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

Abstract

The present invention discloses a powder cleaning method, a powder sweeping robot, an internal mixer and a storage medium. The powder cleaning method comprises: obtaining status information in an internal mixer chamber of the internal mixer, the status information being used to indicate the working status in the internal mixer chamber of the internal mixer; and controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information. The present application can automatically perform powder cleaning work on the internal mixer by controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information, without requiring an operator to manually perform powder cleaning work on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning work on the internal mixer and protecting the health of the operator.

Description

Technical Field

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

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

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

[0004] However, the cleaning method of manually cleaning the polymer material powder has low cleaning efficiency, and the polymer material powder may be inhaled by the operator, thereby causing damage to the operator's health. Summary of the invention

[0005] In response to the shortcomings of the prior art, the present application provides a powder cleaning method, a powder sweeping robot, an internal mixer and a storage medium. By controlling at least one powder sweeping workpiece to perform powder cleaning on the internal mixer chamber according to status information, the powder cleaning work on the internal mixer can be automatically performed without the need for an operator to use tools to manually clean the powder on the internal mixer, thereby greatly improving the efficiency of the powder cleaning work on the internal mixer and protecting the health of the operator.

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

[0007] In a first aspect, an embodiment of the present application provides a powder cleaning method, comprising: obtaining status information in a mixing chamber of an internal mixer, wherein the status information is used to indicate a working status in the mixing chamber of the internal mixer; and controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber according to the status information.

[0008] In some embodiments, controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber according to the status information includes: judging whether the internal mixer is a target internal mixer that needs to perform powder cleaning according to the status information; when the internal mixer is judged to be the target internal mixer according to the status information, controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber of the target internal mixer.

[0009] In some embodiments, the status information includes the current operating temperature of the internal mixer chamber of the internal mixer, and determining whether the internal mixer is a target internal mixer that requires powder cleaning based on the status information includes: when the current operating temperature reaches a preset operating temperature, determining that the internal mixer is the target internal mixer.

[0010] In some embodiments, the status information includes the working time of the current working state of the internal mixer of the internal mixer, and judging whether the internal mixer is a target internal mixer that needs to perform powder cleaning work based on the status information includes: when the working time reaches a preset time, judging that the internal mixer is the target internal mixer.

[0011] In some embodiments, the status information includes the thickness of powder attached to the surface of the cleaning object in the mixing chamber, and determining whether the internal mixer is a target internal mixer that requires powder cleaning based on the status information includes: when the powder thickness is greater than a first preset thickness, determining that the internal mixer is the target internal mixer.

[0012] In some embodiments, the status information is status information fed back by multiple internal mixers, and controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information includes: determining at least one target internal mixer that needs to perform powder cleaning work based on the multiple status information; controlling at least one powder sweeping workpiece to perform powder cleaning work on each of the target internal mixers.

[0013] In some embodiments, determining at least one target internal mixer that needs to perform powder cleaning based on multiple status information includes: determining at least one initial target internal mixer based on the status information; testing each of the initial target internal mixer to obtain a corresponding test result; judging whether the initial target internal mixer meets the powder cleaning condition based on the test result; and when it is judged that the initial target internal mixer meets the powder cleaning condition based on the test result, determining the initial target internal mixer as the final target internal mixer.

[0014] In some embodiments, the detection result includes a first image of the internal mixing chamber of the initial target internal mixer, and the detection of each of the initial target internal mixers to obtain the corresponding detection result includes: for each of the initial target internal mixers, sending a first control instruction to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer; using a two-dimensional camera to photograph the internal mixing chamber of the initial target internal mixer to obtain the first image; judging whether the initial target internal mixer meets the powder cleaning condition based on the detection result includes: identifying a first powder coverage area in the first image; calculating the area of ​​the first powder coverage area, and / or calculating the powder thickness of the first powder coverage area based on the pixel value of the first powder coverage area; when the area of ​​the first powder coverage area is greater than a first preset area, and / or the powder thickness of the first powder coverage area is greater than a first preset thickness, judging that the initial target internal mixer meets the powder cleaning condition.

[0015] In some embodiments, the detection result includes three-dimensional point cloud data of the internal mixing chamber of the initial target internal mixer, and the detection of each of the initial target internal mixers to obtain the corresponding detection result includes: for each of the initial target internal mixers, sending a first control instruction to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer; using a three-dimensional camera to scan the internal mixing chamber of the initial target internal mixer to obtain the three-dimensional point cloud data; judging whether the initial target internal mixer meets the powder cleaning condition based on the detection result includes: determining a three-dimensional surface model of the internal mixing chamber based on the three-dimensional point cloud data; obtaining a reference surface model of the internal mixing chamber; determining the powder thickness of the internal mixing chamber based on the three-dimensional surface model and the reference surface model of the internal mixing chamber; when the powder thickness is greater than a first preset thickness, judging that the initial target internal mixer meets the powder cleaning condition.

[0016] In some embodiments, controlling at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber according to the status information includes: when the internal mixer is judged to be a target internal mixer according to the status information, sending a second control instruction to the target internal mixer to enable the target internal mixer to open a feed door; controlling at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber of the target internal mixer; judging whether the powder cleaning work is completed; and when it is judged that the powder cleaning work is completed, sending a third control instruction to the internal mixer to enable the target internal mixer to close the feed door and continue working.

[0017] In some embodiments, determining whether the powder cleaning work is completed includes: when the duration of the powder cleaning work is greater than a first preset time, determining that the powder cleaning work is completed; otherwise, determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0018] In some embodiments, determining whether the powder cleaning operation is completed includes: acquiring a second image of the internal mixing chamber of the target internal mixer;

[0019] Identify the second powder covered area in the second image; calculate the area of ​​the second powder covered area, and / or calculate the powder thickness of the second powder covered area based on the pixel value of the second powder covered area; when the area of ​​the second powder covered area is greater than a second preset area, and / or the powder thickness of the second powder covered area is greater than a second preset thickness, determine that the powder cleaning work is completed, otherwise determine that the powder cleaning work is not completed and continue the powder cleaning work.

[0020] In some embodiments, determining whether the powder cleaning work is completed includes: when performing the powder cleaning work, obtaining the powder concentration in the air in the mixing chamber of the target internal mixer; when the powder concentration is lower than a preset concentration, determining that the powder cleaning work is completed, otherwise determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0021] In some embodiments, the controlling of at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber of the target internal mixer comprises: sending a fourth control instruction to the target internal mixer to put a pressure hammer of the target internal mixer in a falling state; when the pressure hammer of the target internal mixer is in the falling state, controlling the powder sweeping workpiece to perform powder cleaning on the first side of the inner wall of the mixing chamber, wherein the inner wall of the mixing chamber comprises a first side, a second side and a third side, the first side and the second side are opposite and are not blocked by the pressure hammer, and the third side is blocked by the pressure hammer when the pressure hammer is in the falling state; controlling the powder sweeping workpiece to clean the pressure hammer The first part of the surface is subjected to powder cleaning, wherein the surface of the pressure hammer includes a first part of the surface and a second part of the surface, the first part of the surface is close to the first side surface of the inner wall of the mixing chamber, and the second part of the surface is close to the second side surface of the inner wall of the mixing chamber; the powder sweeping workpiece is controlled to perform powder cleaning on the second side surface of the inner wall of the mixing chamber; the powder sweeping workpiece is controlled to perform powder cleaning on the second part of the surface of the pressure hammer; a fifth control instruction is sent to the target mixing machine to make the pressure hammer of the target mixing machine in a raised state; the powder sweeping workpiece is controlled to perform powder cleaning on the first side surface, the second side surface and the third side surface of the inner wall of the mixing chamber.

[0022] In a second aspect, an embodiment of the present application provides a powder sweeping robot, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the powder cleaning method described in the first aspect.

[0023] In a third aspect, an embodiment of the present application provides an internal mixer, comprising an internal mixer body and a powder sweeping robot as described in the second aspect, wherein the internal mixer body is provided with an internal mixer chamber, wherein a pressure hammer is provided in the internal mixer chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the internal mixer chamber and the surface of the pressure hammer.

[0024] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the powder cleaning method as described in the first aspect.

[0025] The present application provides a powder cleaning method, a powder sweeping robot, an internal mixer and a storage medium. The present application controls at least one powder sweeping workpiece to perform powder cleaning on an internal mixer chamber according to status information, and can automatically perform powder cleaning on the internal mixer without the need for an operator to use tools to manually perform powder cleaning on the internal mixer, thereby greatly improving the efficiency of powder cleaning on the internal mixer and protecting the health of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened. Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application. Figure 4 It is a schematic diagram of the second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 It is a schematic diagram of the third state of the pressure hammer pressing down in the internal mixer of the embodiment of the present application. Figure 6 This is a schematic diagram of the first application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 7 It is a schematic diagram of a second application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 8 This is a schematic diagram of a third application scenario of the powder cleaning method provided in an embodiment of the present application.

[0027] Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.10This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.12 This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.14 This is a top view of the friction block and the plug-in shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application. Fig.16 This is a top view of the first mounting seat of the powder sweeping robot used in the internal mixer according to an embodiment of the present application. Fig.17 It is a schematic flow chart of the powder cleaning method provided in the embodiment of the present application. Fig.18 yes Fig.17 Detailed flowchart of step S200 in FIG. Fig.19A This is the first schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19B This is a second schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19C This is the third schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19D This is the fourth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19E This is the fifth schematic diagram of a working scenario of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig. 20 It is a structural schematic diagram of a powder sweeping robot provided in an embodiment of the present application. Fig.21 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0030] The present application provides a powder cleaning method, a powder sweeping robot, an internal mixer and a storage medium. By controlling at least one powder sweeping workpiece to perform powder cleaning on an internal mixer chamber according to status information, the powder cleaning work on the internal mixer can be automatically performed without the need for an operator to use tools to manually clean the powder on the internal mixer, thereby greatly improving the efficiency of the powder cleaning work on the internal mixer and protecting the health of the operator.

[0031] In some embodiments, the powder cleaning method provided in the present application is performed by a powder sweeping robot.

[0032] In some embodiments, the powder cleaning method provided in the present application is executed by a control terminal, and the control terminal is used to control a powder sweeping robot to use at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber.

[0033] Optionally, the control terminal may be an electronic device such as a computer, a mobile phone or a watch.

[0034] See also Figures 1 to 5 , Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened. Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application. Figure 4 It is a schematic diagram of the second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 1 is a schematic diagram of the third state of the hammer pressing down in the mixing chamber of the internal mixer of the embodiment of the present application. When it is necessary to feed materials into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed door 11 to open and the hammer 13 to rise to the top, as shown in FIG. Figure 2 As shown, at this time, powder can be added into the mixing chamber 12 through the channel opened by the feeding door 11. When the feeding into the mixing chamber 12 is completed, the mixer 1 controls the feeding door 11 to close. Figure 1 As shown in FIG. 1 , at this time, the hammer 13 in the mixing chamber 12 will start to cooperate with the rotor 14 to perform the powder processing work. Figures 3 to 5As shown, the hammer 13 is pressed down by the hammer connecting rod to press the powder poured into the mixing chamber 12 onto the rotor 14, and the powder is gradually melted by the pressure of the hammer 13, the rotation of the rotor 14 and the heating. It is understandable that in the process of feeding into the mixing chamber 12 and pressing the hammer 13 down, part of the powder put into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the hammer 13, and this part of the powder will not be added to the mixing work between the hammer 13 and the rotor 14, resulting in a gap between the actual output and the expected output. For this part of the powder, workers generally clean it according to the specified time or specified process, sweep it off the inner wall of the mixing chamber 12 and the hammer 13, and let it fall naturally onto the rotor 14 to rejoin the mixing work. However, manually using tools to clean the side walls of the mixing chamber 12 and the pressure hammer 13 is unstable. Workers may forget to sweep the powder or fail to sweep the powder properly due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract of workers during the flying process. Long-term exposure may cause respiratory diseases, which is not good for the health of workers.

[0035] The powder cleaning method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0036] See also Figures 6 to 8 , Figure 6 This is a schematic diagram of the first application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 7 It is a schematic diagram of a second application scenario of the powder cleaning method provided in an embodiment of the present application. Figure 8 Schematic diagram of the third application scenario of the powder cleaning method provided in the embodiment of the present application. Figures 6 to 8 As shown, in some embodiments, the powder sweeping robot 2 applied to the internal mixer 1 includes a driving device 21 and a powder sweeping device 22, the driving device 21 is used to drive the powder sweeping device 22 to move and / or rotate, the powder sweeping device 22 includes a powder sweeping workpiece 222, and the powder sweeping workpiece 222 is used to perform powder cleaning on the surface of the cleaning object.

[0037] In some embodiments, the cleaning objects include the inner wall of the mixing chamber and the pressure hammer.

[0038] Optionally, the cleaning object also includes a hammer connecting rod.

[0039] For further information, please refer to Figures 6 to 8 Considering the supply and demand relationship and actual performance of the internal mixer 1 and the powder sweeping robot 2, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to actual needs.

[0040] In some embodiments, Figure 6As shown, the fixed end of the driving device 21 is installed on the internal mixer 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform powder cleaning work, the powder sweeping robot 2 can quickly execute it, and quickly extend the powder sweeping device 22 into the internal mixer chamber 12 and the pressure hammer 13 through the driving device 21, so that the powder on the surface of the cleaning object can be cleaned.

[0041] In some embodiments, Figure 7 and Figure 8 As shown, the powder sweeping robot 2 also includes a transfer device 23, and the fixed end of the driving device 21 is installed on the transfer device 23, and the transfer device 23 is used to drive the driving device 21 to approach or move away from the internal mixer 1. Optionally, the transfer device 23 can be a ground rail laid on the floor of the workshop and a ground slide slidably connected to the ground rail, and the fixed end of the driving device 21 is installed on the ground slide. Optionally, the transfer device 23 can also be an AGV trolley, and the fixed end of the driving device 21 is installed on the AGV trolley. Optionally, the transfer device 23 can also be a suspended rail installed on the ceiling of the workshop or in the air and a suspended slide slidably connected to the suspended rail, and the fixed end of the driving device 21 is installed on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices that can drive the driving device 21 to approach or move away from the internal mixer 1, which will not be repeated here. It can be understood that the powder sweeping robot 2 in this embodiment can serve multiple internal mixers 1 in the entire workshop. When receiving an instruction that a certain internal mixer 1 needs to perform powder cleaning work, the transfer device 23 will drive the driving device 21 to move to the target position according to the instruction. During the movement, the position and distance can be monitored in real time by the sensor or visual system installed on the transfer device 23 to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work and extends the powder sweeping device 22 into the internal mixer chamber 12 to perform powder cleaning work. After the work is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the powder sweeping robot 2 of this embodiment can quickly move and switch between different internal mixers 1, which greatly improves the flexibility of powder cleaning work. At the same time, since the powder sweeping robot 2 can be shared between different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder sweeping robot 2, thereby reducing equipment costs.

[0042] In some embodiments, in order to make the powder sweeping robot 2 more flexible in performing operations, the driving device 21 of this embodiment includes a freely movable mechanical arm, and the powder sweeping device 22 is connected to the free end of the mechanical arm. The mechanical arm is used to send the powder sweeping device 22 from the internal mixer 1 to the internal mixer chamber 12 to perform powder cleaning work, and the high degree of freedom of the mechanical arm is used to carry the powder sweeping device 22 to move, which greatly improves the efficiency of the powder cleaning work.

[0043] In some embodiments, the robot arm is a multi-axis robot arm, such as a three-axis robot arm, a four-axis robot arm, a five-axis robot arm, a six-axis robot arm, or a seven-axis robot arm, etc. It is understandable that the robot arm is classified according to its number of axes (i.e., the number of degrees of freedom), which represents the number of directions in which the robot arm can move independently. Therefore, the higher the number of axes of the robot arm, the more flexible the robot arm is, but the corresponding cost is also higher. Users can choose a robot arm with a suitable number of axes according to their actual needs.

[0044] Preferably, a six-axis robot is selected as the driving device 21. It should be explained that this embodiment only illustrates a limited number of examples of the robot of the driving device 21, and in other embodiments, other devices that can drive the powder sweeping device 22 to move and / or rotate can also be used, which will not be described in detail here.

[0045] For further information, see Figures 9 to 14 , Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.10 This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.12 This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.14 This is a top view of the friction block and the plug shaft of the powder sweeping workpiece in the powder sweeping robot used in the internal mixer according to the embodiment of the present application. Figures 9 to 14 As shown, in order to meet the cleaning requirements under different working conditions, the powder sweeping workpiece 222 at least includes a brush 2221 or a scraper 2222 or a friction cloth or a friction block 2223 or a powder suction component or a powder blowing component. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the cleaning object (such as the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder suction component and the powder blowing component act on the surface of the mixing chamber 12 or the pressure hammer 13 through airflow for cleaning.

[0046] Among them, there are four implementation methods for sweeping the powder workpiece 222:

[0047] Embodiment 1: The powder sweeping workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder suction component, and a powder blowing component.

[0048] Embodiment 2: The powder-sweeping workpiece 222 includes a powder suction component and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0049] Embodiment 3: The powder-sweeping workpiece 222 includes a powder blowing assembly and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0050] Embodiment 4: The powder sweeping workpiece 222 includes a powder suction component and a powder blowing component, and one of the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 .

[0051] Among them, this application will introduce three embodiments of the powder sweeping workpiece 222 in detail, namely the powder sweeping workpiece 222a, the powder sweeping workpiece 222b, and the powder sweeping workpiece 222c.

[0052] Specifically, see Fig. 9 and Fig.10 , Fig. 9 and Fig.10 The powder sweeping workpiece 222a is included, and the powder sweeping workpiece 222a includes a brush 2221, an insert shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211, which are used to form point contact with the cleaning object. The first air hole 22241a is arranged on the insert shaft 2224a, and the second air hole 2225a is arranged on the brush 2221. The functions of the insert shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be introduced in the following part of the specification, and will not be repeated here. Furthermore, the insert shaft 2224a is also provided with a second threaded hole 22242a and a clamping protrusion 22243a. The functions of the second threaded hole 22242a and the clamping protrusion 22243a will be introduced in the following part of the specification, and will not be repeated here.

[0053] Specifically, see Fig.11 and Fig.12 , Fig.11 and Fig.12The powder sweeping workpiece 222b includes a scraper 2222, an insert shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming a line contact with the cleaning object. The first air hole 22241b is arranged on the insert shaft 2224b, and the second air hole 2225b is arranged on the scraper 2222. The insert shaft 2224b is used to be plugged into the socket 2212 on the first mounting seat 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump, and the second air hole 2225b is used to blow air flow toward the cleaning object, so that while the edge 22221 scrapes off the powder, the air flow blown out through the second air hole 2225b can also blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242b and a clamping protrusion 22243b are also provided on the insertion shaft 2224b. The functions of the second threaded hole 22242b and the clamping protrusion 22243b are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0054] Specifically, see Fig.13 and Fig.14 , Fig.13 and Fig.14 The powder sweeping workpiece 222c includes a friction block 2223, an insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The friction cloth / friction block 2223 has a rough surface 22231 for forming a surface contact with the cleaning object. It should be explained that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft and the friction block 2223 is hard. It can be understood that while the rough surface 22231 rubs to cause the polymer material powder on the side wall of the internal mixer 1 or the pressure hammer 13 to fall off, the air flow blown out through the second air hole 2225c also blows and takes away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242c and a clamping protrusion 22243c are also provided on the insertion shaft 2224c. The functions of the second threaded hole 22242c and the clamping protrusion 22243c are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0055] Specifically, the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 are all provided with plug-in shafts, and the scraper 2222 , the friction cloth, and the friction block 2223 are detachably connected with the socket 2212 provided on the first mounting seat 221 through the plug-in shafts.

[0056] Optionally, the following Fig. 9 and Fig.10For example, the second threaded hole 22242a is provided on the plug shaft 2224a. During installation, a screw can be used to pass through the first mounting seat 221 and the second threaded hole 22242a to achieve a stable connection between the plug shaft 2224a and the first mounting seat 221, thereby achieving a stable connection between the brush 2221 or the scraper 2222 or the friction cloth or the friction block 2223 and the first mounting seat 221. Optionally, a snap-fitting protrusion 22243a is also provided on the plug shaft 2224a, and the snap-fitting protrusion 22243a is used to form a snap-fitting relationship between the plug shaft 2224a and the socket 2212.

[0057] Optionally, the brush 2221 may be a roller brush or a scrub brush. The roller brush may rotate relative to the insertion shaft 2224a, while the scrub brush may be fixed to the insertion shaft 2224a.

[0058] For further information, see Fig.15 and Fig.16 , Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application. Fig.16 The top view of the first mounting seat in the powder sweeping robot used for the internal mixer in the embodiment of the present application. Considering the various options of assembling the powder sweeping workpiece 222 on the powder sweeping robot 2 under different working conditions, in some embodiments, the powder sweeping device 22 also includes a first mounting seat 221, the first mounting seat 221 is connected to the driving device 21, and the powder sweeping workpiece 222 is detachably connected to the first mounting seat 221. The user can easily replace the powder sweeping workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment. Specifically, the brush 2221, the scraper 2222, the friction cloth and the friction block 2223 in the powder sweeping workpiece 222 are detachably connected to the first mounting seat 221.

[0059] Optionally, a socket 2212 is provided on the first mounting seat 221, and the brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with plug-in shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the socket 2212 on the first mounting seat 221 through the plug-in shafts provided thereon. Through simple plug-in operations, the operator can quickly replace the powder sweeping workpiece 222.

[0060] See also Fig.15 as well as Fig.16In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head, wherein the first air pump is used to provide a negative pressure environment inside the powder suction container 223, and the dust suction head is used to provide a channel for introducing external fluid into the inside of the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 can separate the powder adhered to the mixing chamber 12 or the pressure hammer 13 to a large extent, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but re-adhere to the mixing chamber 12 or the pressure hammer 13 after a short period of floating. Based on this, the powder suction assembly in this embodiment provides negative pressure for the powder suction container 223 through the first air pump, and the negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to suck the external fluid into the powder suction container 223. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0061] Preferably, the dust suction head is mounted on the first mounting seat 221. Optionally, at least two dust suction heads are evenly arranged around the plug hole 2212, and the dust suction port of the dust suction head faces the same direction as the insertion port of the plug hole 2212. Optionally, the dust suction head is a dust suction pipe 2235, and a dust suction hole 2211 is provided on the first mounting seat 221, one end of the dust suction pipe 2235 is connected to the dust suction hole 2211, and the other end is connected to the powder suction container 223.

[0062] In some embodiments, the powder blowing assembly includes a second air pump, which is used to provide airflow to blow the powder off the cleaning object. It should be explained that the airflow provided by the second air pump can be blown directly toward the cleaning object through the air nozzle, or can be blown through the air path channel on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 to act on the cleaning object, which is not limited in this embodiment.

[0063] Furthermore, in this embodiment, an explanation is given for the airflow provided by the second air pump being blown out through the air path on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 provided in the powder sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include an insert shaft and a second air hole provided on the insert shaft. The insert shaft is used to be plugged into the socket 2212 on the first mounting seat 221. The second air hole is used to be plugged into the connecting column 2215 in the socket 2212, and the air vent 22151 on the connecting column 2215 is connected to the second air hole. Fig. 9 and Fig.10As an example, the powder sweeping workpiece 222a in the embodiment is provided with a first air hole 22241a and a second air hole 2225a, the first air hole 22241a and the second air hole 2225a are connected through an air passage built into the powder sweeping workpiece 222a, and the exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow to the second air hole 2225a. It can be understood that the powder sweeping robot 2 of this embodiment can convey an airflow to the powder sweeping workpiece 222a through the second air pump, and by using the airflow to blow the powder, the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a, and the ejected airflow can blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning.

[0064] In some embodiments, a connecting column 2215 is provided at the bottom of the socket 2212 on the first mounting seat 221, and an air vent 22151 is provided on the connecting column 2215 to connect the two ends thereof, one end of the air vent 22151 is connected to the socket 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe; taking the powder sweeping workpiece 222a as an example, a first air vent 22241a is provided at the end of the plug shaft 2224a away from the brush 2221, and a second air vent 2225a is provided on the brush 2221, and the first air vent 22241a and the second air vent 2225a are connected through an air duct built into the workpiece body; when the plug shaft 2224a is inserted into the socket 2212, the connecting column 2215 is inserted into the first air vent 22241a, and the exhaust end of the second air pump is connected to the second air vent 2225a.

[0065] Optionally, a first threaded hole is radially opened on the side wall of the insertion hole 2212, and a corresponding second threaded hole 22242a is arranged on the outer side wall of the insertion shaft 2224a of the powder sweeping workpiece 222a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and only when the clamping protrusion 22243a is located at the connecting position of the second groove and the third groove to be in a self-locking state, the first threaded hole and the second threaded hole 22242a are aligned and connected. At this time, the first threaded hole and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0066] Optionally, the connecting column 2215 is disposed at the center of the bottom of the insertion hole 2212 , and at least one of the elastic members 2214 disposed at the bottom of the insertion hole 2212 is a spring and is disposed around the outer circumference of the connecting column 2215 .

[0067] Optionally, a sealing ring is provided on the outer periphery of the connecting column 2215, and the sealing ring can make the connection between the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0068] In some embodiments, the powder sweeping workpiece 222 includes a brush 2221, a scraper 2222, a friction cloth, one of the friction blocks 2223, a powder suction component and a powder blowing component. The powder suction component collects powder through the negative pressure airflow provided by the first air pump, and the powder blowing component blows the powder through the positive pressure airflow provided by the second air pump. The first air pump and the second air pump are the same air pump. It should be noted that in order to prevent the powder in the mixing chamber 12 of the mixer 1 from entering through the second air hole and being retained in the first air hole and the vent 22151, a filter can be set at the second air hole in this embodiment to prevent external powder from pouring in through the second air hole. In this embodiment, the same air pump is used to simultaneously realize the air source supply to the powder blowing component and the powder suction component, which effectively reduces the product production cost and makes the collaborative work of the powder blowing component and the powder suction component more coordinated.

[0069] See also Fig.17 , Fig.17 Schematic diagram of the powder cleaning method provided in the embodiment of the present application. Fig.17 As shown, in some embodiments, the powder cleaning method includes: step S100 to step S200.

[0070] Step S100: obtaining status information of the internal mixing chamber of the internal mixer.

[0071] The status information is used to indicate the working status in the mixing chamber of the internal mixer.

[0072] In some embodiments, a corresponding powder sweeping robot is configured for each internal mixer, and the internal mixer corresponds to the powder sweeping robot one by one. At this time, when the powder sweeping robot executes the powder cleaning method, the powder sweeping robot obtains the status information of the corresponding internal mixer. When the powder cleaning method is executed by the control terminal, the status information of the internal mixer corresponding to each powder sweeping robot is obtained.

[0073] In some embodiments, each internal mixer includes a powder sweeping robot mounted on the internal mixer body.

[0074] The present application also provides an internal mixer, including an internal mixer body and a powder sweeping robot as described above, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0075] The specific structure of the internal mixer is as follows Figures 1 to 5 Description.

[0076] In some embodiments, the powder sweeping robot is provided independently of the internal mixer.

[0077] In some embodiments, a powder sweeping robot can perform powder cleaning work on the mixing chambers of multiple internal mixers. At this time, when the powder sweeping robot executes the powder cleaning method, the powder sweeping robot obtains the status information of all corresponding internal mixers. When the powder cleaning method is executed by the control terminal, the status information of all internal mixers corresponding to each powder sweeping robot is obtained.

[0078] Step S200: controlling at least one powder sweeping workpiece to clean the powder in the mixing chamber according to the status information.

[0079] In some embodiments, at least one powder sweeping workpiece is controlled to perform powder cleaning on the surface of a cleaning object in the mixing chamber according to the status information.

[0080] In some embodiments, the cleaning objects in the mixing chamber include the inner wall of the mixing chamber and the pressure hammer.

[0081] Optionally, the cleaning object also includes a hammer connecting rod.

[0082] See also Fig.18 , Fig.18 yes Fig.17 The detailed flow chart of step S200 in FIG. Fig.18 As shown, in some embodiments, the powder cleaning method includes: step S210 to step S220.

[0083] Step S210: determining whether the internal mixer is a target internal mixer that needs to be cleaned of powder according to the status information.

[0084] In some embodiments, the state information includes the current operating temperature of the internal mixer chamber, and step S210 includes: when the current operating temperature reaches a preset operating temperature, determining that the internal mixer is a target internal mixer.

[0085] In some embodiments, the preset working temperature ranges from 50 degrees to 200 degrees. For example, the preset working temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees.

[0086] In some embodiments, during a single operation of the internal mixer, the internal mixer switches between multiple working states in sequence.

[0087] In some embodiments, each working state of the internal mixer corresponds to a preset working temperature. In each working state, the internal mixer processes the polymer powder to the corresponding preset working temperature.

[0088] In some embodiments, during a single operation of the internal mixer, the preset working temperature in each working state is increased sequentially. For example, during a single operation of the internal mixer, the internal mixer switches four working states sequentially, the preset working temperature of the first working state is 95 degrees, the preset working temperature of the second working state is 120 degrees, the preset working temperature of the third working state is 140 degrees, and the preset working temperature of the fourth working state is 155 degrees. The internal mixer processes the polymer powder to 95 degrees in the first working state, the polymer powder to 120 degrees in the second working state, the polymer powder to 140 degrees in the third working state, and the polymer powder to 155 degrees in the fourth working state. In this way, the internal mixer can gradually melt the polymer material powder.

[0089] In some embodiments, the state information includes the current working state and current working temperature of the internal mixer chamber, and step S210 includes: when the current working temperature reaches a preset working temperature corresponding to the current working state, determining that the internal mixer is a target internal mixer.

[0090] When the current working temperature of the internal mixer reaches the preset working temperature corresponding to the current working state, it indicates that the internal mixer should enter the next working state, and the internal mixer is judged as the target internal mixer. Then, step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0091] For example, when the current working state of the internal mixer is the first working state, and the current working temperature reaches the preset working temperature of 95 degrees corresponding to the current working state, it means that the internal mixer should enter the second working state. At this time, the internal mixer is judged to be the target internal mixer.

[0092] In some embodiments, the state information includes the working time of the current working state of the mixing chamber of the internal mixer, and step S210 includes: when the working time reaches a preset time, determining that the internal mixer is a target internal mixer.

[0093] In some embodiments, each working state of the internal mixer corresponds to a preset duration.

[0094] In some implementations, when the working time of the internal mixer reaches a preset time corresponding to the current working state, the internal mixer is determined to be the target internal mixer.

[0095] When the working time of 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 the internal mixer is judged as the target internal mixer. Then, step S220 is performed to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0096] In some embodiments, because the internal mixer has completed a working process when the last working state of the internal mixer ends, the polymer material powder is generally completely melted and powder is not easy to fly, so there is no need to clean the powder of the internal mixer when the last working state of the internal mixer ends.

[0097] In some implementations, during a single operation of the internal mixer, at the end of each operation state except the last operation state, the internal mixer is determined to be a target internal mixer, and then step S220 is performed.

[0098] In some embodiments, the state information includes a work sequence number corresponding to the current working state of the internal mixer, and step S210 includes: when the work sequence number corresponding to the current working state is less than the end number value, the internal mixer is judged to be a target internal mixer. Among them, the work sequence number is the number of the work sequence of the current working state in a single work process of the internal mixer. The end number value refers to the work sequence number corresponding to the last working state in a single working process of the internal mixer. For example, in a single work process of the internal mixer, the internal mixer switches to 4 working states in sequence, the work sequence number of the first working state is 1, the work sequence number of the second working state is 2, the work sequence number of the third working state is 3, the work sequence number of the fourth working state is 4, and so on.

[0099] In some embodiments, the state information includes the thickness of powder attached to the surface of the cleaning object in the internal mixer, and step S210 includes: when the powder thickness is greater than a first preset thickness, determining that the internal mixer is a target internal mixer.

[0100] In some embodiments, the internal mixer further comprises a first detection device disposed on the internal mixer body, and the first detection device is used to detect the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber.

[0101] Optionally, the first detection device includes at least one of a two-dimensional camera, a three-dimensional camera or other detection equipment. The method of using the first detection device to detect the thickness of powder attached to the surface of the cleaning object in the mixing chamber is described in detail in step S2303 below and will not be repeated here.

[0102] Optionally, the first preset thickness ranges from 0.1 mm (millimeter) to 2 mm. For example, the first preset thickness is 0.1 mm, 0.5 mm, 1 mm, 1.5 mm or 2 mm.

[0103] Step S220: when it is determined according to the state information that the internal mixer is the target internal mixer, controlling at least one powder sweeping workpiece to perform powder cleaning on the internal mixer chamber of the target internal mixer.

[0104] In some embodiments, the status information is status information fed back by an internal mixer. When the internal mixer is determined to be a target internal mixer according to the status information, at least one powder sweeping workpiece is controlled to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0105] In some embodiments, the status information is status information fed back by a plurality of internal mixers, and step S200 includes steps S230 to S240.

[0106] Step S230: determining at least one target internal mixer that needs to perform powder cleaning based on the plurality of status information.

[0107] In some embodiments, step S230 includes steps S2301 to S2304.

[0108] Step S2301: Determine at least one initial target internal mixer based on the state information.

[0109] The content of step S2301 refers to the content of step S210.

[0110] In some implementations, the target internal mixer determined in step S2301 according to the method of step S210 is the initial target internal mixer.

[0111] In some embodiments, if the quality of the internal mixer is good, there may be less or almost no flying powder, and powder cleaning may not be required. If the internal mixer currently processes less polymer powder, there may be almost no flying powder, and powder cleaning is not required. Before the internal mixer enters the next working state, the operator may add raw materials to the internal mixer. Even if the internal mixer hardly flies powder at the end of the previous working state, powder may fly because the internal mixer processes more polymer powder in the next working state. Therefore, each time the initial target internal mixer is determined, it is further determined based on the specific situation of the initial target internal mixer whether the initial target internal mixer is the final target internal mixer that needs to be cleaned up.

[0112] Step S2302: Detect each initial target internal mixer to obtain corresponding detection results.

[0113] In some embodiments, each internal mixer is provided with a first detection device.

[0114] In some embodiments, a first detection device on an initial target internal mixer is used to detect the initial target internal mixer to obtain a corresponding detection result.

[0115] In some embodiments, a second detection device is provided on the powder sweeping robot.

[0116] In some embodiments, a second detection device on the powder sweeping robot is used to detect the initial target internal mixer to obtain a corresponding detection result.

[0117] Optionally, the first detection device includes detection equipment such as a camera, a three-dimensional camera and an air detection device.

[0118] Optionally, the second detection device includes detection equipment such as a camera, a three-dimensional camera and an air detection device.

[0119] In some embodiments, when the internal mixer includes a powder sweeping robot, the powder sweeping robot directly inspects the internal mixer.

[0120] In some embodiments, the powder sweeping robot is independently provided, and one powder sweeping robot can perform inspection and powder cleaning on multiple internal mixers.

[0121] In some embodiments, the state information further includes the first position information of the internal mixer. In step S220, the powder sweeping robot moves to the initial target internal mixer based on the first position information of the initial target internal mixer and its own second position information, and then detects the initial target internal mixer.

[0122] In some embodiments, when a two-dimensional camera is used to detect the initial target internal mixer, the detection result includes a first image of the internal mixing chamber of the initial target internal mixer. In this case, step S2302 includes steps (2302.1) to (2302.2).

[0123] (2302.1) For each initial target internal mixer, a first control instruction is sent to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer.

[0124] (2302.2) A two-dimensional camera is used to photograph the mixing chamber of the initial target mixer to obtain a first image.

[0125] In some embodiments, when a three-dimensional camera is used to inspect the initial target internal mixer, the inspection result includes three-dimensional point cloud data in the internal mixing chamber of the initial target internal mixer. In this case, step S2302 includes steps (2302.3) to (2302.4).

[0126] (2302.3) For each initial target internal mixer, a first control instruction is sent to the initial target internal mixer to stop the initial target internal mixer, open the feed door and lower the pressure hammer.

[0127] (2302.4) A three-dimensional camera is used to scan the mixing chamber of the initial target mixer to obtain three-dimensional point cloud data.

[0128] Step S2303: judging whether the initial target internal mixer meets the powder cleaning condition based on the detection result.

[0129] In some embodiments, when the detection result includes a first image of the interior of the mixing chamber of the initial target mixer, step S2303 includes steps (2303.1) to (2303.3).

[0130] (2303.1) Identify a first powder-covered region in a first image.

[0131] In some embodiments, the status information of the internal mixer further includes color information of the polymer powder currently processed by the internal mixer.

[0132] In some embodiments, an edge detection algorithm is used to identify edges in the first image, thereby identifying at least one characteristic region in the first image, and then determining whether each characteristic region is a first powder coverage region based on color information of the polymer powder currently processed by the internal mixer.

[0133] (2303.2) 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.

[0134] In some embodiments, a larger pixel value of the first powder covered area indicates a darker color of the first powder covered area, which means a greater powder thickness of the first powder covered area.

[0135] In some embodiments, calculating the powder thickness of the first powder covered area based on the pixel value of the first powder covered area includes steps (2303.2.1) to (2303.2.3).

[0136] (2303.2.1) Obtain a curve graph showing the corresponding relationship between pixel value and powder thickness.

[0137] In some embodiments, multiple images of the first powder coverage area with multiple known powder thicknesses are taken in advance, and a corresponding relationship curve graph of pixel values ​​and powder thickness is obtained based on the pixel values ​​of the first powder coverage area in the multiple images and the corresponding known powder thickness. In this way, even if the corresponding relationship between pixel values ​​and powder thickness is not a linear relationship, the corresponding powder thickness can be accurately calculated based on the pixel values.

[0138] (2303.2.2) Calculate the powder thickness corresponding to each pixel point based on the pixel value of each pixel point in the first powder coverage area and the corresponding relationship curve between the pixel value and the powder thickness.

[0139] In some embodiments, in a graph of the corresponding relationship between pixel value and powder thickness, the powder thickness corresponding to the pixel value of each pixel point is determined according to the pixel value of each pixel point.

[0140] (2303.2.3) 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.

[0141] In some embodiments, the powder thickness of the first powder covered region is an average powder thickness of the first powder covered region.

[0142] Optionally, the powder thickness corresponding to each pixel in the first powder coverage area is added up, and then divided by the total number of all pixel points in the first powder coverage area to obtain an average powder thickness of the first powder coverage area.

[0143] In some embodiments, the powder thickness of the first powder coverage area includes the powder thickness corresponding to each pixel in the first powder coverage area.

[0144] (2303.3) When the area of ​​the first powder coverage area is greater than the first preset area, and / or the powder thickness of the first powder coverage area is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0145] In some embodiments, when the area of ​​the first powder-covered region is larger than the first preset area, it indicates that the area where the powder is attached is larger. When the powder thickness of the first powder-covered region is larger than the first preset thickness, it indicates that the powder is flying more.

[0146] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0147] In some embodiments, when the average powder thickness of the first powder coverage area is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0148] In some embodiments, when the powder thicknesses corresponding to a first preset number of pixel points in the first powder coverage area are all greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0149] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, and the powder thickness of the first powder coverage region is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0150] In some embodiments, when the detection result includes three-dimensional point cloud data in the mixing chamber of the initial target mixer, step S2303 includes steps (2303.4) to (2303.7).

[0151] (2303.4) Determine the three-dimensional surface model of the mixing chamber based on the three-dimensional point cloud data.

[0152] In some embodiments, surface reconstruction is performed based on the three-dimensional point cloud data to obtain a three-dimensional surface model of the mixing chamber.

[0153] (2303.5) Obtain a reference surface model within the mixing chamber.

[0154] The reference surface model in the internal mixing chamber is a model obtained by scanning the surface of the cleaning object with a three-dimensional camera when the cleaning object surface of the initial target internal mixer is not adhered to by powder.

[0155] (2303.6) The powder thickness in the mixing chamber is determined based on the three-dimensional surface model in the mixing chamber and the reference surface model.

[0156] In some embodiments, the three-dimensional surface model in the mixing chamber and the reference surface model are both mesh models consisting of a plurality of vertices.

[0157] In some embodiments, the powder thickness in the kneading chamber includes the powder thickness corresponding to each vertex included in the surface of the cleaning object in the three-dimensional surface model in the kneading chamber.

[0158] Optionally, the distance from each vertex on the cleaning object surface of the three-dimensional surface model in the mixing chamber to the corresponding surface of the reference surface model is calculated to obtain the powder thickness corresponding to each vertex.

[0159] In some embodiments, the powder thickness is the average powder thickness over the entire surface of the object being cleaned.

[0160] (2303.7) When the powder thickness is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning conditions.

[0161] In some embodiments, when the powder thickness corresponding to the second preset number of vertices included in the surface of the cleaning object is greater than the first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0162] In some embodiments, when the average powder thickness of the entire surface of the cleaning object is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

[0163] In some embodiments, when the current average powder thickness of the entire cleaning object surface is greater than the first preset thickness, and the current powder thickness corresponding to the second preset number of vertices included in the cleaning object surface is greater than the first preset thickness, it is judged that the initial target internal mixer meets the powder cleaning conditions.

[0164] Step S2304: when it is determined based on the detection result that the initial target internal mixer meets the powder cleaning condition, the initial target internal mixer is determined as the final target internal mixer.

[0165] In some implementations, the initial target internal mixer determined in step S2301 is directly used as the final target internal mixer.

[0166] Step S240: controlling at least one powder sweeping workpiece to perform powder cleaning on each target internal mixer.

[0167] In some embodiments, at least one powder sweeping workpiece is controlled to perform powder cleaning on a final target internal mixer.

[0168] In some embodiments, step S200 or step S240 includes steps S201 to S204.

[0169] Step S201: when it is determined according to the state information that the internal mixer is the target internal mixer, a second control instruction is sent to the target internal mixer to enable the target internal mixer to open a feed door.

[0170] Step S202: controlling at least one powder sweeping workpiece to clean powder in a mixing chamber of a target mixer.

[0171] As described above, in some embodiments, the powder sweeping workpiece includes at least one of a brush, a scraper, a friction cloth, a friction block, a powder suction component and a powder blowing component. The brush can be a roller brush or a plate brush.

[0172] In some embodiments, step S202 includes steps S2021 to S2028.

[0173] Step S2021: sending a fourth control instruction to the target internal mixer to put the hammer of the target internal mixer into a falling state.

[0174] See also Fig.19A , Fig.19A 1 is a first schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19A As shown, in some embodiments, the powder sweeping robot 2 performs powder cleaning work on the target internal mixer 1.

[0175] In some embodiments, the internal mixer body is provided with a feed door 11 for closing the internal mixer chamber. In some embodiments, during the powder cleaning process, the feed door 11 remains in a falling state so that the powder sweeping robot 2 can perform powder cleaning on the target internal mixer 1.

[0176] In some embodiments, when the hammer 13 of the target internal mixer 1 is in a falling state, before step S2023, step S202 further includes step S2022: controlling a powder sweeping workpiece to clean the surface of the hammer connecting rod 30 with powder.

[0177] In some embodiments, because the powder on the surface of the hammer connecting rod 30 will fall into the mixing chamber or the surface of the hammer 13, the powder on the surface of the hammer connecting rod 30 is first cleaned.

[0178] In some embodiments, the control plate brush performs powder cleaning on the surface of the pressure hammer connecting rod 30. Because the surface curvature of the pressure hammer connecting rod 30 is relatively large, a plate brush with relatively large bristle bending degree is selected to perform powder cleaning on the surface of the pressure hammer connecting rod 30.

[0179] It can be understood that the powder sweeping robot 1 includes a powder sweeping workpiece and a multi-axis robotic arm, so the powder sweeping robot 1 can change the position and angle of the powder sweeping workpiece through the multi-axis robotic arm to completely clean the powder on the surface of the cleaning object.

[0180] Step S2023: when the hammer of the target internal mixer is in a falling state, controlling the powder sweeping workpiece to clean the powder on the first side surface of the inner wall of the internal mixer.

[0181] The inner wall of the mixing chamber includes a first side surface, a second side surface and a third side surface. The first side surface and the second side surface are opposite to each other and are not blocked by the pressure hammer. The third side surface is blocked by the pressure hammer when the pressure hammer is in a falling state.

[0182] In some embodiments, the powder sweeping workpiece includes a roller brush, a scraper, a plate brush, a powder blowing assembly, a powder suction assembly, and the like.

[0183] In some embodiments, the roller brush is controlled to clean the powder on the first side of the inner wall of the mixing chamber. Because the area of ​​the inner wall of the mixing chamber is large, a roller brush with a larger cleaning area is selected to clean the powder on the inner wall of the mixing chamber. In this way, the cleaning efficiency can be improved.

[0184] like Fig.19AAs shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the first side surface A1 of the inner wall of the mixing chamber.

[0185] Step S2024: controlling the powder sweeping workpiece to clean the powder on the first part of the surface of the hammer.

[0186] The surface of the pressure hammer includes a first surface portion and a second surface portion, the first surface portion is close to a first side surface of an inner wall of the mixing chamber, and the second surface portion is close to a second side surface of an inner wall of the mixing chamber.

[0187] See also Fig.19B , Fig.19B 2 is a second schematic diagram of a working scene of performing powder cleaning on a target internal mixer provided in an embodiment of the present application. Fig.19B As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the first part of the surface of the hammer 13 .

[0188] Optionally, in step S2024, the roller brush 2221A does not need to be replaced and the target internal mixer 1 is controlled to operate. After step S2023 is completed, the roller brush 2221A is directly used to clean the powder on the first part of the surface of the hammer 13. In this way, the cleaning efficiency can be improved. The following steps are similar.

[0189] Step S2025: Control the powder sweeping workpiece to clean the powder on the second side surface of the inner wall of the mixing chamber.

[0190] See also Fig.19C , Fig.19C 3 is a third schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19C As shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the second side surface A2 of the inner wall of the mixing chamber.

[0191] Step S2026: Control the powder sweeping workpiece to clean the powder on the second part of the surface of the hammer.

[0192] See also Fig.19D , Fig.19D 4 is a fourth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided in an embodiment of the present application. Fig.19D As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the second part of the surface of the hammer 13 .

[0193] In step S2023 to step S2026, the pressure hammer is always in a falling state.

[0194] Step S2027: Send a fifth control instruction to the target internal mixer to raise the hammer of the target internal mixer.

[0195] In some embodiments, when the pressure hammer of the target internal mixer is in a raised state, the first side surface, the second side surface, and the third side surface of the inner wall of the internal mixer are not blocked by the pressure hammer.

[0196] Step S2028: Control the powder sweeping workpiece to clean the powder on the first side, the second side and the third side of the inner wall of the mixing chamber.

[0197] See also Fig.19E , Fig.19E 1 is a fifth schematic diagram of a working scene of performing powder cleaning work on a target internal mixer provided by an embodiment of the present application. Fig.19E As shown, in some embodiments, the scraper 2222 is controlled to clean the powder on the third side surface A3 of the inner wall of the mixing chamber.

[0198] In some embodiments, the scraper is controlled to clean the powder from the first side, the second side, and the third side of the inner wall of the mixing chamber. Because the powder may be firmly attached to the inner wall surface of the mixing chamber, the scraper 2222 with greater hardness is selected to clean the powder from the first side A1, the second side A2, and the third side A3 of the inner wall of the mixing chamber. In this way, the powder attached to the inner wall surface of the mixing chamber can be completely cleaned.

[0199] In some embodiments, the powder sweeping workpiece includes a brush, a scraper, a friction cloth, a friction block, a powder blowing component, a powder suction component, etc. The brush may include a roller brush and a plate brush, etc.

[0200] In some embodiments, the powder blowing component or the powder suction component can be independently controlled to perform powder cleaning on the surface of any one or more of the cleaning objects.

[0201] Optionally, during the above-mentioned powder cleaning process, other powder sweeping components can be controlled to be used in combination with the powder blowing component and / or the powder suction component to perform powder cleaning on the surface of any one or several of the above-mentioned cleaning objects.

[0202] In some embodiments, when the powder sweeping robot controls the powder blowing component to perform powder cleaning on the surface of the cleaning object, the polymer powder is blown into the mixing chamber so that the flying polymer material powder continues to participate in the production process. In this way, the powder cleaning efficiency can be improved.

[0203] In some embodiments, when the powder sweeping robot controls the powder suction component to perform powder cleaning on the surface of the cleaning object, the powder sweeping robot also includes a powder suction container. After completing the powder cleaning of the target internal mixer, when the pressure hammer is in the raised state, the powder sweeping robot pours all the powder collected by the powder suction container during this powder cleaning process into the internal mixer, so that the flying polymer material powder continues to participate in the production process. The specific structure of the powder suction container refers to Fig.15 and Fig.16 Description.

[0204] In some implementations, before step S202, step S200 or step S230 further includes: determining a cleaning mode corresponding to the target internal mixer based on status information of the target internal mixer.

[0205] In some implementations, the cleaning mode includes a full cleaning mode and a partial cleaning mode.

[0206] In some implementations, each cleaning mode corresponds to a set of cleaning parameters.

[0207] In some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as a cleaning time, a cleaning force and a cleaning speed corresponding to each powder-sweeping workpiece.

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

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

[0210] Optionally, when the powder sweeping workpiece is a brush, a scraper, a friction cloth or a friction block, the cleaning force includes a pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0211] In some embodiments, the powder sweeping robot further includes a pressure sensor, which is used to detect the pressure value between the powder sweeping workpiece and the robot arm. It is understandable that after the pressure generated by the surface of the cleaning object on the powder sweeping workpiece, the powder sweeping workpiece will generate pressure on the robot arm. According to Newton's third law, the pressure value between the powder sweeping workpiece and the surface of the cleaning object is equal to the pressure value between the powder sweeping workpiece and the robot arm. Optionally, the powder sweeping robot adjusts the movement of the robot arm according to the pressure value detected by the pressure sensor to adjust the pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0212] Optionally, when the powder sweeping workpiece is a powder suction component or a powder blowing component, the cleaning force also includes an airflow intensity value. The powder sweeping robot can control the airflow intensity value of the second air pump.

[0213] In some embodiments, the powder sweeping robot can control the powder sweeping workpiece to vibrate on the surface of the cleaning object. At this time, the cleaning force also includes a vibration frequency value.

[0214] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0215] In some implementations, the state information of the target internal mixer further includes a working sequence number corresponding to the current working state.

[0216] It is understandable that when the working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly. When the working temperature of the internal mixer is high, the melting degree of the polymer material powder is high, and the powder is less likely to fly. In a single working process of the internal mixer, the preset working temperature in each working state increases successively. Therefore, the cleaning mode corresponding to the target internal mixer can be determined based on the working state of the internal mixer.

[0217] In some implementations, when the working sequence number corresponding to the current working state in the 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.

[0218] Optionally, the preset number value is not greater than the end number value. The end number value refers to the working sequence number corresponding to the last working state in a single working process of the internal mixer.

[0219] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, it means that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete cleaning mode.

[0220] In some embodiments, the full cleaning mode further includes a full deep cleaning mode and a full standard cleaning mode. The cleaning time of the full deep cleaning mode is longer than the cleaning time of the full standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the full standard cleaning mode.

[0221] Furthermore, when the working sequence number corresponding to the current working state of the target internal mixer is less than the preset number value, when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode, otherwise the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0222] The preset temperature value is not necessarily the preset working temperature of the target internal mixer.

[0223] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is lower than the preset temperature value, it can be further explained that the current working temperature of the target internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete deep cleaning mode. When the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that although the current working temperature of the target internal mixer is low, it is not so low that the powder is very easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as the complete standard cleaning mode.

[0224] Optionally, the complete cleaning mode also includes complete cleaning modes corresponding to other cleaning levels.

[0225] In some implementations, when the working sequence number corresponding to the current working state in the state information of the target internal mixer is not less than a preset number value, the cleaning mode corresponding to the target internal mixer is determined as the partial cleaning mode.

[0226] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, it means that the current working temperature of the target internal mixer is high, the melting degree of the polymer material powder is high, and the powder is not easy to fly, so the cleaning mode corresponding to the target internal mixer is determined as a partial cleaning mode.

[0227] In some embodiments, the partial cleaning mode further includes a partial deep cleaning mode and a partial standard cleaning mode. The cleaning time of the partial deep cleaning mode is longer than the cleaning time of the partial standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the partial standard cleaning mode.

[0228] 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, when the current working temperature of the target internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the target internal mixer is determined as a partial deep cleaning mode, otherwise the cleaning mode corresponding to the target internal mixer is determined as a partial standard cleaning mode.

[0229] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, but not so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial deep cleaning mode. Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that the current working temperature of the target internal mixer is relatively high, and is so high that the powder rarely flies, so the cleaning mode corresponding to the target internal mixer is determined as the partial standard cleaning mode.

[0230] Optionally, the partial cleaning mode also includes partial cleaning modes corresponding to other cleaning degrees.

[0231] By determining the cleaning mode corresponding to the target internal mixer based on the 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.

[0232] In some embodiments, when executing step S202, when the cleaning mode corresponding to the target internal mixer is determined, the cleaning mode corresponding to the target internal mixer is used to perform powder cleaning on the mixing chamber of the target internal mixer.

[0233] In some embodiments, the cleaning objects in the mixing chamber of the target internal mixer and at least one powder sweeping workpiece corresponding to each cleaning object are determined based on the cleaning mode corresponding to the target internal mixer; then the target powder sweeping robot corresponding to the target internal mixer is controlled to select at least one powder sweeping workpiece corresponding to each cleaning object and perform powder cleaning on the surface of the cleaning object in the mixing chamber according to the cleaning process in the cleaning mode corresponding to the target internal mixer, using corresponding cleaning parameters.

[0234] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the complete cleaning mode, it is determined that the cleaning objects in the internal mixer chamber of the target internal mixer include the hammer connecting rod, the internal wall of the internal mixer chamber and the hammer, and then the target powder sweeping robot corresponding to the target internal mixer is controlled to sequentially perform steps S201, S2021, S2022, S2023, S2024, S2025, S2026 and S2027. In each step, the cleaning parameters corresponding to the complete cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0235] Optionally, when the cleaning mode corresponding to the target internal mixer is the complete deep cleaning mode or the complete standard cleaning mode, in each step, the cleaning parameter set corresponding to the complete deep cleaning mode or the complete partial cleaning mode is used to perform powder cleaning on the surface of the cleaning object.

[0236] As described above, in some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as the cleaning time, cleaning force and cleaning speed corresponding to each powder-sweeping workpiece.

[0237] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0238] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the complete deep cleaning mode and the complete standard cleaning mode are all within the numerical range of the parameters corresponding to the complete cleaning mode.

[0239] Optionally, the cleaning intensity value corresponding to the complete deep cleaning mode is greater than the cleaning intensity value corresponding to the complete standard cleaning mode, and / or the cleaning time value corresponding to the complete deep cleaning mode is greater than the cleaning time value corresponding to the complete standard cleaning mode.

[0240] In some embodiments, when the cleaning mode corresponding to the target internal mixer is the partial cleaning mode, it is determined that the cleaning objects in the internal mixer chamber of the target internal mixer include the internal wall of the internal mixer chamber and the pressure hammer, and then the target powder sweeping robot corresponding to the target internal mixer is controlled to sequentially execute step S201, step S2021, step S2023, step S2024, step S2025, step S2026 and step S2027. In each step, the cleaning parameters corresponding to the partial cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0241] Optionally, when the cleaning mode corresponding to the target internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, a cleaning parameter set corresponding to the partial deep cleaning mode or the partial standard cleaning mode is used in each step to perform powder cleaning on the surface of the cleaning object.

[0242] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the partial deep cleaning mode and the partial standard cleaning mode are all within the numerical range of the parameters corresponding to the partial cleaning mode.

[0243] Optionally, the cleaning intensity value corresponding to the partial deep cleaning mode is greater than the cleaning intensity value corresponding to the partial standard cleaning mode, and / or the cleaning time value corresponding to the partial deep cleaning mode is greater than the cleaning time value corresponding to the partial standard cleaning mode.

[0244] In some embodiments, different internal mixers may process different types of polymer powders. Optionally, the first state information also includes information on the type of polymer powder currently processed by the internal mixer.

[0245] In some embodiments, step S200 further includes: controlling a target powder sweeping robot corresponding to the target internal mixer to perform a target operation during the powder cleaning process according to information on the type of polymer powder currently processed by the target internal mixer.

[0246] In some embodiments, when the polymer powder is judged to be flammable and explosive powder based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a second powder detection device to obtain the powder concentration in the air in the internal mixer chamber of the internal mixer before starting the powder cleaning work, and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe working concentration threshold, and the current operating temperature of the target internal mixer is lower than the safe working temperature, the target powder sweeping robot is controlled to start the powder cleaning work, otherwise the target powder sweeping robot is controlled to enter a waiting state. If sufficient dust concentration and temperature are reached during the cleaning process, a dust explosion may occur. In this way, the target powder sweeping robot can be controlled to start the powder cleaning work when the working environment is relatively safe, thereby reducing the risk of production accidents.

[0247] Optionally, when the target powder sweeping robot enters the waiting state, the target powder sweeping robot is controlled to detect the powder concentration in the air in the mixing chamber of the internal mixer every second preset time and obtain the current operating temperature of the target internal mixer. When the powder concentration is lower than the safe operating concentration threshold and the current operating temperature of the target internal mixer is lower than the safe operating temperature, the target powder sweeping robot is controlled to start the powder cleaning work.

[0248] In some embodiments, when the polymer powder is judged to be a powder that is prone to static electricity based on the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use a powder suction component and one of a brush, a scraper, a friction cloth and a friction block to perform powder cleaning work. In a dry environment, static electricity may attract powder back to the surface of the cleaning object, resulting in incomplete cleaning and potential safety hazards. In this way, the powder can be sucked into the powder suction container, thereby improving the cleaning efficiency and reducing the risk of production accidents.

[0249] In some embodiments, when the polymer powder is determined to be sticky powder according to the type information of the polymer powder currently processed by the target internal mixer, the target powder sweeping robot is controlled to use one of a scraper, a friction cloth and a friction block to perform powder cleaning work when performing powder cleaning work. Sticky powder is easy to adhere to the surface of the cleaning object, and it may be difficult to clean it completely if a powder suction component, a powder suction component or a brush is used. In this way, a powder sweeping workpiece with greater hardness can be used for powder cleaning work, which is conducive to thoroughly cleaning sticky powder.

[0250] In some embodiments, when the polymer powder currently processed by the target internal mixer is judged to be corrosive powder according to the type information of the polymer powder, the target powder sweeping robot is controlled to use a powder sweeping workpiece made of an anti-corrosion material to perform powder cleaning work. In this way, it is possible to avoid using an ordinary powder sweeping workpiece made of a non-corrosion-resistant material to clean the corrosive powder, and the working life of the ordinary powder sweeping workpiece can be extended.

[0251] Step S203: Determine whether the powder cleaning work is completed.

[0252] In some embodiments, step S203 includes: when the duration of the powder cleaning work is greater than a first preset time, determining that the powder cleaning work is completed; otherwise, determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0253] 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.

[0254] In some implementations, step S203 includes steps S2031 to S2034.

[0255] Step S2031: Acquire a second image of the internal mixing chamber of the target internal mixer.

[0256] The content of step S2031 refers to the content of step S2302.

[0257] In some embodiments, during the powder cleaning operation, multiple second images of the target internal mixer are acquired in real time.

[0258] Optionally, during the powder cleaning process, a second image of the target internal mixer is acquired at a preset time interval.

[0259] Optionally, during the powder cleaning process, a video of the target internal mixer is acquired in real time.

[0260] Step S2032: Identify a second powder-covered area in the second image.

[0261] The content of step S2032 refers to the content of step (2303.1).

[0262] Step S2033: Calculate the area of ​​the second powder covered region, and / or calculate the powder thickness of the second powder covered region based on the pixel value of the second powder covered region.

[0263] The content of step S2033 refers to the content of step (2303.2).

[0264] Step S2034: When the area of ​​the second powder coverage area is greater than the second preset area, and / or the powder thickness of the second powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0265] In some embodiments, when the area of ​​the second powder coverage region is greater than the second preset area, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0266] In some embodiments, when the powder thickness of the second powder coverage area is greater than the second preset thickness, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0267] In some embodiments, when the area of ​​the second powder coverage area is greater than the second preset area, and the powder thickness of the second powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0268] In some embodiments, step S203 includes steps S2036 to S2037.

[0269] Step S2036: When performing the powder cleaning operation, the powder concentration in the air in the internal mixing chamber of the target internal mixer is obtained.

[0270] In some embodiments, the powder sweeping robot further comprises a first powder detection device. When performing the powder cleaning operation, the first powder detection device is used to obtain the powder concentration in the air in the mixing chamber of the target mixer.

[0271] In some embodiments, the internal mixer further comprises a second powder detection device. When performing the powder cleaning operation, the second powder detection device is used to obtain the powder concentration in the air in the internal mixer chamber of the target internal mixer.

[0272] Step S2037: When the powder concentration is lower than the preset concentration, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0273] In some embodiments, when the powder concentration is lower than a preset concentration, it indicates that less powder is blown into the air during the powder cleaning process, which can further indicate that the powder on the surface of the cleaning object has been basically cleaned.

[0274] Step S204: When it is determined that the powder cleaning work is completed, a third control instruction is sent to the internal mixer to make the target internal mixer close the feed door and continue to work.

[0275] In some embodiments, one powder sweeping robot is a first device, and the other powder sweeping robots are second devices, and the first device is used to control the operation of itself and all the second devices.

[0276] In some implementations, before executing step S200, the method further includes steps S101 to S102.

[0277] Step S101: constructing a task list for each powder sweeping robot based on all target internal mixers corresponding to each powder sweeping robot.

[0278] In some implementations, a corresponding powder sweeping robot is determined for each target internal mixer.

[0279] Optionally, one powder sweeping robot can correspond to multiple target internal mixers.

[0280] Optionally, a task list of a powder sweeping robot includes multiple cleaning tasks, and each cleaning task includes the ID and status information of each target internal mixer.

[0281] Step S102: when it is determined based on the task list of the powder sweeping robot corresponding to the target internal mixer that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the powder sweeping robot corresponding to the target internal mixer is controlled to control at least one powder sweeping workpiece to perform powder cleaning on the target internal mixer.

[0282] Optionally, when the powder sweeping robot corresponding to the target internal mixer is the first device itself, the first device controls at least one powder sweeping workpiece of itself to perform powder cleaning work on the target internal mixer.

[0283] Optionally, when the powder sweeping robot corresponding to the target internal mixer is the second device, the first device controls the second device to use at least one powder sweeping workpiece to perform powder cleaning work on the target internal mixer.

[0284] In some embodiments, step S102 includes steps (102.1) to (102.3).

[0285] (102.1) Calculate the function value of the objective function corresponding to each cleaning task in the task list.

[0286] In some embodiments, each internal mixer belongs to one operating area.

[0287] Optionally, the operation areas are divided according to production workshops, with one production workshop being one operation area.

[0288] Optionally, the operation areas are divided according to the types of polymer powders processed by the internal mixers, and all internal mixers processing the same type of polymer powder belong to the same operation area.

[0289] In some embodiments, each operating area has a priority order.

[0290] In some embodiments, the importance parameter of the target internal mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area are obtained, and then a weighted calculation is performed based on the importance parameter of the target internal mixer corresponding to each cleaning task in the task list, the priority parameter of each operating area, the first weight parameter of the cleaning task, and the second weight parameter of the operating area to obtain the function value of the objective function corresponding to each cleaning task in the task list.

[0291] Optionally, the objective function is calculated as:

[0292] Function value=importance parameter of the target internal mixer corresponding to the cleaning task×first weight parameter+priority parameter of the operating area of ​​the target internal mixer corresponding to the cleaning task×second weight parameter.

[0293] Optionally, the larger the value of the importance parameter, the more important the corresponding cleaning task is. The larger the value of the priority parameter, the higher the priority of the corresponding operation area. The larger the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0294] Optionally, the smaller the value of the importance parameter, the more important the corresponding cleaning task is. The smaller the value of the priority parameter, the higher the priority of the corresponding operation area. The smaller the function value of the objective function, the higher the priority of the corresponding cleaning task and the higher the execution order.

[0295] (102.2) Sort each cleaning task in the task list according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0296] Optionally, when the function value of the objective function is larger, indicating that the corresponding cleaning task has a higher priority, each cleaning 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 cleaning task.

[0297] Optionally, when the function value of the objective function is smaller, indicating that the priority of the corresponding cleaning task is higher, each cleaning task in the task list is sorted in ascending order according to the function value of the corresponding objective function to obtain the execution order of each cleaning task.

[0298] (102.3) 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, and step S200 is executed.

[0299] In some embodiments, the target internal mixer or the target powder sweeping robot may fail before the powder cleaning operation begins, resulting in the cleaning task not being performed normally. Therefore, before starting the powder cleaning operation on the internal mixer chamber of the target internal mixer, it is necessary to ensure that the target internal mixer and the corresponding target powder sweeping robot can both operate normally.

[0300] In some embodiments, before starting to clean the powder in the mixing chamber of the target internal mixer in step S220 or step S240, step S220 or step S240 further includes steps S205 to S209.

[0301] Step S205: acquiring the first state information in the mixing chamber of the target mixer again, and determining whether the target mixer is in a normal working state based on the currently acquired first state information.

[0302] The first state information in the internal mixing chamber of the target internal mixer is the state information in the internal mixing chamber of the target internal mixer.

[0303] In some embodiments, when it is determined that the cleaning task corresponding to the target internal mixer meets the cleaning start condition, the first state information is obtained again. Because the target internal mixer may need to wait for the corresponding target powder sweeping robot to sweep powder for it, and during the waiting process, the target internal mixer may fail, and the time when the first state information was first obtained has been a period of time, so it is outdated, so it is necessary to obtain the first state information in the internal mixer chamber of the target internal mixer again.

[0304] In some embodiments, the first state information is used to indicate that the current working state of the target internal mixer is a fault state. When it is determined based on the first state information that the current working state of the target internal mixer is a fault state, it is determined that the target internal mixer is not in a normal working state.

[0305] In some embodiments, the target internal mixer may not actively report an error when a fault occurs, but will still determine the current working state as a normal working state. However, the current working temperature of the target internal mixer will be higher than the warning temperature.

[0306] In some implementations, when it is determined based on the first state information that the current operating temperature of the target internal mixer is higher than the warning temperature, it is determined that the target internal mixer is not in a normal working state.

[0307] In some implementations, when it is determined based on the first status information that the current operating temperature of the target internal mixer is not higher than the warning temperature and the current operating state of the target internal mixer is a normal operating state, it is determined that the target internal mixer is in a normal operating state.

[0308] Step S206: when the target internal mixer is not in a normal working state, cancel the cleaning task corresponding to the target internal mixer.

[0309] In some embodiments, when the target internal mixer is not in a normal working state, a cancel task instruction is sent to the target powder sweeping robot corresponding to the target internal mixer to cancel the cleaning task corresponding to the target internal mixer. In this way, the target powder sweeping robot can perform other cleaning tasks without wasting time.

[0310] In some embodiments, when the target internal mixer is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to check the fault of the target internal mixer.

[0311] Step S207: Obtain second status information of the target powder sweeping robot corresponding to the target internal mixer.

[0312] Optionally, the second status information includes location information and working status information of the target powder-sweeping robot.

[0313] Optionally, the working state of the target powder sweeping robot includes a working state, an idle state, a fault state, a charging state, etc.

[0314] Step S208: Determine whether the target powder sweeping robot is in a normal working state based on the second state information.

[0315] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a fault state, it is determined that the target powder sweeping robot is not in a normal working state; otherwise, it is determined that the target powder sweeping robot is in a normal working state.

[0316] In some embodiments, the target powder sweeping robot may not actively report an error when a fault occurs, and will still determine the current working state as a normal working state. However, at this time, the target powder sweeping robot will not move and will not be in a charging state.

[0317] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot has not moved for a second preset time and is not in a charging state, it is determined that the target powder sweeping robot is not in a normal working state.

[0318] In some embodiments, when it is determined based on the second state information that the target powder sweeping robot is in a normal working state and has not remained motionless for a second preset time, it is determined that the target powder sweeping robot is in a normal working state.

[0319] Step S209: when the target powder sweeping robot is not in a normal working state and the target internal mixer is in a normal working state, another powder sweeping robot is selected to perform powder cleaning work on the internal mixer chamber of the target internal mixer.

[0320] In some embodiments, when the target powder sweeping robot is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the target powder sweeping robot.

[0321] By means of the above method, when a cleaning task cannot be normally performed, the cleaning task can be cancelled in time, so that the target internal mixer can be cleaned of powder in time.

[0322] In summary, the powder cleaning method provided in the embodiment of the present application has the following advantages:

[0323] 1. By determining the target internal mixer that needs to be cleaned of powder based on the status information, and then controlling at least one powder sweeping workpiece to clean the target internal mixer of powder, the internal mixer can be automatically cleaned of powder without the need for operators to manually clean the internal mixer of powder using tools, which greatly improves the efficiency of powder cleaning of the internal mixer and can protect the health of operators.

[0324] 2. By determining the cleaning mode corresponding to the target internal mixer based on the state information of the target internal mixer, the cleaning mode can be flexibly determined according to the actual flying powder situation of the target internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0325] 3. By controlling at least one powder sweeping workpiece to perform powder cleaning on the target internal mixer, the flying polymer material powder can continue to participate in the production process, avoiding the situation where the mass of the polymer material powder participating in the production process is less than the preset mass, thereby improving product quality.

[0326] See also Fig. 20 , Fig. 20 Schematic diagram of the structure of a powder sweeping robot provided in an embodiment of the present application. Fig. 20 As shown, the powder sweeping robot 400 includes: one or more processors 410 and a memory 420, Fig. 20 A processor 410 is taken as an example.

[0327] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Fig. 20 The example of connecting through bus is taken in the following.

[0328] In some embodiments, the processor 410 is used to obtain status information in the mixing chamber of the internal mixer, where the status information is used to indicate the working status of the mixing chamber of the internal mixer; and control at least one powder sweeping workpiece to clean the powder in the mixing chamber according to the status information.

[0329] In some embodiments, the memory 420 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules of the powder cleaning method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the powder sweeping robot 400 by running the non-volatile software programs, instructions and modules stored in the memory 420, that is, the powder cleaning method of the above method embodiment is implemented.

[0330] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the powder sweeping robot 400, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0331] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, perform the powder cleaning method in any of the above method embodiments, for example, perform the above described Fig.17 The method comprises steps S100 to S200.

[0332] In some embodiments, the powder sweeping robot can be a chip, such as a data processor (Data Processing Unit, DPU) chip used in a data center, or the powder sweeping robot can also be a network interface card including a chip and multiple interfaces (such as PCI / PCIE interface, UART interface, USB interface, etc.), or the powder sweeping robot can also be a traditional server, or it can also be a server including a network interface card or a chip, the server includes a host and a data processor, the data processor is used to dispatch messages to the host or the data processor itself for processing, and the host is used to process messages dispatched by the data processor.

[0333] Please refer to Fig.21 , Fig.21 The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the powder cleaning method described in the above method embodiment.

[0334] The computer readable storage medium 500 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-volatile computer readable medium (non transitory computer readable storage medium). The computer readable storage medium 500 has storage space for program codes that execute any method steps in the above-mentioned powder cleaning method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0335] In summary, the present application provides a powder cleaning method, a powder sweeping robot, an internal mixer and a storage medium, wherein the powder cleaning method comprises: obtaining status information in the internal mixer chamber of the internal mixer, wherein the status information is used to indicate the working status in the internal mixer chamber of the internal mixer; and controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information. The present application can automatically perform powder cleaning work on the internal mixer by controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixer chamber according to the status information, without requiring an operator to manually perform powder cleaning work on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning work on the internal mixer and protecting the health of the operator.

[0336] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A powder cleaning method, characterized in that: include: Acquiring state information of a mixing chamber of an internal mixer, wherein the state information is used to indicate a working state of the mixing chamber of the internal mixer; At least one powder sweeping workpiece is controlled to perform powder cleaning work on the mixing chamber according to the status information.

2. The powder cleaning method according to claim 1, characterized in that: The controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber according to the state information comprises: Determining whether the internal mixer is a target internal mixer that needs to perform powder cleaning according to the state information; When it is determined according to the state information that the internal mixer is the target internal mixer, at least one powder sweeping workpiece is controlled to perform powder cleaning on the internal mixer chamber of the target internal mixer.

3. The powder cleaning method according to claim 2, characterized in that: The state information includes the current operating temperature of the internal mixer chamber of the internal mixer, and judging whether the internal mixer is a target internal mixer that needs to perform powder cleaning according to the state information includes: When the current operating temperature reaches the preset operating temperature, the internal mixer is determined to be the target internal mixer.

4. The powder cleaning method according to claim 2, characterized in that: The state information includes the working time of the current working state of the internal mixer chamber of the internal mixer, and judging whether the internal mixer is a target internal mixer that needs to perform powder cleaning according to the state information includes: When the working time reaches a preset time, the internal mixer is determined to be the target internal mixer.

5. The powder cleaning method according to claim 2, characterized in that: The state information includes the thickness of powder attached to the surface of the cleaning object in the internal mixer, and judging whether the internal mixer is a target internal mixer that needs to perform powder cleaning according to the state information includes: When the powder thickness is greater than a first preset thickness, the internal mixer is determined to be the target internal mixer.

6. The powder cleaning method according to claim 1, characterized in that: The state information is state information fed back by a plurality of internal mixers, and the controlling at least one powder sweeping workpiece to perform powder cleaning work on the internal mixing chamber according to the state information includes: Determine at least one target internal mixer that needs to perform powder cleaning based on the plurality of status information; Control at least one powder sweeping workpiece to perform powder cleaning on each of the target internal mixers.

7. The powder cleaning method according to claim 6, characterized in that: The step of determining at least one target internal mixer that needs to perform powder cleaning based on the plurality of status information comprises: determining at least one initial target internal mixer based on the state information; Testing each of the initial target internal mixers to obtain corresponding test results; Determining whether the initial target internal mixer meets the powder cleaning condition based on the detection result; When it is determined based on the detection result that the initial target internal mixer meets the powder cleaning condition, the initial target internal mixer is determined as the final target internal mixer.

8. The powder cleaning method according to claim 7, characterized in that: The detection result includes a first image of the mixing chamber of the initial target mixer, and the detection of each of the initial target mixers to obtain a corresponding detection result includes: For each of the initial target internal mixers, a first control instruction is sent to the initial target internal mixer to stop the operation of the initial target internal mixer, open a feed door and lower a pressure hammer; Using a two-dimensional camera to photograph the mixing chamber of the initial target mixer to obtain the first image; The determining whether the initial target internal mixer meets the powder cleaning condition based on the detection result includes: identifying a first powder-covered region in the first image; Calculating the area of ​​the first powder covered area, and / or calculating the powder thickness of the first powder covered area based on the pixel value of the first powder covered area; When the area of ​​the first powder coverage region is greater than a first preset area, and / or the powder thickness of the first powder coverage region is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

9. The powder cleaning method according to claim 7, characterized in that: The detection result includes three-dimensional point cloud data in the internal mixing chamber of the initial target internal mixer, and the detection of each of the initial target internal mixers to obtain corresponding detection results includes: For each of the initial target internal mixers, a first control instruction is sent to the initial target internal mixer to stop the operation of the initial target internal mixer, open a feed door and lower a pressure hammer; Scanning the mixing chamber of the initial target mixer using a three-dimensional camera to obtain the three-dimensional point cloud data; The determining whether the initial target internal mixer meets the powder cleaning condition based on the detection result includes: Determine a three-dimensional surface model in the mixing chamber based on the three-dimensional point cloud data; Acquire a reference surface model in the mixing chamber; Determining the thickness of the powder in the kneading chamber based on the three-dimensional surface model in the kneading chamber and the reference surface model; When the powder thickness is greater than a first preset thickness, it is determined that the initial target internal mixer meets the powder cleaning condition.

10. The powder cleaning method according to any one of claims 1 to 9, characterized in that: The controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber according to the state information comprises: When it is determined according to the state information that the internal mixer is a target internal mixer, sending a second control instruction to the target internal mixer to enable the target internal mixer to open a feed door; Controlling at least one powder sweeping workpiece to perform powder cleaning on a mixing chamber of the target internal mixer; Determining whether the powder cleaning work is completed; When it is determined that the powder cleaning work is completed, a third control instruction is sent to the internal mixer, so that the target internal mixer closes the feed door and continues to work.

11. The powder cleaning method according to claim 10, characterized in that: The step of judging whether the powder cleaning work is completed comprises: When the duration of the powder cleaning operation is greater than a first preset time, it is determined that the powder cleaning operation is completed; otherwise, it is determined that the powder cleaning operation is not completed and the powder cleaning operation is continued.

12. The powder cleaning method according to claim 10, characterized in that: The step of judging whether the powder cleaning work is completed comprises: Acquire a second image of the mixing chamber of the target mixer; identifying a second powder-covered region in the second image; Calculating the area of ​​the second powder covered area, and / or calculating the powder thickness of the second powder covered area based on the pixel value of the second powder covered area; When the area of ​​the second powder coverage area is greater than the second preset area, and / or the powder thickness of the second powder coverage area is greater than the second preset thickness, the powder cleaning work is judged to be completed; otherwise, the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

13. The powder cleaning method according to claim 10, characterized in that: The step of judging whether the powder cleaning work is completed comprises: When performing the powder cleaning operation, obtaining the powder concentration in the air in the mixing chamber of the target mixer; When the powder concentration is lower than a preset concentration, it is determined that the powder cleaning work is completed; otherwise, it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

14. The powder cleaning method according to claim 10, characterized in that: The controlling at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber of the target mixer comprises: Sending a fourth control instruction to the target internal mixer to put a hammer of the target internal mixer into a falling state; When the pressure hammer of the target internal mixer is in a falling state, the powder sweeping workpiece is controlled to perform powder cleaning on the first side of the inner wall of the internal mixer, wherein the inner wall of the internal mixer includes a first side, a second side and a third side, the first side and the second side are opposite and are not blocked by the pressure hammer, and the third side is blocked by the pressure hammer when the pressure hammer is in a falling state; Controlling the powder sweeping workpiece to perform powder cleaning on a first portion of the surface of the pressure hammer, wherein the surface of the pressure hammer includes a first portion of the surface and a second portion of the surface, the first portion of the surface is close to a first side surface of the inner wall of the mixing chamber, and the second portion of the surface is close to a second side surface of the inner wall of the mixing chamber; Control the powder sweeping workpiece to perform powder cleaning on the second side surface of the inner wall of the mixing chamber; Controlling the powder sweeping workpiece to perform powder cleaning on the surface of the second part of the pressing hammer; sending a fifth control instruction to the target internal mixer so that a hammer of the target internal mixer is in a raised state; The powder sweeping workpiece is controlled to perform powder cleaning on the first side surface, the second side surface and the third side surface of the inner wall of the mixing chamber.

15. A powder sweeping robot, characterized in that: The powder sweeping robot comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the powder cleaning method according to any one of claims 1 to 14.

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

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

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