function corresponding to each cleanup task in the task list includes: calculating the initial function value of the objective function corresponding to each cleanup task in the task list according to the calculation formula of the objective function; iteratively calculating the intermediate function value of the objective function corresponding to each cleanup task in the task list according to a preset rule; and obtaining the final function value of the objective function corresponding to each cleanup task in the task list when it is determined according to the preset rule that the iteration stopping condition has been met.

[0018] In some embodiments, controlling the target powder-sweeping robot corresponding to each target internal mixer to perform powder cleaning work on the mixing chamber of the target internal mixer includes: controlling the target powder-sweeping robot corresponding to the target internal mixer to send a first control command to the target internal mixer to open the feed door of the target internal mixer; determining the cleaning mode corresponding to the target internal mixer based on the first state 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 mixing chamber of the target internal mixer using the 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, controlling the target powder-sweeping robot corresponding to the target internal mixer to send a second control command to the target internal mixer to close the feed door of the target internal mixer and continue working.

[0019] In some implementations, the cleaning mode includes a complete cleaning model and a partial cleaning mode. The first state information of the target internal mixer includes a work sequence number corresponding to the current working state. Determining the cleaning mode corresponding to the target internal mixer based on the first state information of the target internal mixer includes: when the work 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; when the work 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.

[0020] In some implementations, each cleaning mode corresponds to a set of cleaning parameters. Controlling the target powder-sweeping robot corresponding to the target internal mixer to perform powder cleaning work on the mixing chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer includes: determining the cleaning objects in the mixing chamber of the target internal mixer and at least one powder-sweeping workpiece corresponding to each cleaning object 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 cleaning object and perform powder cleaning work on the surface of the cleaning objects in the mixing chamber according to the cleaning process in the cleaning mode corresponding to the target internal mixer.

[0021] Secondly, embodiments of this application provide a dust-sweeping robot, the dust-sweeping robot comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the dust-sweeping control method as described in the first aspect.

[0022] Thirdly, embodiments of this application provide a mixing mill, including a mixing mill body and a powder-sweeping robot as described in the second aspect. The powder-sweeping robot is installed on the mixing mill body. The mixing mill body is provided with a mixing chamber and a pressure hammer is provided in the mixing chamber. The powder-sweeping robot is used to drive the powder-sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0023] Fourthly, embodiments of this application provide a computer-readable storage medium storing an executable program, which is executed by a processor to implement the dust-sweeping control method as described in the first aspect.

[0024] This application provides a powder cleaning control method, a powder cleaning robot, an internal mixer, and a storage medium. This application controls at least one powder cleaning robot to clean the mixing chamber of at least one internal mixer based on multiple first state information and all second state information. It can automatically schedule the powder cleaning robot to clean the mixing chamber of the target internal mixer that needs powder cleaning, eliminating the need for operators to manually clean the mixing chamber of the internal mixer with tools. This greatly improves the efficiency of powder cleaning of the mixing chamber of the internal mixer and reduces production costs. Attached Figure Description

[0025] Figure 1 This is a front view of the internal mixer in an embodiment of this application when the feed door is closed. Figure 2 This is a front view of the internal mixer in an embodiment of this application when the feed door is open. Figure 3 This is a schematic diagram of the first state of the internal mixer in the internal mixing chamber of the present application embodiment, showing the hammer pressing down. Figure 4 This is a schematic diagram of the second state of the internal mixer in the internal mixing chamber of the present application embodiment, where the pressure hammer is pressed down. Figure 5 This is a schematic diagram of the third state of the internal mixer in the internal mixing chamber of the internal mixer according to an embodiment of this application, where the pressure hammer is pressing down. Figure 6 This is a schematic diagram of the first application scenario of the dust sweeping control method provided in the embodiments of this application. Figure 7 This is a schematic diagram of a second application scenario of the dust sweeping control method provided in the embodiments of this application. Figure 8 This is a schematic diagram of a third application scenario of the dust sweeping control method provided in the embodiments of this application. Figure 9 This is a perspective view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 10 This is a top view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 11 This is a top view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot used in an internal mixer, according to an embodiment of this application. Figure 12This is a side view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 13 This is a perspective view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 14 This is a top view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 15 This is a perspective view of the first mounting base in the powder sweeping robot applied to the internal mixer according to an embodiment of this application. Figure 16 This is a top view of the first mounting base in the powder sweeping robot of the internal mixer according to an embodiment of this application. Figure 17 This is a schematic flowchart of the dust sweeping control method provided in the embodiments of this application. Figure 18 yes Figure 17 A detailed flowchart of step S300. Figure 19A This is a first schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. Figure 19B This is a second schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. Figure 19C This is a third schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. Figure 19D This is a fourth schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. Figure 19E This is the fifth schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in the embodiments of this application. Figure 20 This is a schematic diagram of the structure of a powder-sweeping robot provided in an embodiment of this application. Figure 21 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] This application provides a powder cleaning control method, a powder cleaning robot, an internal mixer, and a storage medium. By controlling at least one powder cleaning robot to clean the mixing chamber of at least one internal mixer based on multiple first state information and all second state information, the method can automatically schedule the powder cleaning robot to clean the mixing chamber of the target internal mixer that requires powder cleaning. This eliminates the need for operators to manually clean the mixing chamber of the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning of the mixing chamber of the internal mixer and reducing production costs.

[0029] In some implementations, the dust-sweeping control method provided in this application is executed by a dust-sweeping robot.

[0030] In some embodiments, the powder sweeping control method provided in this application is executed by a control terminal, which controls the powder sweeping robot to perform powder cleaning work on the mixing chamber of the mixing machine using at least one powder sweeping workpiece.

[0031] Please see Figures 1 to 5 , Figure 1 This is a front view of the internal mixer in an embodiment of this application when the feed door is closed. Figure 2 This is a front view of the internal mixer in an embodiment of this application when the feed door is open. Figure 3 This is a schematic diagram of the first state of the internal mixer in the internal mixing chamber of the present application embodiment, showing the hammer pressing down. Figure 4 This is a schematic diagram of the second state of the internal mixer in the internal mixing chamber of the present application embodiment, where the pressure hammer is pressed down. Figure 5 This is a schematic diagram of the third state of the internal mixer in the mixing chamber of this application embodiment, with the pressure hammer 13 pressing down. When it is necessary to feed material into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed door 11 to open and the pressure hammer 13 to rise to the top, as shown. Figure 2 As shown, at this time, powder can be fed into the mixing chamber 12 through the channel opened by the feed door 11. After the feeding into the mixing chamber 12 is completed, the mixing mill 1 will control the feed door 11 to close, as shown. Figure 1 As shown, at this time, the pressure hammer 13 inside the mixing chamber 12 will begin to cooperate with the rotor 14 to perform powder processing. The powder processing in the mixing chamber 12 is as follows: Figures 3 to 5As shown, the pressure hammer 13 is controlled by the pressure hammer connecting rod to press down, pressing the powder poured into the mixing chamber 12 onto the rotor 14. The pressure of the pressure hammer 13, the rotation of the rotor 14, and the heating cause the powder to gradually melt. It is understandable that during the process of feeding material into the mixing chamber 12 and pressing down the pressure hammer 13, some of the powder fed into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the pressure hammer 13. This part of the powder will not be used in the mixing process between the pressure hammer 13 and the rotor 14, resulting in a difference between the actual output and the expected output. This part of the powder is generally cleaned by workers according to the specified time or procedure, sweeping it off the inner wall of the mixing chamber 12 and the pressure hammer 13, allowing it to fall naturally onto the rotor 14 and be re-added to the mixing process. However, manually cleaning the side walls of the mixing chamber 12 and the pressure hammer 13 using tools is unstable. It is possible that workers may forget to clean the powder or fail to clean it properly due to personal factors. At the same time, polymer powder may be inhaled by workers during the process of being airborne, and long-term exposure may lead to respiratory diseases, which is detrimental to the health of workers.

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

[0033] Please see Figures 6 to 8 , Figure 6 This is a schematic diagram of the first application scenario of the dust sweeping control method provided in the embodiments of this application. Figure 7 This is a schematic diagram of a second application scenario of the dust sweeping control method provided in the embodiments of this application. Figure 8 This is a schematic diagram of a third application scenario of the dust-sweeping control method provided in the embodiments of this application. For example... Figures 6 to 8 As shown, in some embodiments, the powder-sweeping robot 2 applied to the internal mixer 1 includes a drive device 21 and a powder-sweeping device 22. The drive device 21 is used to drive the powder-sweeping device 22 to move and / or rotate. The powder-sweeping device 22 includes a powder-sweeping workpiece 222, which is used to clean the powder from the surface of the object being cleaned.

[0034] In some implementations, the objects to be cleaned include the inner walls of the mixing chamber and the pressure hammer. Optionally, the objects to be cleaned also include the pressure hammer connecting rod.

[0035] For further information, please refer to [link / reference]. Figures 6 to 8 Considering the supply and demand relationship and actual efficiency of the internal mixer 1 and the powder sweeping robot 2, users can choose the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to their actual needs.

[0036] In some implementations, such as Figure 6As shown, the fixed end of the drive device 21 is installed on the internal mixer 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform powder cleaning work, the powder sweeping robot 2 can quickly perform the task and quickly extend the powder sweeping device 22 into the mixing chamber 12 and the pressure hammer 13 through the drive device 21, so that the powder on the surface of the object to be cleaned is cleaned.

[0037] In some implementations, such as Figure 7 and Figure 8 As shown, the powder-sweeping robot 2 also includes a transfer device 23. The fixed end of the drive device 21 is mounted on the transfer device 23, which is used to move the drive device 21 closer to or away from the internal mixer 1. Optionally, the transfer device 23 can be a floor rail laid on the workshop floor and a floor slide slidably connected to the floor rail, with the fixed end of the drive device 21 mounted on the floor slide. Optionally, the transfer device 23 can also be an AGV (Automated Guided Vehicle), with the fixed end of the drive device 21 mounted on the AGV. Optionally, the transfer device 23 can also be a suspended rail installed on the workshop ceiling or in a suspended position and a suspended slide slidably connected to the suspended rail, with the fixed end of the drive device 21 mounted on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices capable of moving the drive device 21 closer to or away from the internal mixer 1, which will not be elaborated here. It is understood that the powder-sweeping robot 2 in this embodiment can serve multiple internal mixers 1 throughout the workshop. When it receives an instruction to clean powder from a particular internal mixer 1, the transfer device 23 will drive the drive device 21 to move towards the target position according to the instruction. During the movement, the position and distance can be monitored in real time by sensors or a vision system installed on the transfer device 23 to ensure accurate arrival. After the drive device 21 reaches the target position, it starts working, extending the powder-sweeping device 22 into the mixing chamber 12 to perform powder cleaning. After the work is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the powder-sweeping robot 2 in this embodiment can move and switch quickly between different internal mixers 1, greatly improving the flexibility of powder cleaning. At the same time, since the powder-sweeping robot 2 can be shared among different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder-sweeping robot 2, thereby reducing equipment costs.

[0038] In some embodiments, to make the powder-sweeping robot 2 more flexible in its operation, the drive device 21 of this embodiment includes a freely movable robotic arm, and the powder-sweeping device 22 is connected to the free end of the robotic arm. The robotic arm is used to transport the powder-sweeping device 22 from the internal mixer 1 to the mixing chamber 12 inside the internal mixer 1 to perform powder cleaning work. The high degree of freedom of the robotic arm carries the powder-sweeping device 22, which greatly improves the efficiency of the powder cleaning work.

[0039] In some implementations, the robotic arm is a multi-axis robotic arm, such as a three-axis, four-axis, five-axis, six-axis, or seven-axis robotic arm. It is understood that robotic arms are classified according to their number of axes (i.e., the number of degrees of freedom). These axes represent how many directions the robotic arm can move independently. Therefore, a higher number of axes indicates greater flexibility, but also a higher cost. Users can choose a robotic arm with an appropriate number of axes based on their actual needs.

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

[0041] Further, please refer to Figures 9 to 14 , Figure 9 This is a perspective view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 10 This is a top view of the brush and insert shaft of the powder-sweeping workpiece in the powder-sweeping robot of the internal mixer, as described in an embodiment of this application. Figure 11 This is a top view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot used in an internal mixer, according to an embodiment of this application. Figure 12 This is a side view of the scraper and insert shaft of the workpiece being swept in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 13 This is a perspective view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figure 14 This is a top view of the friction block and insert shaft of the powder-sweeping workpiece in a powder-sweeping robot applied to a mixer according to an embodiment of this application. Figures 9 to 14 As shown, to meet the cleaning needs under different working conditions, the powder-sweeping workpiece 222 includes at least a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder-suction assembly, or a powder-blowing assembly. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the object being cleaned (e.g., the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder-suction assembly and powder-blowing assembly clean the surface of the mixing chamber 12 or the pressure hammer 13 through airflow.

[0042] The powder-sweeping workpiece 222 has the following four implementation methods:

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

[0044] Implementation method 2: The powder-sweeping workpiece 222 includes a powder-absorbing component, and one of the following: a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223.

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

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

[0047] This application will describe in detail three embodiments of the powder-sweeping workpiece 222, namely powder-sweeping workpiece 222a, powder-sweeping workpiece 222b, and powder-sweeping workpiece 222c.

[0048] Specifically, please refer to Figure 9 and Figure 10 , Figure 9 and Figure 10 The device includes a powder-sweeping workpiece 222a, which comprises a brush 2221, a shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211 for making point contact with the object being cleaned. The first air hole 22241a is located on the shaft 2224a, and the second air hole 2225a is located on the brush 2221. The functions of the shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be described later in the specification and will not be repeated here. Furthermore, the shaft 2224a also has a second threaded hole 22242a and a snap-fit ​​protrusion 22243a. The functions of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a will be described later in the specification and will not be repeated here.

[0049] Specifically, see Figure 11 and Figure 12 , Figure 11 and Figure 12The cleaning device includes a powder-sweeping workpiece 222b, which comprises a scraper 2222, a shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming line contact with the object being cleaned. The first air hole 22241b is located on the shaft 2224b, and the second air hole 2225b is located on the scraper 2222. The shaft 2224b is used to insert into the insertion hole 2212 on the first mounting base 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump. The second air hole 2225b is used to blow airflow toward the object being cleaned. Thus, while the edge 22221 scrapes off the powder, the airflow blown through the second air hole 2225b can also blow away and carry away the polymer material powder adhering to the side wall of the internal mixer 1 or the hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224b is also provided with a second threaded hole 22242b and a snap-fit ​​protrusion 22243b. The functions of the second threaded hole 22242b and the snap-fit ​​protrusion 22243b are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0050] Specifically, see Figure 13 and Figure 14 , Figure 13 and Figure 14 The cleaning process includes a powder-sweeping workpiece 222c, which comprises a friction block 2223, a insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The aforementioned friction cloth / friction block 2223 has a rough surface 22231 for forming surface contact with the object being cleaned. It should be noted that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft, while the friction block 2223 is hard. It is understood that while the rough surface 22231 causes polymer material powder on the side wall of the internal mixer 1 or the pressure hammer 13 to fall off due to friction, the airflow blown through the second air hole 2225c also blows away and carries away the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, the insert shaft 2224c is also provided with a second threaded hole 22242c and a snap-fit ​​protrusion 22243c. The functions of the second threaded hole 22242c and the snap-fit ​​protrusion 22243c are the same as those of the second threaded hole 22242a and the snap-fit ​​protrusion 22243a, and will not be described in detail here.

[0051] Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 are all equipped with insert shafts, and the scraper 2222, friction cloth, and friction block 2223 are detachably connected to the insertion hole 2212 provided on the first mounting base 221 through the insert shafts.

[0052] Optionally, the following are... Figure 9 and Figure 10Taking the powder-sweeping workpiece 222a as an example, the insert shaft 2224a is provided with a second threaded hole 22242a. During installation, a screw can be passed through the first mounting base 221 and the second threaded hole 22242a to achieve a stable connection between the insert shaft 2224a and the first mounting base 221, thereby achieving a stable connection between the brush 2221, scraper 2222, friction cloth, or friction block 2223 and the first mounting base 221. Optionally, the insert shaft 2224a is also provided with a snap-fit ​​protrusion 22243a, which is used to make the insert shaft 2224a form a snap-fit ​​relationship in the insertion hole 2212.

[0053] Optionally, the brush 2221 can be a roller brush or a plate brush. The roller brush can rotate relative to the insert shaft 2224a, while the plate brush is fixed to the insert shaft 2224a.

[0054] Further, please refer to Figure 15 and Figure 16 , Figure 15 This is a perspective view of the first mounting base in the powder sweeping robot applied to the internal mixer according to an embodiment of this application. Figure 16 This is a top view of the first mounting base in the powder-sweeping robot applied to the internal mixer according to an embodiment of this application. Considering the various options for assembling the powder-sweeping workpiece 222 onto the powder-sweeping robot 2 under different working conditions, in some embodiments, the powder-sweeping device 22 further includes a first mounting base 221. The first mounting base 221 is connected to the drive device 21, and the powder-sweeping workpiece 222 is detachably connected to the first mounting base 221. Users can easily replace the powder-sweeping workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment. Specifically, the brush 2221, scraper 2222, friction cloth, and friction block 2223 in the powder-sweeping workpiece 222 are detachably connected to the first mounting base 221.

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

[0056] Please see Figure 15 as well as Figure 16In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head. The first air pump provides a negative pressure environment inside the powder suction container 223, and the dust suction head provides a channel for external fluid to enter the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 can largely separate the powder adhering to the mixing chamber 12 or the pressure hammer 13, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but may float briefly before re-adhering to the mixing chamber 12 or the pressure hammer 13. Based on this, the powder suction component in this embodiment provides negative pressure to the powder suction container 223 through the first air pump. This negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to draw external fluid into the powder suction container 223. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off by the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

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

[0058] In some embodiments, the powder blowing assembly includes a second air pump for providing airflow to blow powder off the object being cleaned. It should be noted that the airflow provided by the second air pump can be blown directly towards the object being cleaned through an air nozzle, or it can be blown through air passages formed in the brush 2221 / scraper 2222 / friction cloth / friction block 2223 of the powder-sweeping workpiece 222 to act on the object being cleaned; this is not limited in this embodiment.

[0059] Furthermore, this embodiment explains that the airflow provided by the second air pump is blown out through the air passages opened on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder-sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include a shaft and a second air hole opened on the shaft. The shaft is used to insert into the insertion hole 2212 on the first mounting base 221, and the second air hole is used to insert into the connecting post 2215 in the insertion hole 2212, and to make the vent hole 22151 on the connecting post 2215 connected to the second air hole. Figure 9 and Figure 10Taking the powder-sweeping workpiece 222a as an example, the workpiece 222a is provided with a first air hole 22241a and a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected by an air passage built into the workpiece 222a. The exhaust end of the second air pump is connected to the first air hole 22241a to provide outward airflow to the second air hole 2225a. It can be understood that the powder-sweeping robot 2 in this embodiment can deliver airflow to the powder-sweeping workpiece 222a through the second air pump. By using the airflow to sweep away the powder, the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder-sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a. This ejected airflow can blow away and carry away the polymer material powder adhering to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning.

[0060] In some embodiments, a connecting post 2215 is provided at the bottom of the insertion hole 2212 on the first mounting base 221. The connecting post 2215 has a vent hole 22151 that connects its two ends. One end of the vent hole 22151 is connected to the insertion hole 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe. Taking the powder-sweeping workpiece 222a as an example, the end of the insert shaft 2224a away from the brush 2221 is provided with a first air hole 22241a, and the brush 2221 is provided with a second air hole 2225a. The first air hole 22241a and the second air hole 2225a are connected through an air passage built into the workpiece body. When the insert shaft 2224a is inserted into the insertion hole 2212, the connecting post 2215 is inserted into the first air hole 22241a, and the exhaust end of the second air pump is connected to the second air hole 2225a.

[0061] Optionally, the sidewall of the insertion hole 2212 is provided with a first threaded hole in the radial direction, and the outer sidewall of the insertion shaft 2224a of the powder sweeping workpiece 222a is provided with a corresponding second threaded hole 22242a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and the first threaded hole and the second threaded hole 22242a are only aligned and connected when the locking protrusion 22243a is located at the communication position between the second groove and the third groove and is in a self-locking state. At this time, the first threaded hole and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0062] Optionally, the connecting post 2215 is disposed at the center of the bottom of the socket 2212, and at least one of the elastic members 2214 disposed at the bottom of the socket 2212 is a spring and is disposed around the outer periphery of the connecting post 2215.

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

[0064] In some embodiments, the powder-sweeping workpiece 222 simultaneously includes one of a brush 2221, a scraper 2222, a friction cloth, and a friction block 2223, as well as a powder-suction component and a powder-blowing component. The powder-suction component collects powder through a negative pressure airflow provided by a first air pump, and the powder-blowing component blows powder through a positive pressure airflow provided by a second air pump. The first and second air pumps are the same pump. It should be noted that, to prevent powder in the mixing chamber 12 of the internal mixer 1 from entering through the second air hole and remaining in the first air hole and vent 22151, a filter screen can be installed at the second air hole in this embodiment to prevent external powder from rushing in through it. In this embodiment, the same air pump is used to simultaneously supply air to both the powder-blowing component and the powder-suction component, effectively reducing product production costs while also making the collaborative work of the powder-blowing component and the powder-suction component more coordinated.

[0065] Please see Figure 17 , Figure 17 This is a schematic flowchart of the dust-sweeping control method provided in an embodiment of this application. Figure 17 As shown, the powder sweeping control method includes steps S100 to S300.

[0066] Step S100: Obtain the first state information of the mixing chambers of multiple internal mixers.

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

[0068] In some implementations, a corresponding powder-sweeping robot is configured for each internal mixer, with a one-to-one correspondence between the internal mixer and the powder-sweeping robot. In this case, when the powder-sweeping robot executes the powder-sweeping control method, it acquires the first state information of the corresponding internal mixer. When the control terminal executes the powder-sweeping control method, it acquires the first state information of the internal mixer corresponding to each powder-sweeping robot.

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

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

[0071] For the specific structure of the internal mixer, please refer to the relevant information. Figures 1 to 5 The description.

[0072] Step S200: Obtain the second state information of at least one dust-sweeping robot.

[0073] The second state information is used to indicate the working status of the dust-sweeping robot.

[0074] In some implementations, the working states of the dust-collecting robot include working state, idle state, fault state, and charging state.

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

[0076] Please see Figure 18 , Figure 18 yes Figure 17 A detailed flowchart of step S300. (See attached diagram.) Figure 18 As shown, in some embodiments, step S300 includes steps S310 to S330.

[0077] Step S310: Based on multiple first state information, determine at least one target internal mixer among multiple internal mixers that requires powder cleaning.

[0078] In some implementations, 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 a preset operating 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.

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

[0080] In some implementations, the preset operating temperature range is 50 degrees to 200 degrees. For example, the preset operating temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees, etc.

[0081] In some implementations, the internal mixer switches between multiple operating states sequentially during a single operation.

[0082] In some implementations, each operating state of the internal mixer corresponds to a preset operating temperature. The internal mixer processes the polymer powder to the corresponding preset operating temperature in each operating state.

[0083] In some implementations, during a single operation of the internal mixer, the preset operating temperature for each operating state increases sequentially. For example, during a single operation, the internal mixer sequentially switches between four operating states: the preset operating temperature for the first state is 95 degrees Celsius, for the second state it is 120 degrees Celsius, for the third state it is 140 degrees Celsius, and for the fourth state it is 155 degrees Celsius. The internal mixer processes the polymer powder to 95 degrees Celsius in the first state, 120 degrees Celsius in the second state, 140 degrees Celsius in the third state, and 155 degrees Celsius in the fourth state. In this way, the internal mixer can gradually melt the polymer powder.

[0084] In some implementations, step S310 includes: when the current working temperature reaches the preset working temperature corresponding to the current working state, 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.

[0085] When the current operating temperature of the internal mixer reaches the preset operating temperature corresponding to the current operating state, it indicates that the internal mixer should enter the next operating state, and at this point, the internal mixer is designated as the target internal mixer. Then, a powder cleaning process is performed on the target internal mixer to ensure that the airborne polymer material powder continues to participate in the production process before the target internal mixer enters the next operating state, thereby improving the quality and yield of the final product.

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

[0087] When the internal mixer reaches the preset time corresponding to the current working state, it indicates that the internal mixer should enter the next working state, and at this point, the internal mixer is designated as the target internal mixer. Then, a powder cleaning process is performed on the target internal mixer to ensure that the airborne polymer material powder continues to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and yield of the final product.

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

[0089] In some implementations, since the internal mixer has completed one workflow when the last working state of the internal mixer ends, the polymer material powder is generally completely melted and not likely to fly away, so there is no need to clean the internal mixer when the last working state of the internal mixer ends.

[0090] In some implementations, during a single operation of the internal mixer, the internal mixer is identified as the target internal mixer at the end of each working state, except for the last working state.

[0091] In some implementations, the status information includes the work sequence number corresponding to the current working state of the internal mixer. 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 identified as the target internal mixer. The work sequence number is the number of the work sequence of the current working state in a single workflow of the internal mixer. The end number value refers to the work sequence number corresponding to the last working state in a single workflow of the internal mixer. For example, in a single workflow of the internal mixer, the internal mixer sequentially switches between four working states: 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 also includes a first detection device disposed on the internal mixer body, the first detection device being used to detect the thickness of powder adhering to the surface of the object being cleaned inside 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 implementations, the first state information includes the thickness of powder adhering to the surface of the object to be cleaned in the mixing chamber of the internal mixer, and step S310 includes: when the powder thickness is greater than a first preset thickness, the internal mixer is identified as the target internal mixer.

[0095] Step S320: Determine the target dust-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 dust-sweeping robots.

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

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

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

[0099] In some implementations, the cleaning start time of the target internal mixer is determined simultaneously with the determination of the target internal mixer. For example, when the current operating temperature in the first status information reaches a preset operating temperature, the cleaning start time of the target internal mixer is the current time. Another example is that the cleaning start time of the target internal mixer is the time when the operating duration of the current operating state reaches a preset duration.

[0100] In some implementations, 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 the preset duration of the powder cleaning operation.

[0101] Optionally, the starting time of the cleaning period for the target internal mixer is the cleaning start time of the target internal mixer, and the duration is a 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, etc.

[0103] Step S322: Based on the second state information of all dust-sweeping robots, determine all dust-sweeping robots that are idle during the cleaning time period of the target mixer.

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

[0105] In some implementations, each cleaning task includes a preset cleaning time period, and the second status information also includes the expected working status of the dust-sweeping robot in the current and future time.

[0106] In some implementations, the working status of the dust-sweeping robot in the current and future time is determined based on the second state information of the dust-sweeping robot. When the dust-sweeping robot is idle throughout the cleaning time period of the target internal mixer, it is determined that the dust-sweeping robot is an idle dust-sweeping robot 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 idle powder-sweeping robots, select the powder-sweeping robot that is closest to the target internal mixer from all idle powder-sweeping robots as the target powder-sweeping robot corresponding to the target internal mixer.

[0108] In some implementations, each target internal mixer belongs to a work area.

[0109] Optionally, the work areas can be divided according to the production workshop, with one production workshop constituting one work area.

[0110] Optionally, the work areas can be divided according to the type of polymer powder processed by the internal mixer, and all internal mixers that process the same type of polymer powder belong to the same work area.

[0111] In some implementations, each work area has a priority order.

[0112] In some implementations, 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 location information of the target internal mixer.

[0114] In some implementations, each work area has a preset location range. When the target internal mixer is determined to be within the location range of a work area based on the first location information of the target internal mixer, the target internal mixer is determined to belong to that work area.

[0115] Step S3232: Determine the working area of ​​each dust-sweeping robot based on the second position information of each idle state dust-sweeping robot corresponding to each target internal mixer.

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

[0117] In some implementations, when the location of the dust-sweeping robot is determined to be within a working area based on the second location information, the dust-sweeping robot is determined to belong to that working area.

[0118] Step S3233: When there is a dust-sweeping robot in the same working area as the target internal mixer among all the idle dust-sweeping robots, all dust-sweeping robots in the same working area as the target internal mixer are identified as the third device.

[0119] The third device is a dust-sweeping robot that is idle during the cleaning period of the target internal mixer and belongs to the same work 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, select the third device that is closest to the target internal mixer as the target powder sweeping robot corresponding to the target internal mixer.

[0121] By prioritizing the selection of idle dust-sweeping robots belonging to the same work area as the target internal mixer as the target dust-sweeping robot, the internal mixer and dust-sweeping robot in each work area can be independently paired and scheduled, avoiding interference with the scheduling of other work areas.

[0122] In some implementations, if none of the idle powder-sweeping robots belong to the same work area as the target internal mixer, then a powder-sweeping robot from a lower-priority work area can be scheduled to clean the powder from the target internal mixer first. This approach ensures the target internal mixer is cleaned as promptly as possible while minimizing impact on other higher-priority work areas.

[0123] Step S3235: When there is no cleaning robot in the same working area as the target mixer among all the idle cleaning robots, select the cleaning robot closest to the target mixer from all the idle cleaning robots whose priority order of their working areas is lower than that of the target mixer's working area as the target cleaning robot.

[0124] In some implementations, selecting a dust-sweeping robot that is closest to the target mixer as the target dust-sweeping robot can minimize the time it takes for the target dust-sweeping robot to reach the target mixer, thereby ensuring that the target mixer is cleaned in a timely manner.

[0125] Step S330: Control the target powder cleaning robot corresponding to each target internal mixer to clean the powder in the mixing chamber of the target internal mixer.

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

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

[0128] In some implementations, a corresponding target dust-sweeping robot is assigned to each target internal mixer.

[0129] Optionally, one powder-sweeping robot can be used to work with multiple target mixers.

[0130] Optionally, a task list for a dust-sweeping robot includes multiple cleaning tasks, each of which includes the ID and initial status information of each target mixer.

[0131] Step S332: Based on the task list of the target internal mixer corresponding to the target powder sweeping robot, determine whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition.

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

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

[0134] As described above, in some implementations, each target internal mixer belongs to a work area.

[0135] Optionally, the work areas can be divided according to the production workshop, with one production workshop constituting one work area.

[0136] Optionally, the work areas can be divided according to the type of polymer powder processed by the internal mixer, and all internal mixers that process the same type of polymer powder belong to the same work area.

[0137] In some implementations, each work area has a priority order.

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

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

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

[0141] The cleanup start time for the cleanup task is the same as the cleanup start time for the target internal mixer as described above, and the determination method is as described above.

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

[0143] in, This represents the function value of the objective function. This represents the first weight parameter for the cleanup task. Indicates the current time. This indicates the start time for the cleanup task. This parameter indicates the importance of the target internal mixer. This represents the preset maximum value of the importance parameter. The second weight parameter represents the work area. This indicates the priority parameter for the work area. This indicates the default maximum value for the priority parameter.

[0144] Understandable, Less than or equal to 0.

[0145] In some implementations, a higher importance parameter indicates a more important cleanup task. A higher priority parameter indicates a higher priority for the corresponding work area. A lower objective function value indicates a higher priority for the corresponding cleanup task and an earlier execution order.

[0146] In other implementations, a smaller value for the importance parameter indicates a more important cleanup task. A smaller value for the priority parameter indicates a higher priority for the corresponding work area. A larger value for the objective function indicates a higher priority for the corresponding cleanup task and an earlier execution order.

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

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

[0149] (3321.4) The function value of the objective function corresponding to each cleaning task in the task list is obtained by weighted calculation based on the importance parameter of the target internal mixer corresponding to each cleaning task in the task list, the priority parameter of each work area, the first weight parameter of the cleaning task and the second weight parameter of the work area.

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

[0151] Function value = Importance parameter of the target internal mixer corresponding to the cleaning task × First weight parameter + Priority parameter of the working area of ​​the target internal mixer corresponding to the cleaning task × Second weight parameter.

[0152] Optionally, a higher importance parameter indicates a more important cleanup task. A higher priority parameter indicates a higher priority for the corresponding job area. A higher objective function value indicates a higher priority for the corresponding cleanup task and an earlier execution order.

[0153] Optionally, the smaller the value of the importance parameter, the more important the corresponding cleanup task. The smaller the value of the priority parameter, the higher the priority of the corresponding job area. The smaller the value of the objective function, the higher the priority of the corresponding cleanup task and the earlier it is executed.

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

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

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

[0157] in, This represents the function value of the objective function. This represents the first weight parameter for the cleanup task. Indicates the current time. This indicates the start time for the cleanup task. This parameter indicates the importance of the target internal mixer. This represents the preset maximum value of the importance parameter. The second weight parameter represents the work area. This indicates the priority parameter for the work area. This indicates the default maximum value for the priority parameter.

[0158] The cleanup start time corresponding to the cleanup task is the same as the cleanup start time of the target internal mixer corresponding to the cleanup task, as described above, and the determination method is as described above. When calculating the initial function value of the objective function, This indicates the initial start time for the cleanup task. During the iterative calculation of the intermediate function values ​​of the objective function, This indicates the start time of the updated cleanup task.

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

[0160] In some implementations, after calculating the initial function value of the objective function corresponding to each cleanup task, each cleanup task is sorted according to the initial function value of the objective function corresponding to each cleanup task in the task list. After sorting, the updated cleanup start time corresponding to each cleanup task is determined. Then, the intermediate process function value of the objective function corresponding to each cleanup task in the task list is calculated iteratively.

[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 allow time for the dust-sweeping robot to move from one target mixer to another.

[0162] For example, the cleanup task in the first execution order is executed with the highest priority. The updated cleanup start time of the cleanup task in the second execution order is the cleanup start time of the cleanup task in the first execution order plus a first preset time and a first preset time interval. The updated cleanup start time of the cleanup task in the third execution order is the updated cleanup start time of the cleanup task in the second execution order plus a first preset time and a first preset time interval, and so on.

[0163] In some implementations, after determining the updated cleanup start time for each cleanup task, the intermediate function value of the objective function for each cleanup task in the task list is calculated using the objective function calculation formula described above. This indicates the start time of the updated cleanup task.

[0164] In some implementations, after calculating the intermediate process function value of the objective function corresponding to each cleanup task in the task list, the execution order of one or more cleanup tasks is adjusted, and then the updated cleanup start time corresponding to each cleanup task is determined again. The intermediate process function value of the objective function corresponding to each cleanup task in the task list is calculated using the objective function calculation formula described above, so that the sum of the function values ​​of the objective functions corresponding to all cleanup tasks in the task list is maximized or minimized.

[0165] Optionally, the gradient function of the objective function is calculated, and the execution order of one or more cleanup tasks is adjusted according to the gradient function of the objective function using the gradient descent method, so as to maximize or minimize the sum of the function values ​​of the objective functions corresponding to all cleanup tasks in the task list.

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

[0167] (3321.7) When the iteration stopping condition is met according to the preset rules, the final function value of the objective function corresponding to each cleanup task in the task list is obtained.

[0168] In some implementations, the iteration stopping 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 stopping threshold or less than a second preset stopping threshold.

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

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

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

[0172] In some implementations, when iteratively calculating the intermediate function values ​​of the objective function corresponding to each cleanup task in the task list, the final function value of the objective function corresponding to each cleanup task and the execution order of each cleanup task are obtained when the iterative calculation stops.

[0173] In some implementations, when the larger the function value of the objective function, the higher the priority of the corresponding cleanup task, each cleanup task in the task list is sorted in descending order according to the function value of the corresponding objective function to obtain the execution order of each cleanup task.

[0174] In some implementations, when a smaller objective function value indicates a higher priority for the corresponding cleanup task, each cleanup task in the task list is sorted in ascending order of its objective function value to obtain the execution order of each cleanup task.

[0175] Step S3323: When the execution order of the cleaning task corresponding to the target internal mixer is the first execution order, determine 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 conditions, control the target powder sweeping robot corresponding to the target internal mixer to perform powder cleaning work on the mixing chamber of the target internal mixer.

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

[0178] Step S334: Control the target powder sweeping robot corresponding to the target internal mixer to send a first control command to the target internal mixer so that the target internal mixer opens the feed door.

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

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

[0181] In some implementations, the cleanup modes include a full cleanup model and a partial cleanup model.

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

[0183] In some implementations, the cleaning parameter set includes preset parameters such as multiple cleaning objects, the cleaning order corresponding to each cleaning object, all dust-sweeping workpieces, the cleaning time, cleaning force, and cleaning speed corresponding to each dust-sweeping workpiece.

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

[0185] In some implementations, the dust-sweeping robot also includes a pressure sensor for detecting the pressure between the dust-sweeping workpiece and the robotic arm. It is understood that after being subjected to pressure from the surface of the object being cleaned, the dust-sweeping workpiece will exert pressure on the robotic arm. According to Newton's third law, the pressure between the dust-sweeping workpiece and the surface of the object being cleaned is equal to the pressure between the dust-sweeping workpiece and the robotic arm. Optionally, the dust-sweeping robot adjusts the movement of the robotic arm based on the pressure value detected by the pressure sensor to adjust the pressure value between the dust-sweeping workpiece and the surface of the object being cleaned.

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

[0187] In some implementations, the dust-sweeping robot can control the dust-sweeping workpiece to vibrate on the surface of the object being cleaned. In this case, the cleaning force also includes the vibration frequency value.

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

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

[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 work 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 operating temperature for each operating state increases sequentially. When the operating sequence number corresponding to the current operating state is less than the preset number value, it indicates that the current operating temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easily scattered. Therefore, the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0193] In some implementations, the full cleanup mode further includes a full deep cleanup mode and a full standard cleanup mode. The full deep cleanup mode has a longer cleanup time and / or a greater cleanup intensity than the full standard cleanup mode.

[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, 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 to be the full depth cleaning mode; otherwise, the cleaning mode corresponding to the target internal mixer is determined to be the full standard cleaning mode.

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

[0196] Optionally, if the working sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is lower than the preset temperature value, it further indicates that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly away. Therefore, the cleaning mode corresponding to the target internal mixer is determined to be the complete deep cleaning mode. If the working sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is not lower than the preset temperature value, it indicates that although the current working temperature of the target internal mixer is low, it is not low enough to make the powder very easy to fly away. Therefore, the cleaning mode corresponding to the target internal mixer is determined to be the complete standard cleaning mode.

[0197] Optionally, the full cleanup mode also includes full cleanup modes corresponding to other cleanup 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 a partial cleaning mode.

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

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

[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 to be a partial deep cleaning mode; otherwise, the cleaning mode corresponding to the target internal mixer is determined to be a partial standard cleaning mode.

[0202] Optionally, if the working sequence number corresponding to the current working state is not less than a preset number value, and the current working temperature is lower than a preset temperature value, it indicates that although the current working temperature of the target internal mixer is relatively high, it is not high enough to cause very little powder to fly away. Therefore, the cleaning mode corresponding to the target internal mixer is determined to be a partial deep cleaning mode. Optionally, if the working sequence number corresponding to the current working state is not less than a preset number value, and the current working temperature is not lower than a preset temperature value, it indicates that the current working temperature of the target internal mixer is relatively high, and high enough to cause very little powder to fly away. Therefore, the cleaning mode corresponding to the target internal mixer is determined to be a partial standard cleaning mode.

[0203] Optionally, some cleanup modes also include partial cleanup modes corresponding to other cleanup levels.

[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: Control the target powder cleaning robot corresponding to the target internal mixer to perform powder cleaning work in the mixing chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer.

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

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

[0208] In some implementations, the objects to be cleaned in the mixing chamber include the inner walls of the mixing chamber and the pressure hammer.

[0209] Optionally, the cleaning object may also include the 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 assembly, and a powder-blowing assembly. The brush can be a roller brush or a plate brush.

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

[0212] In some implementations, when the cleaning mode corresponding to the target internal mixer is the partial cleaning mode, the cleaning objects in the internal mixing chamber of the target internal mixer are determined to include the inner wall of the internal mixing chamber and the pressure hammer. The inner wall of the internal mixing chamber corresponds to the roller brush and 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 perform powder cleaning work on the surface of the target object in the internal mixer chamber 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 full depth cleaning mode or the full standard cleaning mode, the cleaning parameter set corresponding to the full depth cleaning mode or the full partial cleaning mode is used to perform powder cleaning on the surface of the object to be cleaned in each step.

[0215] Optionally, when the cleaning mode corresponding to the target internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, the cleaning parameter set corresponding to the partial deep cleaning mode or the partial standard cleaning mode is used in each step to perform powder cleaning on the surface of the object to be cleaned.

[0216] In some implementations, 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 internal mixer to send a fourth control command to the target internal mixer so that the hammer of the target internal mixer is in a falling state.

[0218] Please see Figure 19A , Figure 19AThis is a first schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. Figure 19A As shown, in some embodiments, the powder-sweeping robot 2 performs powder cleaning work on the target mixer 1.

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

[0220] (3362.2) The control target dust sweeping robot selects the dust sweeping workpiece and uses the corresponding cleaning parameters to perform dust cleaning work on the surface of the pressure hammer connecting rod 30.

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

[0222] In some implementations, the target dust-sweeping robot selects a brush and uses corresponding cleaning parameters to clean the powder from the surface of the pressure hammer connecting rod 30. Because the surface curvature of the pressure hammer connecting rod 30 is relatively large, a brush with a high degree of flexibility is selected to clean the powder from its surface.

[0223] It is understandable that the powder sweeping robot 1 includes a powder sweeping workpiece and a multi-axis robotic arm. Therefore, the powder sweeping robot 1 can change the position and angle of the powder sweeping workpiece through the multi-axis robotic arm to perform complete powder cleaning on the surface of the object to be cleaned.

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

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

[0226] In some implementations, the target dust-sweeping robot selects a roller brush and uses corresponding cleaning parameters to clean the powder from the first side of the mixing chamber wall. Because the mixing chamber wall has a large area, a roller brush with a larger cleaning area is selected to clean the powder from the mixing chamber wall. This method improves cleaning efficiency.

[0227] like Figure 19AAs shown, in some embodiments, the control target dust sweeping robot selects the roller brush 2221A and uses the corresponding cleaning parameters to perform dust cleaning work on the first side A1 of the inner wall of the mixing chamber.

[0228] (3362.4) The control target dust sweeping robot selects the dust sweeping workpiece and uses the corresponding cleaning parameters to perform dust cleaning work on the first part of the pressure hammer surface.

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

[0230] Please see Figure 19B , Figure 19B This is a second schematic diagram illustrating a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. For example... Figure 19B As shown, in some embodiments, the control target dust sweeping robot selects the roller brush 2221A and uses the corresponding cleaning parameters to perform dust cleaning on the first part of the surface of the pressure hammer 13.

[0231] Optionally, in step (3362.4), it is not necessary to replace the roller brush 2221A and control the target internal mixer 1. After step (3362.3), the roller brush 2221A is directly used to clean the powder from the first part of the surface of the pressure hammer 13. This method can improve cleaning efficiency. The following steps are similar.

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

[0233] Please see Figure 19C , Figure 19C This is a third schematic diagram illustrating a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. For example... Figure 19C As shown, in some embodiments, the control target dust sweeping robot selects roller brush 2221A to perform dust cleaning work on the second side A2 of the inner wall of the mixing chamber.

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

[0235] Please see Figure 19D , Figure 19D This is a fourth schematic diagram illustrating a working scenario for cleaning powder from a target internal mixer, as provided in an embodiment of this application. For example... Figure 19D As shown, in some embodiments, the control roller brush 2221A performs powder cleaning work on the second part of the surface of the pressure hammer 13.

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

[0237] (3362.7) Control the target dust sweeping robot to send the fifth control command to the target internal mixer so that the hammer of the target internal mixer is in the raised state.

[0238] In some implementations, when the pressure hammer of the target internal mixer is in the raised state, the first, second, and third sides of the inner wall of the internal mixer are not obstructed by the pressure hammer.

[0239] (3362.8) The target cleaning robot selects the cleaning workpiece and performs powder cleaning work on the first, second and third sides of the inner wall of the mixing chamber.

[0240] Please see Figure 19E , Figure 19E This is the fifth schematic diagram of a working scenario for cleaning powder from a target internal mixer, as provided in the embodiments of this application. Figure 19E As shown, in some embodiments, the control target dust removal robot selects scraper 2222 to perform dust removal work on the third side A3 of the inner wall of the mixing chamber.

[0241] In some embodiments, a scraper is used to clean the powder from the first, second, and third sides of the mixing chamber wall. Because the powder may adhere quite firmly to the surface of the mixing chamber wall, a scraper 2222 with higher hardness is selected to clean the powder from the first side A1, second side A2, and third side A3 of the mixing chamber wall. In this way, the powder adhering to the surface of the mixing chamber wall can be completely cleaned.

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

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

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

[0245] In some implementations, when the dust-sweeping robot controls the dust-blowing assembly to clean the surface of the object being cleaned, it blows polymer powder into the mixing chamber, allowing the airborne polymer powder to continue participating in the production process. This method improves powder cleaning efficiency.

[0246] In some embodiments, when the dust-sweeping robot controls the dust-collecting assembly to clean the surface of the object being cleaned, the dust-sweeping robot also includes a dust-collecting container. After completing the dust cleaning of the target internal mixer, with the pressure hammer in the raised position, the dust-sweeping robot pours all the dust collected by the dust-collecting container during this dust cleaning process into the mixing chamber, so that the airborne polymer material powder can continue to participate in the production process. The specific structure of the dust-collecting container is described in reference to [the relevant documentation / document / etc.]. Figure 14 and Figure 15 The description.

[0247] In some implementations, different internal mixers may process different types of polymer powders. Optionally, the first status information may also include information about the type of polymer powder currently being processed by the internal mixer.

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

[0249] In some implementations, when the polymer powder being processed by the target internal mixer is determined to be flammable and explosive based on its type, the target dust-collecting robot uses a second powder detection device to obtain the powder concentration in the air inside the mixing chamber of the internal mixer and the current operating temperature of the target internal mixer before starting the dust-collecting operation. If the powder concentration is below the safe operating concentration threshold and the current operating temperature of the target internal mixer is below the safe operating temperature, the target dust-collecting robot begins the dust-collecting operation; otherwise, it enters a waiting state. If sufficient dust concentration and temperature are reached during the dust-collecting process, a dust explosion may occur. This method allows the target dust-collecting robot to begin dust-collecting operations when the working environment is relatively safe, thereby reducing the risk of production accidents.

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

[0251] In some implementations, when the polymer powder being processed by the target mixer is determined to be a powder prone to static electricity, the target powder-sweeping robot is controlled to simultaneously employ a powder suction component, along with one of the following: a brush, a scraper, a friction cloth, or a friction block, during powder cleaning. In a dry environment, static electricity may attract powder back to the surface being cleaned, resulting in incomplete cleaning and potential safety hazards. This method allows the powder to be drawn into a suction container, thereby improving cleaning efficiency and reducing the risk of production accidents.

[0252] In some implementations, when the polymer powder is determined to be sticky based on the type of polymer powder being processed by the target mixer, the target powder-sweeping robot is controlled to use one of the following for powder cleaning: a scraper, a friction cloth, or a friction block. Sticky powder tends to adhere to the surface of the object being cleaned, and it may be difficult to clean completely using a powder suction assembly, a powder suction device, or a brush. This method allows for the use of a harder powder-sweeping workpiece, which is beneficial for thoroughly cleaning sticky powder.

[0253] In some implementations, when the polymer powder being processed by the target internal mixer is determined to be corrosive, the target powder-sweeping robot is controlled to use a powder-sweeping workpiece made of corrosion-resistant material to perform powder cleaning. This avoids using ordinary powder-sweeping workpieces made of non-corrosion-resistant materials to clean corrosive powder, thus extending the service life of ordinary powder-sweeping workpieces.

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

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

[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, etc.

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

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

[0259] In some implementations, the powder-sweeping robot uses a two-dimensional camera to photograph the mixing chamber of the initial target internal mixer to obtain a first image.

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

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

[0262] Optionally, during the powder cleaning process, real-time video of the target internal mixer can be acquired.

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

[0264] In some implementations, the first state information also includes color information of the polymer powder currently being processed by the target internal mixer.

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

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

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

[0268] In some implementations, the powder thickness of the first powder-covered area is calculated based on the pixel values ​​of the first powder-covered area, including steps (3373.1) to (3373.3).

[0269] (3373.1) Obtain the curve of the relationship between pixel value and powder thickness.

[0270] In some implementations, multiple images of a first powder-covered area with various known powder thicknesses are pre-captured. A graph showing the relationship between pixel values ​​and powder thickness is calculated by fitting the pixel values ​​of the first powder-covered area in the multiple images to the corresponding known powder thicknesses. In this way, even if the relationship between pixel values ​​and powder thickness is not linear, the corresponding powder thickness can be accurately calculated based on the pixel values.

[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 curve of the correspondence between pixel value and powder thickness.

[0272] In some implementations, the powder thickness corresponding to each pixel value is determined based on the pixel value of each pixel in the graph showing the relationship between pixel value and powder thickness.

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

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

[0275] Optionally, the powder thickness corresponding to each pixel in the first powder-covered area is added together and then divided by the total number of all pixels in the first powder-covered area to obtain the average powder thickness of the first powder-covered area.

[0276] In some implementations, the powder thickness of the first powder-covered area includes the powder thickness corresponding to each pixel in the first powder-covered area.

[0277] Step S3374: When the area of ​​the first powder-covered area is greater than the first preset area, and / or the powder thickness of the first powder-covered area is greater than the second preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0278] In some embodiments, when the area of ​​the first powder-covered region is greater than a first preset area, it indicates that the area of ​​powder adhesion is relatively large. When the powder thickness of the first powder-covered region is greater than a second preset thickness, it indicates that a significant amount of powder is being dispersed.

[0279] In some implementations, when the area of ​​the first powder-covered region is greater than the first preset area, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0280] In some implementations, when the average powder thickness of the first powder-covered area is greater than a second preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0281] In some implementations, when the powder thickness corresponding to a first preset number of pixels in the first powder coverage area is greater than the first preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

[0282] In some implementations, when the area of ​​the first powder-covered region is greater than the second preset area and the powder thickness of the first powder-covered region is greater than the second preset thickness, the powder cleaning work is determined to be completed; otherwise, the powder cleaning work is determined to be incomplete and the powder cleaning work continues.

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

[0284] Step S3376: During the powder cleaning process, obtain the powder concentration in the air inside the mixing chamber of the target internal mixer.

[0285] In some embodiments, the powder-sweeping robot also includes a first powder detection device. During powder cleaning, the first powder detection device is used to obtain the powder concentration in the air within the mixing chamber of the target internal mixer.

[0286] In some embodiments, the internal mixer also includes a second powder detection device. During powder cleaning operations, the second powder detection device is used to obtain the powder concentration in the air within the mixing chamber of the target internal mixer.

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

[0288] In some implementations, when the powder concentration is lower than a preset concentration, it indicates that less powder is airborne during the powder cleaning process, further suggesting that the powder on the surface of the object being cleaned has been essentially cleaned.

[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 sends a second control command to the target internal mixer so that the target internal mixer closes the feed door and continues to work.

[0290] In some implementations, the target internal mixer or the target powder sweeping robot may malfunction before the powder cleaning operation begins, preventing the cleaning task from being performed normally. Therefore, before starting the powder cleaning operation on the mixing chamber of the target internal mixer, it is necessary to ensure that both the target internal mixer and the corresponding target powder sweeping robot are functioning properly.

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

[0292] Step S301: Obtain the first state information inside the mixing chamber of the target internal mixer again, and determine whether the target internal mixer is in normal working condition based on the currently obtained first state information.

[0293] In some implementations, the first status information is acquired again when the cleaning task corresponding to the target internal mixer meets the cleaning start conditions. This is because the target internal mixer may need to wait for the corresponding target dust removal robot to clean its dust. During the waiting process, the target internal mixer may malfunction, and the time since the first acquisition of the first status information has been some time and has become outdated. Therefore, it is necessary to acquire the first status information inside the mixing chamber of the target internal mixer again.

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

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

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

[0297] In some implementations, when it is determined based on the first state 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, the target internal mixer is determined to be in a normal operating state.

[0298] Step S302: When the target internal mixer is not in normal working condition, cancel the cleanup task corresponding to the target internal mixer.

[0299] In some implementations, when the target internal mixer is not in normal working order, a task cancellation command is sent to the corresponding target dust removal robot to cancel the cleaning task for that target internal mixer. This allows the target dust removal robot to perform other cleaning tasks without wasting time.

[0300] In some implementations, when the target internal mixer is not in normal working condition, a corresponding alarm signal is also issued to prompt the operator to troubleshoot 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 the location information and working status information of the target dust-sweeping robot.

[0303] Optionally, the working status of the target dust-sweeping robot includes working status, idle status, fault status, and charging status.

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

[0305] In some implementations, if the target dust-sweeping robot is determined to be in a fault state based on the second state information, it is determined that the target dust-sweeping robot is not in a normal working state; otherwise, it is determined that the target dust-sweeping robot is in a normal working state.

[0306] In some implementations, the target dust-collecting robot may not actively report an error when a malfunction occurs, but will still determine its current working state as normal. However, in this case, the target dust-collecting robot will not move, nor will it be in a charging state.

[0307] In some implementations, when it is determined, based on the second state information, that the target dust-sweeping robot does not move for a second preset time and is not in a charging state, it is determined that the target dust-sweeping robot is not in a normal working state.

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

[0309] Step S305: When the target powder sweeping robot is not in normal working condition and the target internal mixer is in normal working condition, select another powder sweeping robot to clean the powder in the mixing 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 the same as that in step S320.

[0311] In some implementations, when the target dust-collecting robot is not in normal working condition, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the target dust-collecting robot.

[0312] By using the above method, when a cleaning task cannot be executed normally, the cleaning task can be canceled in a timely manner, so that the target internal mixer can be cleaned of powder in a timely manner.

[0313] In summary, the dust collection control method provided in this application has the following advantages:

[0314] 1. By controlling at least one powder-sweeping robot to clean 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 scheduled to clean the mixing chamber of the target internal mixer that needs to be cleaned. This eliminates the need for operators to manually clean the mixing chamber of the internal mixer with tools, thereby greatly improving the efficiency of powder cleaning of the mixing chamber of the internal mixer and reducing production costs.

[0315] 2. By performing powder cleaning on the target internal mixer before it 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 yield of the final product.

[0316] 3. By prioritizing the selection of idle dust-sweeping robots belonging to the same work area as the target internal mixer as the target dust-sweeping robot, the internal mixer and dust-sweeping robot in each work area can be independently paired and scheduled, avoiding interference with the scheduling of other work areas.

[0317] 4. By scheduling the powder-sweeping robots in the lower-priority work areas to clean the target mixer first, the target mixer can be cleaned in a timely manner, while minimizing the impact on other higher-priority work areas.

[0318] Please see Figure 20 , Figure 20 This is a schematic diagram of the structure of a powder-sweeping robot provided in an embodiment of this application. Figure 20 As shown, the dust-collecting robot 400 includes: one or more processors 410 and a memory 420. Figure 20 Take a processor 410 as an example.

[0319] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 20 Taking the example of a connection between China and Israel via a bus.

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

[0321] In some embodiments, the memory 420 serves as a non-volatile computer-readable storage medium, used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules of the dust-sweeping control method in the embodiments of this application. The processor 410 executes various functional applications and data processing of the dust-sweeping robot 400 by running the non-volatile software programs, instructions, and modules stored in the memory 420, thereby implementing the dust-sweeping control method of the above-described method embodiments.

[0322] In some embodiments, memory 420 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the dust-collecting robot 400, etc. Furthermore, memory 420 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 420 may optionally include memory remotely located relative to processor 410, and this remote memory may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0324] In some implementations, the dust-sweeping robot can be a chip, such as a data processing unit (DPU) chip used in data centers. Alternatively, the dust-sweeping robot can be a network interface card that includes a chip and multiple interfaces (such as PCI / PCIE interfaces, UART interfaces, USB interfaces, etc.). Or, the dust-sweeping robot can be a traditional server, or a server that includes a network interface card or chip. The server includes a host and a data processor. The data processor is used to schedule packets to the host or the data processor itself for processing. The host is used to process the packets scheduled by the data processor.

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

[0326] The computer-readable storage medium 500 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-volatile computer-readable medium. The computer-readable storage medium 500 has storage space for program code that performs any of the method steps of the above-described powder-scanning control method. This program code can be read from or written to one or more computer program products. The program code may, for example, be compressed in a suitable form.

[0327] In some embodiments, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described powder sweeping control method.

[0328] In summary, this application provides a powder cleaning control method, a powder cleaning robot, an internal mixer, and a storage medium. The powder cleaning control method includes: acquiring first state information of the mixing chambers of multiple internal mixers, the first state information indicating the working state of the mixing chambers of the internal mixers; acquiring second state information of at least one powder cleaning robot, the second state information indicating the working state of the powder cleaning robot; and controlling at least one powder cleaning robot to perform powder cleaning work on the mixing chambers of at least one internal mixer based on multiple first state information and all second state information. This application, by controlling at least one powder cleaning robot to perform powder cleaning work on the mixing chambers of at least one internal mixer based on multiple first state information and all second state information, can automatically schedule the powder cleaning robot to perform powder cleaning work on the mixing chambers of the target internal mixers that require powder cleaning work, eliminating the need for operators to manually clean the mixing chambers of the internal mixers with tools, thereby greatly improving the efficiency of powder cleaning work on the mixing chambers of internal mixers and reducing production costs.

[0329] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling dust collection, characterized in that, The method includes: Acquire first state information of the mixing chambers of multiple internal mixers, wherein the first state information is used to indicate the working state of the mixing chambers of the internal mixers; Acquire second state information of at least one dust-sweeping robot, the second state information being used to indicate the working state of the dust-sweeping robot; Based on multiple first state information and all 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; The step of 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 multiple first state information and all second state information includes: Based on multiple first state information, at least one target internal mixer among the multiple internal mixers is determined to require powder cleaning; The target dust-sweeping robot corresponding to each target internal mixer is determined based on the first state information of each target internal mixer and the second state information of all the dust-sweeping robots. Control the target powder cleaning robot corresponding to each target internal mixer to perform powder cleaning work in the mixing chamber of the target internal mixer; The control of the target powder-sweeping robot corresponding to each target internal mixer to perform powder cleaning work in the mixing chamber of the target internal mixer includes: A task list for each dust-sweeping robot is constructed based on the correspondence between each target internal mixer and the target dust-sweeping robot; Based on the task list of the target dust sweeping robot corresponding to the target internal mixer, determine whether the cleaning task corresponding to the target internal mixer meets the cleaning start condition; The step of determining whether the cleaning task corresponding to the target internal mixer meets the cleaning start conditions based on the task list of the target dust sweeping robot corresponding to the target internal mixer includes: Calculate the function value of the objective function corresponding to each cleanup task in the task list; Wherein, each of the target internal mixers belongs to a work area, each of the work areas has a priority order, and the calculation of the function value of the objective function corresponding to each cleaning task in the task list includes: Obtain the cleaning start time, the importance parameter of the target internal mixer, the priority parameter of each work area, the first weight parameter of the cleaning task, and the second weight parameter of the work area for each cleaning task in the task list; The function value of the objective function corresponding to each cleaning task in the task list is obtained by weighting the cleaning start time, the importance parameter of the target internal mixer, the priority parameter of each work area, the first weight parameter of the cleaning task, and the second weight parameter of the work area. The cleanup tasks in the task list are sorted according to the function value of the corresponding objective function to obtain the execution order of each cleanup task; 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; 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 mixing chamber of the target internal mixer; wherein, when it is determined that the polymer powder currently being processed by the target internal mixer is a flammable and explosive powder based on the type information of the polymer powder, the target powder sweeping robot is controlled to use a second powder detection device to obtain the powder concentration in the air in the mixing chamber of the internal mixer before starting the powder cleaning work, and the current operating temperature of the target internal mixer is also obtained; 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; otherwise, the target powder sweeping robot is controlled to enter a waiting state. When the polymer powder is determined to be a powder that is prone to generating static electricity based on the type information of the polymer powder currently being processed by the target internal mixer, the target powder cleaning robot is controlled to simultaneously use a powder suction component, as well as one of a brush, scraper, friction cloth, and friction block to perform powder cleaning work. When the polymer powder is determined to be viscous based on the type of polymer powder being processed by the target internal mixer, the target powder cleaning robot is controlled to use one of the following for powder cleaning: scraper, friction cloth, and friction block.

2. The dust collection control method according to claim 1, characterized in that, The first status information includes the current operating temperature of the internal mixer. The step of determining at least one target internal mixer requiring powder cleaning based on multiple pieces of the first status information includes: When the current operating temperature in the first status information reaches the preset operating temperature, the internal mixer corresponding to the first status information is identified as the target internal mixer that needs to perform powder cleaning at the current time.

3. The dust collection control method according to claim 1, characterized in that, The first status information includes the current working duration of the internal mixer. The step of determining at least one target internal mixer requiring powder cleaning based on multiple pieces of the first status information includes: When the working time in the first status information reaches the preset time, the internal mixer corresponding to the first status information is determined as the target internal mixer.

4. The dust collection control method according to claim 1, characterized in that, The first status information includes the thickness of powder adhering to the surface of the object to be cleaned within the mixing chamber of the internal mixer. The step of determining at least one target internal mixer requiring powder cleaning based on multiple pieces of the first status information includes: When the powder thickness is greater than the first preset thickness, the internal mixer is identified as the target internal mixer.

5. The dust collection control method according to any one of claims 1-4, characterized in that, The first status information further includes the first position information of the internal mixer, and the second status information further includes the second position information of the dust-sweeping robot. Determining the target dust-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 dust-sweeping robots includes: The cleaning time period for each target internal mixer is determined based on the first state information of each target internal mixer; Based on the second state information of all the dust-sweeping robots, determine all dust-sweeping robots that are idle during the cleaning time period of the target mixer; Based on the first position information of the target internal mixer and the second position information of all idle powder-sweeping robots, select the powder-sweeping robot that is closest to the target internal mixer from all the idle powder-sweeping robots as the target powder-sweeping robot corresponding to the target internal mixer.

6. The dust collection control method according to claim 5, characterized in that, Each target internal mixer belongs to a work area, and each work area has a priority order. The step of selecting the dust collector closest to the target internal mixer from among all idle dust collectors, based on the first location information of the target internal mixer and the second location information of all corresponding idle dust collectors, as the target dust collector for the target internal mixer, includes: The operating area to which the target internal mixer belongs is determined based on the first location information of the target internal mixer; The working area of ​​each dust-sweeping robot is determined based on the second position information of the dust-sweeping robot in each idle state corresponding to each target internal mixer; When there is a dust-sweeping robot in the same working area as the target internal mixer among all the dust-sweeping robots in the idle state, all dust-sweeping robots in the same working area as the target internal mixer are identified as the third device. Based on the first location information of the target internal mixer and the second location information of all the third devices, a third device that is closest to the target internal mixer is selected as the target powder sweeping robot corresponding to the target internal mixer; If none of the idle dust-sweeping robots belong to the same work area as the target internal mixer, then among all the idle dust-sweeping robots whose work area priority is lower than that of the target internal mixer, select the dust-sweeping robot that is closest to the target internal mixer as the target dust-sweeping robot.

7. The dust collection control method according to claim 1, characterized in that, The calculation of the objective function value corresponding to each cleanup task in the task list includes: Calculate the initial function value of the objective function corresponding to each cleanup task in the task list according to the calculation formula of the objective function; The intermediate function values ​​of the objective function corresponding to each cleanup task in the task list are calculated iteratively according to preset rules. When the iteration stopping condition is met according to the preset rules, the final function value of the objective function corresponding to each cleanup task in the task list is obtained.

8. The dust collection control method according to claim 1, characterized in that, The control of the target powder-sweeping robot corresponding to each target internal mixer to perform powder cleaning work in the mixing chamber of the target internal mixer includes: The target powder-sweeping robot corresponding to the target internal mixer sends a first control command to the target internal mixer to cause the target internal mixer to open the feed door; The cleaning mode corresponding to the target internal mixer is determined based on the first state information of the target internal mixer; The target powder cleaning robot corresponding to the target internal mixer is controlled to perform powder cleaning work in the mixing chamber of the target internal mixer using the cleaning mode corresponding to the target internal mixer; Determine whether the powder cleaning process is complete; When it is determined that the powder cleaning work is completed, the target powder sweeping robot corresponding to the target internal mixer sends a second control command to the target internal mixer so that the target internal mixer closes the feed door and continues to work.

9. The dust collection control method according to claim 8, characterized in that, The cleaning mode includes a complete cleaning model and a partial cleaning mode. The first state information of the target internal mixer includes the working sequence number corresponding to the current working state. 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 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.

10. The dust-sweeping control method according to claim 9, characterized in that, Each cleaning mode corresponds to a set of cleaning parameters. The target powder cleaning robot corresponding to the target internal mixer uses the cleaning mode corresponding to the target internal mixer to perform powder cleaning work on the mixing chamber of the target internal mixer, including: Based on the cleaning mode corresponding to the target internal mixer, determine the cleaning objects in the mixing chamber of the target internal mixer, and at least one powder-sweeping workpiece corresponding to each cleaning object; The target dust removal robot corresponding to the target internal mixer is controlled to perform dust removal work on the surface of the target object in the internal mixer chamber according to the cleaning process in the cleaning mode corresponding to the target internal mixer.

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

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

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

Images