Cleaning method and system of mixer and terminal

Abstract

The invention relates to a cleaning method and system of a mixer and a terminal, and relates to the field of mixers.The cleaning method comprises the steps that internal image information of the mixer is obtained; comparing the internal image information with preset reference image information to determine residue characteristics and residue positions; determining residue humidity information according to the internal image information and the residue characteristics; determining residue feature types according to the residue humidity information, wherein the residue feature types comprise wet adhesion residues and dry adhesion residues; based on the dry attached residues, a preset knocking device is controlled by a preset knocking separation method to knock the mixer so as to knock off the dry attached residues at the residue position; and based on the wet adhesion residues, controlling a preset blowing device to blow air to the wet adhesion residues at the residue positions by a preset drying and separating method so as to blow-dry the wet adhesion residues and fall off the wet adhesion residues. The cleaning device has the effect of improving the cleaning efficiency of the mixer and the product quality.

Description

Technical Field

[0001] The invention relates to the field of mixers, and in particular to a cleaning method, system and terminal for a mixer. Background Art

[0002] In the industrial production process, mixers are commonly used as industrial equipment to evenly mix multiple materials in a certain proportion. They are widely used in chemical, food, pharmaceutical and other fields.

[0003] After the mixer completes the material mixing task, various types of residues often remain on its inner wall. These residues will affect the quality of the next material mixed by the mixer, and the inner wall of the mixer needs to be cleaned regularly. At present, the cleaning of the residue on the inner wall of the mixer mainly relies on manual methods, and the staff relies on cleaning the inner wall of the mixer.

[0004] Due to the complex internal structure of the mixer, manual cleaning is difficult to fully and thoroughly remove residues in every corner, especially some hard-to-reach areas. Therefore, the efficiency of manual cleaning is low and needs to be improved. Summary of the invention

[0005] In order to improve the cleaning efficiency of a mixer and improve the product quality, the present invention provides a cleaning method, a system and a terminal for a mixer.

[0006] In a first aspect, the present invention provides a method for cleaning a mixer, which adopts the following technical solution: A method for cleaning a mixer, comprising: Obtain internal image information of the mixer; Determine the residue features and the residue position by comparing the internal image information with the preset reference image information; Determine residue humidity information based on internal image information and residue characteristics; Determine the residue characteristic type according to the residue humidity information, the residue characteristic type includes wet adhered residue and dry adhered residue; Based on the dry attached residue, a preset knocking device is controlled to knock the mixer with a preset knocking separation method to knock off the dry attached residue at the residue position; Based on the wet adhered residue, a preset blowing device is controlled to blow the wet adhered residue at the residue position in a preset dry separation method to dry and fall off the wet adhered residue.

[0007] By adopting the above technical solution, the camera is used to determine the position of the residue and the residue humidity information, and the residue is classified according to the residue humidity information. According to the characteristics of different types of residues, the system can process different types of residues in a targeted manner. For dry attached residues, the knocking device is controlled to knock to make the residue fall off; and for wet attached residues, the blowing device is controlled to blow to make the residue fall off after drying. The whole process distinguishes the characteristics of the residues and adopts different treatment methods according to the characteristics of the residues. Targeted cleaning can be achieved to improve the cleaning effect of the residues without manual intervention, realizing the automation and intelligence of the cleaning of the residues inside the mixer.

[0008] Optionally, the knocking separation method includes: Determine the dry residue area, dry residue contour and dry residue thickness according to the internal image information and residue characteristics; Determine whether the dry residue area is larger than the preset reference treatment area; When the dry residue area is larger than the reference treatment area, the vibration intensity is determined according to the dry residue area and the dry residue thickness; Controlling a preset vibration device to vibrate the mixer with a vibration intensity to split the residue features, and re-determining the dry residue area and the dry residue contour of the residue features according to the internal image information; When the dry residue area is not larger than the reference treatment area, the center point of the dry characteristic contour is determined according to the dry residue contour; Matching the central knocking point position of the outer wall of the mixer corresponding to the central point of the drying characteristic profile; Matching the knocking path of the outer wall of the mixer corresponding to the dry residue contour; Determine the knocking force according to the dry residue area and dry residue thickness; The preset knocking device is controlled by the knocking force to knock along the knocking path for a circle. After completing the circumferential knocking, the knocking force is used to knock at the concentrated knocking point to knock off the residue.

[0009] By adopting the above technical solution, after the camera obtains the internal image information of the mixer, for larger areas of dry residue, the vibration device vibrates the mixer according to the vibration intensity, so that the residue is split into small pieces of dry residue; and for small areas of dry residue, the knocking device knocks circumferentially along the knocking path to loosen the residue periphery in advance, and then knocks at the concentrated knocking point until the residue falls off. This process is handled by knocking and splitting the residue, and the method of knocking the periphery first and then the center can effectively remove large pieces of residue on the inner wall of the mixer, improving the cleaning efficiency and convenience.

[0010] Optionally, the dry separation method includes: Determine the wet residue contour, contour inclination, and wet residue center point according to internal image information and residue features; Matching a preset blowing path of the blowing device according to the wet residue profile; Match the blowing angle of the blowing device according to the inclination of the profile; Controlling the blowing device to blow air to the residue features according to the blowing path and the blowing angle to dry the residue features circumferentially and lift them up; During the blowing process of the blowing device, internal image information and residue characteristics are obtained to determine the dry-wet boundary; Determine the wet radius based on the wet residue center point and the dry-wet dividing line; If and only if the wet radius is smaller than a preset reference radius, the preliminary drying is completed.

[0011] By adopting the technical solution, based on the wet residue contour, contour inclination and wet residue center point, the system matches the blowing path and blowing angle of the blowing device, and controls the blowing device to blow along the wet residue contour until the residue is dried and lifted in the circumferential direction. During the blowing process, the system obtains the internal image information and residue features in real time, determines the dry-wet dividing line, and monitors the wet radius in real time. When the wet radius is less than the reference radius, it indicates that the wet residue has completed the initial drying and separation process.

[0012] Under this premise, blowing along the planned blowing path can improve the drying effect of the residue, reduce the stickiness of the residue, make the residue dry and loosen first in the circumference, and then the periphery is lifted to further loosen the residue for easy falling off. In addition, when blowing air in the circumference of the residue, the drying speed of the residue in the circumference is faster than the drying speed of the center part. By identifying the dry-wet dividing line, the power consumption of the blowing device can be saved, and the drying efficiency can be improved at the same time.

[0013] Optionally, the dry separation method further comprises: After the initial drying is completed, the remaining moisture information of the dried residue characteristics is obtained; determining the adhesion of the residue features based on the remaining portion moisture information and a preset viscosity database; Matching the corresponding rotational blowing force to drive the residue features to rotate according to the adhesion force; Determine the thickness of the residue feature according to the internal image information and the residue feature; According to the wet residue contour and the wet residue center point, the shortest distance from the wet residue contour to the wet residue center point is determined and defined as the reference circle radius; Generate a reference circle range according to the reference circle radius, determine all areas beyond the reference circle range in the residue features according to the reference circle range and the wet residue contour, and define them as the area to be blown; All the areas to be blown are sorted from large to small according to their areas to obtain an area sequence, and the area to be blown with the largest area is determined, which is defined as the optimal blowing area; Determine the edge contour of the optimal blowing area according to the internal image information and the optimal blowing area; According to the edge contour of the optimal blowing area, the wet residue contour, the residue characteristic thickness and the preset force database, the blowing force conditions of all points on the edge contour of the optimal blowing area are matched; According to the blowing force and the adhesion force, the edge contour of the optimal blowing area is selected, and the position where the blowing force is greater than the rotational blowing force is defined as the actual blowing position; The blowing device is controlled by the rotating blowing force to blow air to the actual blowing position of the residue feature to drive the residue feature to rotate and fall off, and the blowing device rotates synchronously with the residue feature during the blowing process.

[0014] By adopting the above technical scheme, the optimal blowing area is identified by analyzing the information of the residue contour obtained by the camera, the blowing force conditions of each point on the edge contour are analyzed, and the actual blowing position that is more likely to drive the residue to rotate is screened out; the blowing device is controlled to blow at the actual blowing position, so that the residue can be rotated and further dried during the rotation process; since the residue is already dry in the circumference and has a low viscosity, the connection force between the center of the residue and the inner wall of the mixer is reduced after rotation, and the residue falls off, thereby achieving the removal of the residue.

[0015] The appropriate rotational blowing force is quantitatively matched according to the adhesion force of the residue, and the rotational blowing force is compared with the blowing force condition, so that when the blowing device blows air to the optimal blowing area to drive the residue to rotate, the residue part in the optimal blowing area is not easily broken and splashed, and the residue can be blown off as a whole.

[0016] Optionally, when the blowing force of the edge contour of the optimal blowing area is not greater than the rotational blowing force, the processing method includes: Determine the blowing force condition of the edge contour of each area to be blown in sequence according to the area sequence; According to the blowing force condition, determine the position where the blowing force condition of each area to be blown is greater than the adhesion force, and define it as the sequential blowing position; Determine contour tangents of all sequential blowing positions according to internal image information and sequential blowing positions; Determine the deflection angle based on the contour tangent and the center point of the wet residue; According to the deflection angle, determine the sequential blowing position with the smallest deflection angle in the contour tangent, and define it as the corrected blowing position; The blowing device is controlled by the rotating blowing force to blow air to the modified blowing position of the residue feature to drive the residue feature to rotate and fall off, and the blowing device rotates synchronously with the residue feature during the blowing process.

[0017] By adopting the above technical solution, when the edge contour blowing force is less than the rotational blowing force, the system automatically selects other suitable blowing positions in the residue to correct the blowing position, so that the blowing device can generate greater torque when blowing, which helps to drive the residue features to rotate and avoid the residue from breaking and splashing under the blowing of the blowing device, and the residue can be blown off as a whole.

[0018] Optionally, during the cleaning process of the residue feature, small residues may fall into the gaps. Methods for cleaning the residues in the gaps include: Determine the gap path and gap depth according to the internal image information and the preset gap characteristics; According to the gap path analysis, the lowest point of the gap path in the mixer is determined and defined as the gap blowing position of the blowing device; Determine the gap blowing angle of the blowing device according to the gap depth and the preset equipment outlet position; Matching the amplitude information of the vibration device according to the gap depth; The mixer is controlled to rotate at a preset rotation speed, the vibration device is controlled to vibrate the mixer according to the amplitude information, and the blowing device is controlled to blow the gap along the gap path according to the gap blowing position and the gap blowing angle to blow the residue in the gap to the equipment outlet position.

[0019] By adopting the above technical solution, the system identifies the residue in the gap through internal image information, and processes it by synchronously controlling the blowing device and the vibration device and combining it with the rotation of the mixer. The vibration device can vibrate the residue in the gap, and the blowing device can blow the residue to the outlet position of the equipment; in this process, the mixer rotates while the vibration device vibrates, which can make the residue blown out of the gap gathered together for subsequent processing, thereby improving the residue processing efficiency.

[0020] Optional treatment methods for the characteristics of the residue that falls to the bottom of the mixer include: Acquire internal image information and residue features to determine the drop position and residue volume of the residue features dropped on the bottom of the mixer; Determine the discharge path based on the drop location and the equipment outlet location; Match the discharge striking force of the striking device according to the volume of the residue; The knocking device is controlled by the discharge knocking force to knock the residue features at the falling position along the discharge path to push the residue features to the equipment outlet position.

[0021] By adopting the above technical solution, the system determines the position where the residue falls on the bottom of the mixer through analysis, determines the discharge path according to the outlet position, and controls the residue to be discharged along the discharge path in combination with the knocking of the knocking device. The system matches the knocking force of the knocking device with different intensities according to the identified residue volume, which can avoid energy loss and effectively discharge the residue.

[0022] Optionally, a screen is provided at the outlet of the mixer, and the screen is used to filter and collect the residue characteristics discharged from the mixer. The method for filtering and collecting the residue includes: obtaining a residue weight of a residue characteristic located within the screen; Match the gas pressure value of the high-pressure gas device preset in the mixer according to the weight of the residue; The high pressure gas device is controlled according to the gas pressure value to release high pressure gas into the mixer to crush the residue on the screen and then filter and collect it.

[0023] By adopting the above technical solution, the gas pressure value of the high-pressure gas released by the high-pressure gas device is matched according to the situation of the residue in the screen, and the high-pressure gas device is controlled to release the high-pressure gas. The high-pressure gas can further clean the inside of the mixer to blow the remaining residue toward the screen, and the residue on the screen can be crushed under the pressure of the high-pressure gas, and then filtered and collected, so that the residue in the mixer can be recycled.

[0024] In a second aspect, the present application provides a mixer cleaning system, which adopts the following technical solution: A mixer cleaning system, comprising: An acquisition module is used to acquire internal image information of the mixer, determine the drop position and volume of the residue features of the residue features dropped at the bottom of the mixer, and the residue weight of the residue features located in the screen; A memory for storing a program of any one of the above-mentioned mixer cleaning methods; The processor is used to load, execute and implement the program stored in the memory.

[0025] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal, characterized in that it includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned mixer cleaning methods.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. Use the camera to determine the location of the residue and the information about the humidity of the residue, and classify the residue according to the humidity information. According to the characteristics of different types of residue, the system can handle different types of residue in a targeted manner. For dry attached residue, the knocking device is controlled to knock to make the residue fall off; and for wet attached residue, the blowing device is controlled to blow to make the residue fall off after drying. The entire process distinguishes the characteristics of the residue and adopts different treatment methods according to the characteristics of the residue, which can achieve targeted cleaning and improve the cleaning effect of the residue without manual intervention, realizing the automation and intelligence of the cleaning of the residue inside the mixer; 2. Blowing along the planned blowing path can improve the drying effect of the residue, reduce the stickiness of the residue, make the residue dry and loosen first in the circumference, and then the periphery is lifted to further loosen the residue for easy falling off. In addition, when blowing air in the circumference of the residue, the drying speed of the residue in the circumference is faster than the drying speed of the center part. By identifying the dry-wet dividing line, the power consumption of the blowing device can be saved, and the drying efficiency can be improved at the same time; 3. Analyze the information of the residue contour obtained by the camera to identify the optimal blowing area, analyze the blowing force conditions of each point on the edge contour, and screen out the actual blowing position that is more likely to drive the residue to rotate; control the blowing device to blow at the actual blowing position so that the residue can rotate and can be further dried during the rotation process; since the residue is already dry in the circumference and has low viscosity, the connection force between the center of the residue and the inner wall of the mixer is reduced after rotation and the residue falls off, thereby removing the residue; quantitatively match the appropriate rotational blowing force according to the adhesion force of the residue, compare the rotational blowing force with the blowing force conditions, so that when the blowing device blows to the optimal blowing area to drive the residue to rotate, the residue part in the optimal blowing area is not easy to break and splash, and the residue can be blown off as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a method flow chart of a method for cleaning a mixer according to an embodiment of the present invention; Figure 2 is a method flow chart of the knocking separation method according to an embodiment of the present invention; Figure 3 The method flow of the drying separation method of the embodiment of the present invention is Figure 1 ; Figure 4 The method flow of the drying separation method of the embodiment of the present invention is Figure 2 . DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The embodiment of the present application discloses a method for cleaning a mixer. The residue features on the inner wall of the mixer are identified to classify the residue feature types. The system processes different types of residue features in different ways. After the residue is separated and dropped from the inner wall, the residue features in the gap are removed, and finally the residue is concentrated at the bottom of the mixer and arranged side by side to the outlet position of the mixer, and is crushed, filtered and collected through a screen at the outlet position.

[0030] Reference Figure 1 , a cleaning method of a mixer comprises the following steps: Step S100: Acquire internal image information of the mixer.

[0031] The internal image information of the mixer refers to the images of various places inside the mixer obtained by the camera, and the camera is set inside the mixer. If there are residue features, the residue features can appear in the internal image information and can be identified and analyzed. By shooting images of various places inside the mixer, it provides a data source for the analysis and determination of technical features in subsequent steps.

[0032] Step S101: Determine the residue features and the residue position by comparing the internal image information with the preset reference image information.

[0033] The reference image information is a manually set database, which is a reference image obtained by a technician in advance through a camera when the inside of the mixer is in a clean state without any residue features, and will not be described in detail here.

[0034] By comparing the internal image information of the mixer with the reference image information, the difference between the two is the residue feature. After the residue feature is determined, image recognition analysis is performed on the residue feature in the internal image information to first obtain the position of the residue feature in the internal image information, and then combine the image ratio when the camera takes the image to obtain the residue position of the residue feature. The residue position refers to the actual position of the residue feature inside the mixer.

[0035] Step S102: Determine the residue humidity information according to the internal image information and the residue characteristics.

[0036] The residue moisture information refers to the moisture of the residue characteristics.

[0037] Since the residue has different colors in dry and wet states, it can be used to determine the humidity of the residue. Therefore, the residue humidity information can be obtained by performing image recognition analysis on the residue features from the internal image information, and matching the obtained residue color with the preset humidity database. The humidity database is a manually set database, which includes the relationship between residues of different color shades and humidity, which will not be elaborated here.

[0038] Step S103: determining the residue characteristic type according to the residue humidity information, the residue characteristic type including wet adhered residue and dry adhered residue.

[0039] The residue characteristic type refers to the type classification made by analyzing the state of the residue based on the humidity parameter. Wet adherent residue refers to the residue characteristic in a wet state. The residue characteristic in this state has stronger adhesion and will firmly adhere to the inner wall of the mixer. Dry adherent residue refers to the residue characteristic in a dry state. Its adhesion is inferior to that of wet adherent residue and can be separated from the inner wall of the mixer more easily.

[0040] Step S104: Based on the dry attached residue, a preset knocking device is controlled to knock the mixer in a preset knocking separation method to knock off the dry attached residue at the residue position.

[0041] The knocking device refers to a knocking component that is controlled by a manipulator disposed outside the mixer and can knock on the outer wall of the mixer. When the knocking device knocks on the outside of the mixer, a part of the inner wall of the mixer can vibrate.

[0042] In this embodiment, for the dry attached residue, the system controls the knocking device to knock the mixer with a knocking separation method to knock off the dry attached residue at the residue position. The knocking separation method is not described here in detail, and will be described in detail in subsequent steps.

[0043] Step S105: Based on the wet adhered residue, a preset blowing device is controlled to blow the wet adhered residue at the residue position in a preset drying and separation method to dry and drop the wet adhered residue.

[0044] The air blowing device is arranged inside the mixer and is used for blowing air to the inner wall of the mixer.

[0045] When cleaning the wet adherent residue inside the mixer, the system controls the blowing device to blow air to the blowing position in a dry separation method, and the wet adherent residue is blown dry and falls off. The dry separation method is described in detail in the subsequent steps and will not be described here.

[0046] Reference Figure 2 , the knocking separation method comprises the following steps: Step S200: determining the dry residue area, dry residue contour and dry residue thickness according to the internal image information and the residue characteristics.

[0047] The dry residue area refers to the actual area of ​​dry residue attached to the inner wall of the mixer.

[0048] The dry residue thickness refers to the actual thickness of the dry residue attached to the inner wall of the mixer.

[0049] The dry residue area and the dry residue thickness are both obtained by performing image recognition analysis on the residue features from the internal image information. The specific image recognition analysis method is the same as the method for determining the residue position in step S101, and will not be described in detail here.

[0050] Step S202: determining whether the dry residue area is larger than a preset reference processing area.

[0051] The reference processing area refers to the maximum area of ​​dry residue that can be shaken off at one time when the knocking device knocks on the outer wall of the mixer. The reference processing area is a parameter set manually by technical personnel and will not be elaborated here.

[0052] By comparing the dry residue area with the benchmark treatment area, it is determined whether the dry residue on the inner wall of the mixer can be knocked off by the knocking device at one time, so that different treatment measures can be taken.

[0053] Step S203: when the dry residue area is larger than the reference processing area, the vibration intensity is determined according to the dry residue area and the dry residue thickness.

[0054] When the dry residue area is larger than the reference processing area, it means that the dry residue area is large and the knocking device cannot directly knock the large pieces of dry residue off the inner wall of the mixer. Therefore, in this embodiment, the mixer is first vibrated as a whole by a vibration device to split the large pieces of dry residue first.

[0055] The vibration intensity refers to the strength of the vibration device when it vibrates the mixer as a whole.

[0056] The different dry residue areas and dry residue thicknesses require different vibration intensities for vibration shedding. The dry residue area and dry residue thickness are factors that affect the vibration intensity. The vibration intensity is matched by inputting the dry residue area and dry residue thickness into the preset vibration database. The vibration database is a database pre-set by technicians, which includes a one-to-one correspondence between the dry residue area and dry residue thickness and the vibration intensity.

[0057] Step S204: controlling a preset vibration device to vibrate the mixer with a vibration intensity to split the residue features, and re-determining the dry residue area and dry residue contour of the residue features according to the internal image information.

[0058] After the vibration intensity is determined, the system controls the vibration device to vibrate the mixer according to the vibration intensity. The larger residues are first split by vibration. At this time, the split small residues are still adhered to the inner wall of the mixer. The subsequent small residues are knocked off by the knocking device.

[0059] After the larger residue is split, the camera is used again to capture the internal image information in real time to re-determine the dry residue area and the dry residue contour, so as to facilitate subsequent processing by the tapping device.

[0060] Furthermore, by reacquiring the area and contour of the dry residue, it is re-determined whether there are any unsplit large residues that need to be knocked, and further separation is performed through the vibration device.

[0061] Step S205: When the dried residue area is not larger than the reference processing area, the center point of the dried characteristic contour is determined according to the dried residue contour.

[0062] When the dry residue area is not larger than the reference processing area, it indicates that the dry residue area is small, and the knocking device can directly knock the dry residue off the inner wall of the mixer. At this time, there is no need to vibrate the mixer by the vibration device first.

[0063] The center point of the dry characteristic profile refers to the geometric center point position of the dry residue, and is also the corresponding position of the center point of the dry residue on the inner wall of the mixer. The center point of the dry characteristic profile can be directly obtained by calculating and analyzing the dry residue profile, and the corresponding position of the center point of the dry residue on the inner wall of the mixer can also be determined by the actual position of the dry residue.

[0064] By precisely tapping the center point of the dry characteristic contour, the effect of the tapping can be ensured, and the residue can be knocked off and cleaned at this point in one go.

[0065] Step S206: matching the central point of the drying characteristic contour with the corresponding concentrated knocking point position on the outer wall of the mixer.

[0066] The concentrated knocking point position of the outer wall of the mixer is a position point where the dry residue on the inner wall of the mixer can be knocked off by knocking the outer wall of the mixer by the knocking device.

[0067] The location of the concentrated knocking point corresponds to the center point of the drying characteristic contour on the mixer. The center point of the drying characteristic contour is input into the preset mixer model to directly match the location of the concentrated knocking point. The mixer model is a three-dimensional model of the mixer constructed artificially, which will not be described in detail here.

[0068] Step S207: matching the knocking path of the outer wall of the mixer corresponding to the dry residue contour.

[0069] The knocking path is a path calculated by the system for the knocking device to knock along the contour of the dry residue, and the knocking path is located on the outer wall of the mixer.

[0070] The knocking path corresponds to the contour of the dry residue inside and outside the mixer, which is the same as the method for determining the position of the concentrated knocking point in step S206, and will not be described in detail here.

[0071] In this embodiment, the contour of the dry residue is firstly knocked on the outer wall of the mixer along the knocking path by a knocking device, which can pre-loosen the residue circumferentially, making it easier to fall off the entire piece when knocking at the center point of the residue contour later.

[0072] Step S208: Determine the knocking force according to the dry residue area and the dry residue thickness.

[0073] The knocking force refers to the force with which the knocking device knocks on the outer wall of the mixer to cause the dry residue at the corresponding position of the inner wall to fall off.

[0074] The dry residue area and dry residue thickness are both factors affecting the knocking force. The knocking force is obtained by inputting the dry residue area and dry residue thickness into a preset force database for matching. The force database is a database pre-set by a technician, which includes the corresponding relationship between the dry residue area and dry residue thickness and the knocking force, which will not be described in detail here.

[0075] Step S209: Control the preset knocking device to knock along the knocking path for one circle with the knocking force, and knock at the concentrated knocking point with the knocking force after completing the circumferential knocking to knock off the residue.

[0076] After determining parameters such as the location of the concentrated knocking point, the knocking path, and the knocking force, the system first controls the knocking device to knock on the contour of the dry residue with the knocking force and the knocking path, so that the edge of the dry residue is loosened first, and then the system knocks on the center point of the dry residue with the knocking force and the location of the concentrated knocking point, so that the knocking force acting on the residue can produce a better shedding effect, making it easier for the residue to fall off from the surface of the equipment.

[0077] By using the edge-first and then concentrating method, a larger area of ​​the mixer inner wall can be covered, reducing the number of blind spots for cleaning.

[0078] Reference Figure 3 , the drying separation method comprises the following steps: Step S300: determining the wet residue contour, contour inclination and wet residue center point according to the internal image information and residue features.

[0079] The wet residue profile is the actual edge profile of the wet residue features in the mixer.

[0080] The profile inclination is the actual inclination angle of the edge profile of the wet residue feature.

[0081] The center point of the wet residue is the geometric center point of the wet residue.

[0082] The wet residue contour, contour inclination and wet residue center point are all obtained by performing image recognition analysis on residue features from internal image information. The specific image recognition analysis method is the same as the method for determining the residue position in step S101, and will not be described in detail here.

[0083] Step S301: matching a preset blowing path of the blowing device according to the wet residue contour.

[0084] The blowing path is the path along which the system controls the blowing device to blow along the wet residue contour. The blowing path is consistent with the wet residue contour, and the system obtains it by analyzing the wet residue contour.

[0085] In this embodiment, the system controls the blowing device to blow along the blowing path of the wet residue contour, so the blowing path needs to be determined first.

[0086] Step S302: matching the blowing angle of the blowing device according to the contour inclination.

[0087] When the air blowing device blows air along the air blowing path, the air blowing angle of the air blowing device is changed according to the contour inclination angle, so that the edge of the wet residue can be blown up. The angle at which the air blowing device blows air to the wet residue is the blowing angle.

[0088] The blowing angle can be obtained by inputting the contour inclination angle into a preset angle database for matching. The angle database is set by a technician and contains the corresponding relationship between the contour inclination angle and the blowing angle, which will not be described in detail here. When blowing at the blowing angle, the edge of the residue can be blown up with the least effort.

[0089] Step S303: controlling the blowing device to blow air to the residue features according to the blowing path and the blowing angle to dry the residue features circumferentially and lift them up.

[0090] After determining the blowing path and blowing angle of the blowing device when blowing on the wet residue, the system controls the blowing device to blow around along the blowing path, at which time the edge of the wet residue can be dried, and the drying width can extend to the center of the residue. In addition, the blowing device blows at the blowing angle, and since the air blown by the blowing device exerts force on the wet residue, the residue edge can be lifted synchronously after drying, which is convenient for subsequent cleaning.

[0091] Step S304: During the blowing process of the blowing device, internal image information and residue features are obtained to determine the dry-wet boundary.

[0092] The dry-wet dividing line refers to the dividing line between the dry part and the wet part of the wet residue feature surface. Since the color depth of the dry part and the wet part of the residue is inconsistent, the dividing line between the two can be easily identified in the image. The dry-wet dividing line can be determined in the internal image information by image recognition and analysis, which is the same as the method for determining the residue position in step S101, and will not be repeated here.

[0093] By determining the position of the dividing line, it is possible to judge the drying progress of the wet residue, so as to control the blowing mode of the blowing device.

[0094] Step S305: Determine the wetting radius according to the center point of the wet residue and the dry-wet dividing line.

[0095] The wetting radius is the distance from the center of the wet residue to the wet-dry boundary, which is used to indicate the drying progress of the wet residue. The smaller the wetting radius, the higher the drying progress. Once the position of the wet-dry boundary is determined, the wetting radius can be directly measured and determined in the internal image information.

[0096] Step S306: When and only when the wet radius is smaller than the preset reference radius, the preliminary drying is completed.

[0097] The reference radius is the maximum radius set by the technicians that the air blowing device can easily blow off the wet residue, which will not be elaborated here. When the wet radius of the residue gradually decreases, the adhesion between the residue and the inner wall of the mixer also gradually decreases. When the wet radius is reduced to the reference radius, the wet residue can be easily blown off by blowing through the air blowing device. In addition, the smaller the wet radius, the slower the drying speed of the wet residue. When the wet radius is controlled at the reference radius, the power consumption of the air blowing device is minimal.

[0098] When the wet radius is not less than the reference radius, the air blowing device continues to blow and dry the wet residue. When the wet radius is less than the reference radius, the wet residue has reached a level where it is easy to fall off, and the initial drying is completed. The system controls the air blowing device to treat the residue in other ways to blow it off.

[0099] Reference Figure 4 After the initial drying is completed, the remaining part that may not be completely dried is still attached to the inner wall, and the residue needs to be further processed. The processing method includes the following steps: Step S400: After the initial drying is completed, the remaining humidity information of the residue characteristics after drying is obtained.

[0100] The remaining humidity information is the humidity information of the wet part within the wet radius of the wet residue that has not been completely dried. The remaining humidity information is obtained by analyzing the humidity information of the wet residue by combining the internal image information with the dry-wet boundary line. The specific analysis method is the same as step S102 and will not be repeated here.

[0101] Step S401: Determine the adhesion of the residue characteristics according to the remaining portion humidity information and a preset viscosity database.

[0102] The adhesion of the residue feature is the adhesion strength of the residue adhering to the inner wall of the mixer. The adhesion of the residue feature is related to the remaining humidity information. The adhesion of the residue feature can be obtained by inputting the remaining humidity information into the viscosity database. The viscosity database is a database set by technicians, which includes the corresponding relationship between the remaining humidity information and the adhesion of the residue feature, which will not be described in detail here.

[0103] Step S402: matching the corresponding rotational blowing force for driving the residue feature to rotate according to the adhesion force.

[0104] The rotational blowing force refers to the force that the blowing device needs to apply to the wet residue to make the residue rotate. The rotational blowing force is proportional to the adhesion force. The greater the adhesion force of the residue characteristics, the greater the rotational blowing force.

[0105] In this embodiment, after the wet residue edges are dried, the residue is driven to rotate by the air blowing device, so that the adhesion force between the center of the residue and the inner wall of the mixer is gradually reduced and the residue falls off.

[0106] Step S403: determining the residue feature thickness according to the internal image information and the residue features.

[0107] The residue characteristic thickness refers to the thickness information of each wet residue. The residue characteristic thickness is obtained by performing image recognition analysis on the residue characteristics from the internal image information. The specific image recognition analysis method is the same as the method for determining the residue position in step S101, and will not be described in detail here.

[0108] Step S404: determining the shortest distance from the wet residue center point in the wet residue contour according to the wet residue contour and the wet residue center point, and defining it as the reference circle radius.

[0109] The radius of the reference circle is the shortest distance from a position point on the wet residue contour to the center point of the wet residue. When the center point of the wet residue is determined, the system analyzes the wet residue contour to obtain the shortest distance between the two.

[0110] Step S405: Generate a reference circle range according to the reference circle radius, determine all areas of the residue features that are beyond the reference circle range according to the reference circle range and the wet residue contour, and define them as areas to be blown.

[0111] The reference circle range is a circular area range generated based on the reference circle radius, and the reference circle range is used to divide the residue into corner areas and center areas. The corner areas beyond the reference circle range are the areas to be blown, and the blowing device in the subsequent embodiments will blow air to the corner areas.

[0112] Step S406: sort all the areas to be blown from large to small according to their areas to obtain an area sequence, and determine the area to be blown with the largest area, which is defined as the optimal blowing area.

[0113] There may be multiple areas to be blown in the residue that are beyond the reference circle. The effect of rotating the residue when the blowing device blows air to each area to be blown is different, so it is necessary to select the area to be blown with the best rotation effect. When the blowing device blows air to the area to be blown with the largest area, the residue is subjected to a larger rotation torque, which makes the residue rotate best. Therefore, the optimal blowing area is the area to be blown with the largest area.

[0114] The area sequence refers to a sequence obtained by sorting all the areas to be blown in a specific manner, and the areas to be blown will be processed according to the area sequence later.

[0115] The system can select the optimal blowing area by sorting all the areas to be blown from large to small according to their area.

[0116] Step S407: determining the edge contour of the optimal blowing area according to the internal image information and the optimal blowing area.

[0117] The edge contour of the optimal blowing area, that is, the contour line position of the optimal blowing area, is determined by performing image recognition analysis on the contour of the optimal blowing area from the internal image information.

[0118] Step S408: Matching the blowing force conditions of all points on the edge contour of the optimal blowing area according to the edge contour of the optimal blowing area, the wet residue contour, the residue characteristic thickness and a preset force database.

[0119] In this embodiment, the blowing device blows air to points on the edge contour of the optimal blowing area. In order to ensure that the corner area of ​​the residue is not easily broken when the blowing device blows air to it, it is necessary to first determine the blowing force conditions of all points on the edge contour of the optimal blowing area. The blowing force condition is the maximum force that the points on the edge contour of the optimal blowing area can withstand. When the points on the edge contour are subjected to a force not greater than the blowing force condition, the optimal blowing area is not easily broken.

[0120] The stress database is a manually preset database, which contains the corresponding relationship between the edge contour of the optimal blowing area, the wet residue contour, the characteristic thickness of the residue and the blowing stress condition, which will not be elaborated here.

[0121] The blowing stress condition is affected by factors such as the edge contour of the optimal blowing area, the wet residue contour, and the characteristic thickness of the residue. Therefore, inputting parameters such as the edge contour of the optimal blowing area, the wet residue contour, and the characteristic thickness of the residue into the force database can match the blowing stress condition.

[0122] Step S409: According to the blowing force and the adhesion force, the edge contour of the optimal blowing area is selected as the position where the blowing force is greater than the adhesion force, and is defined as the actual blowing position.

[0123] Since there is adhesion between the center of the residue and the inner wall of the mixer, the force of the blowing device to drive the residue to rotate must be no less than the adhesion force. Therefore, when selecting the blowing position in the optimal blowing area, the position where the blowing force is greater than the adhesion force must be selected to allow the residue to rotate without breaking in the optimal blowing area. The actual blowing position is the position where the edge contour of the optimal blowing area is greater than the adhesion force, which is the actual blowing position point of the blowing device.

[0124] Step S410: Controlling the blowing device with a rotating blowing force to blow air to the actual blowing position of the residue feature to drive the residue feature to rotate and fall off, and during the blowing process, the blowing device rotates synchronously with the residue feature.

[0125] The system controls the blowing device to blow air to the actual blowing position of the optimal blowing area. At this time, the wet residue can rotate. During the rotation, the adhesion between the residue and the inner wall of the mixer gradually decreases and then falls off. In addition, during the rotation of the residue, the system captures the characteristic state of the residue characteristics in real time through the camera, driving the blowing device to always follow the residue to rotate, so that the blowing device always blows air to the actual blowing position to ensure that the residue can always be subjected to the maximum rotational torque.

[0126] Through rotary blowing, the fragmentation of residues during the shedding process can be reduced, and residues that are difficult to remove by static blowing can be cleaned. Stubborn large pieces of residues can also be removed more effectively, thereby improving the overall removal efficiency and shortening the cleaning time of a single residue.

[0127] The processing method when the blowing force of the edge contour of the optimal blowing area is not greater than the adhesion force includes the following steps: In an embodiment, when the blowing force on the edge contour of the optimal blowing area is not greater than the adhesion force, blowing the optimal blowing area through a blowing device will cause the corner area where the optimal blowing area is located to break, which is not conducive to the overall falling off of the wet residue. Therefore, the selection of the optimal blowing area needs to be revised.

[0128] Step S500: determining the blowing force condition of the edge contour of each area to be blown in sequence according to the area sequence.

[0129] Since the optimal blowing area cannot withstand the force applied by the blowing device, it is necessary to reselect a suitable area to be blown from other areas to be blown. In step S406, all areas to be blown have been sorted by area, so the blowing force of the edge contour of each area to be blown is determined according to the area sequence.

[0130] Step S501: Determine the position where the blowing force of each area to be blown is greater than the adhesion force according to the blowing force, and define it as a sequential blowing position.

[0131] The sequential blowing position refers to the blowing position that is re-screened from other areas to be blown. The blowing force that the blowing position can withstand is greater than the adhesion force, and the blowing device is not easy to blow it off. There may be more than one sequential blowing position, and all the sequential blowing positions that meet the conditions will be screened out.

[0132] Step S502: Determine the contour tangents of all the sequential air blowing positions according to the internal image information and the sequential air blowing positions.

[0133] The contour tangent line refers to the tangent line tangent to the sequential blowing position. The contour tangent line is obtained by performing image recognition analysis on the contour of the sequential blowing position in the internal image information, which will not be described in detail here.

[0134] Step S504: Determine the deflection angle according to the contour tangent line and the center point of the wet residue.

[0135] The deflection angle refers to the angle between the line connecting the tangent point and the center point of the wet residue and the contour tangent line. The deflection angle is used to determine the efficiency of the blowing device in blowing the sequential blowing positions. The smaller the deflection angle, the better the effect of the blowing device in rotating the residue when blowing the residue.

[0136] Step S505: determining the sequential blowing position with the smallest deflection angle in the contour tangent according to the deflection angle, and defining it as the corrected blowing position.

[0137] After the deflection angles of all the sequential blowing positions are determined, the sequential blowing position with the smallest deflection angle is selected, and the sequential blowing position is the corrected blowing position. When the blowing device blows the sequential blowing position, the blowing effect is the best.

[0138] Step S506: Control the blowing device with a rotating blowing force to blow air to the modified blowing position of the residue feature to drive the residue feature to rotate and fall off, and during the blowing process, the blowing device rotates synchronously with the residue feature.

[0139] After re-determining the corrected blowing position, the system controls the blowing device to blow air to the corrected blowing position. The blowing method is the same as step S410 and will not be described in detail here.

[0140] During the cleaning process, small residues may fall into the gaps. The method for cleaning the residues in the gaps includes the following steps: Step S600: determining the gap path and gap depth according to the internal image information and preset gap features.

[0141] The gap feature refers to the position of the gap that exists inside the mixer when it leaves the factory.

[0142] The gap path refers to the specific layout direction through the gap.

[0143] The gap depth refers to the depth value of the gap path.

[0144] The gap depth is obtained by performing image recognition analysis on the gap features from the internal image information. The specific image recognition analysis method is the same as the method for determining the residue position in step S101, and will not be described in detail here.

[0145] Step S601: Determine the lowest point of the gap path in the mixer according to the gap path analysis, and define it as the gap blowing position of the blowing device.

[0146] The gap blowing position refers to the blowing position when the blowing device blows air to the gap feature. In this embodiment, the gap blowing position is the lowest point of the gap path in the mixer.

[0147] By analyzing the lowest point of the gap path in the mixer, the residue in the gap can be blown away. Since the gap residue at the lowest point is the natural gathering point in the gap path under the action of gravity, blowing at the lowest point can make the airflow act directly on the residue gathering area, which can improve the blowing efficiency and prevent the residue from spreading to other areas during the blowing process, reducing secondary pollution during the cleaning process.

[0148] Step S602: determining the gap blowing angle of the blowing device according to the gap depth and the preset device outlet position.

[0149] The equipment outlet position is the outlet position for materials in the mixer to exit that has been determined when the mixer leaves the factory.

[0150] The gap blowing angle is the angle at which the blowing device blows the gap blowing position at the lowest point. The gap blowing angle is related to the gap depth and the equipment outlet position. The equipment outlet position determines the overall angle direction of the blowing device in the horizontal plane, and the gap depth determines the angle of the blowing device in the vertical plane. In this embodiment, the residue in the gap needs to be blown to the equipment outlet position by the blowing device.

[0151] The gap blowing angle is adjusted according to different gap depths and equipment outlet positions, so that the blowing device can cope with various situations. The appropriate gap blowing angle can guide the residue to move along the gap path to the maximum extent, making it easier to be pushed to the outlet position, and also improving the intelligence and automation level of the cleaning process.

[0152] Step S603: matching the amplitude information of the vibration device according to the gap depth.

[0153] In this embodiment, when the blowing device blows air to the gap path, the vibration device synchronously vibrates the mixer. The residue in the gap can vibrate with the vibration of the vibration device, which is conducive to the blowing device blowing out the residue in the gap, so the corresponding amplitude information needs to be matched.

[0154] The amplitude information is the amplitude of the vibration device when it vibrates. The amplitude information is proportional to the gap depth. The greater the gap depth, the greater the amplitude information, so that the residue in the gap can vibrate higher.

[0155] Step S604: Control the mixer to rotate at a preset rotation speed, control the vibration device to vibrate the mixer according to the amplitude information, and control the blowing device to blow the gap along the gap path according to the gap blowing position and the gap blowing angle to blow the residue in the gap to the equipment outlet position.

[0156] The residue in the gap is composed of the residue originally in the gap and the residue dropped during the processing on the inner wall. When processing the residue in the gap, the mixer is controlled to rotate at a rotation speed, and the lowest point of the gap path is blown by the blowing device, so that the blowing device can blow out the residue along the gap path. In addition, during the blowing process, the vibration device is combined to vibrate, which can, on the one hand, vibrate the residue in the gap to facilitate the blowing device to blow it out, and on the other hand, can concentrate the residue blown out of the gap inside the mixer for subsequent unified processing.

[0157] The rotation speed is the rotation speed of the mixer set by the technicians when processing the residue in the gap, which will not be elaborated here.

[0158] The method for dealing with the characteristics of the residue that falls to the bottom of the mixer includes the following steps: Step S700: Acquire internal image information and residue features to determine the drop position and residue volume of the residue features dropped on the bottom of the mixer.

[0159] In the process of cleaning dry attached residues, wet attached residues and residues in gaps in the previous steps, the residues that fall to the bottom need to be cleaned and removed in a centralized manner, so it is necessary to first determine the location where the residues fall and the volume of the residues.

[0160] The drop position and residue volume of the residue features are obtained by performing image recognition analysis on the internal image information. The specific image recognition analysis method is the same as the method for determining the residue position in step S101, and will not be described in detail here.

[0161] Step S701: Determine the discharge path according to the drop location and the device outlet location.

[0162] The discharge path refers to the shortest path for discharging the residue from the drop position to the equipment outlet position, and the discharge path is obtained by analyzing the drop position and the equipment outlet position.

[0163] Step S702: Matching the discharge striking force of the striking device according to the residue volume.

[0164] In this embodiment, the outer wall of the mixer is knocked by a knocking device to guide the residue to be discharged to the outlet position of the equipment.

[0165] The discharge knocking force is the force when the knocking device knocks on the outer wall of the mixer. The corresponding discharge knocking force is obtained by matching the residue volume with the preset knocking database. The knocking database is a database set by the technicians in advance through experimental tests, which includes the corresponding relationship between the residue volume and the discharge knocking force, which will not be repeated here. The appropriate discharge knocking force can make the residue vibrate slightly while preventing the residue from being scattered or re-vibrated into the gap due to excessive force.

[0166] Step S703: Control the knocking device to knock the residue features at the drop position along the discharge path with the discharge knocking force to push the residue features to the equipment outlet position.

[0167] The knocking device is controlled to knock on the residue according to the discharge knocking force, so that the residue vibrates slightly and gradually moves along the discharge path to the equipment outlet position.

[0168] A screen is provided at the outlet of the mixer, and the screen is used to filter and collect the residue characteristics discharged from the mixer. The method for filtering and collecting the residue includes the following steps: Step S800: Obtain the residue weight of the residue features located in the sieve.

[0169] The residue weight is the characteristic weight of the residue discharged from the outlet of the equipment and falling into the screen. A pressure sensor is provided on the screen to sense the change of pressure on the screen, thereby obtaining the residue weight.

[0170] Step S801: matching the gas pressure value of the high-pressure gas device preset in the mixer according to the weight of the residue.

[0171] In this embodiment, the air pressure inside the mixer is increased by a high-pressure gas device so that the residue features in the screen can be crushed and filtered.

[0172] The high-pressure gas device is pre-installed in the mixer by the technicians. It is a device that increases the internal air pressure by blowing gas into the mixer. Equipment such as pneumatic booster pumps can be selected.

[0173] The gas pressure value refers to the gas pressure value inside the mixer after the high-pressure gas device blows gas into the mixer. The gas pressure value needs to be monitored in real time by a pressure sensor preset in the high-pressure gas device to ensure that the preset pressure value is reached. The gas pressure value is related to the residue weight. The preset pressure value can be obtained by adding the residue weight to the gas pressure value database. The gas pressure value database is a database set by technicians, which includes the corresponding relationship between the residue weight and the gas pressure value, which will not be elaborated here.

[0174] The pressure can be flexibly adjusted by matching the gas pressure value according to different residue weights, and the use of a pressure sensor to monitor the air pressure inside the mixer in real time can determine whether the released gas pressure value has been reached.

[0175] Step S802: Control the high-pressure gas device to release high-pressure gas into the mixer according to the gas pressure value to crush the residue on the screen and then filter and collect it.

[0176] The released high-pressure gas can exert pressure on the residue on the screen to further crush it, and the crushed residue is easier to be recovered through the screen, avoiding the possibility of screen blockage, allowing it to be continuously screened and improving the residue collection rate. At the same time, the high-pressure gas can further discharge the remaining residue inside the mixer to the screen to ensure the cleanliness of the inside of the mixer.

[0177] Based on the same inventive concept, an embodiment of the present invention provides a mixer cleaning system, comprising: The acquisition module is used to acquire the internal image information of the mixer, the residue features to determine the drop position and residue volume of the residue features dropped at the bottom of the mixer, and the residue weight of the residue features located in the screen.

[0178] The memory is used to store a program of a mixer cleaning method.

[0179] The processor is used to load, execute and implement the program stored in the memory.

[0180] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a mixer cleaning method.

[0181] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0182] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for cleaning a mixer, characterized in that: include: Obtain internal image information of the mixer; Determine the residue features and the residue position by comparing the internal image information with the preset reference image information; Determine residue humidity information based on internal image information and residue characteristics; Determine the residue characteristic type according to the residue humidity information, the residue characteristic type includes wet adhered residue and dry adhered residue; Based on the dry attached residue, a preset knocking device is controlled to knock the mixer with a preset knocking separation method to knock off the dry attached residue at the residue position; Based on the wet adhered residue, a preset blowing device is controlled to blow the wet adhered residue at the residue position in a preset dry separation method to dry and fall off the wet adhered residue.

2. A method for cleaning a mixer according to claim 1, characterized in that: The knocking separation methods include: Determine the dry residue area, dry residue contour and dry residue thickness according to the internal image information and residue characteristics; Determine whether the dry residue area is larger than the preset reference treatment area; When the dry residue area is larger than the reference treatment area, the vibration intensity is determined according to the dry residue area and the dry residue thickness; Controlling a preset vibration device to vibrate the mixer with a vibration intensity to split the residue features, and re-determining the dry residue area and the dry residue contour of the residue features according to the internal image information; When the dry residue area is not larger than the reference treatment area, the center point of the dry characteristic contour is determined according to the dry residue contour; Matching the central knocking point position of the outer wall of the mixer corresponding to the central point of the drying characteristic profile; Matching the knocking path of the outer wall of the mixer corresponding to the dry residue contour; Determine the knocking force according to the dry residue area and dry residue thickness; The preset knocking device is controlled by the knocking force to knock along the knocking path for a circle. After completing the circumferential knocking, the knocking force is used to knock at the concentrated knocking point to knock off the residue.

3. A method for cleaning a mixer according to claim 1, characterized in that: Dry separation methods include: Determine the wet residue contour, contour inclination, and wet residue center point according to internal image information and residue features; Matching a preset blowing path of the blowing device according to the wet residue profile; Match the blowing angle of the blowing device according to the inclination of the profile; Controlling the blowing device to blow air to the residue features according to the blowing path and the blowing angle to dry the residue features circumferentially and lift them up; During the blowing process of the blowing device, internal image information and residue characteristics are obtained to determine the dry-wet boundary; Determine the wet radius based on the wet residue center point and the dry-wet dividing line; If and only if the wet radius is smaller than a preset reference radius, the preliminary drying is completed.

4. A method for cleaning a mixer according to claim 3, characterized in that: Also includes: After the initial drying is completed, the remaining moisture information of the dried residue characteristics is obtained; determining the adhesion of the residue features based on the remaining portion moisture information and a preset viscosity database; Matching the corresponding rotational blowing force to drive the residue features to rotate according to the adhesion force; Determine the thickness of the residue feature according to the internal image information and the residue feature; According to the wet residue contour and the wet residue center point, the shortest distance from the wet residue contour to the wet residue center point is determined and defined as the reference circle radius; Generate a reference circle range according to the reference circle radius, determine all areas beyond the reference circle range in the residue features according to the reference circle range and the wet residue contour, and define them as the area to be blown; All the areas to be blown are sorted from large to small according to their areas to obtain an area sequence, and the area to be blown with the largest area is determined, which is defined as the optimal blowing area; Determine the edge contour of the optimal blowing area according to the internal image information and the optimal blowing area; According to the edge contour of the optimal blowing area, the wet residue contour, the residue characteristic thickness and the preset force database, the blowing force conditions of all points on the edge contour of the optimal blowing area are matched; According to the blowing force and the adhesion force, the edge contour of the optimal blowing area is selected, and the position where the blowing force is greater than the rotational blowing force is defined as the actual blowing position; The blowing device is controlled by the rotating blowing force to blow air to the actual blowing position of the residue feature to drive the residue feature to rotate and fall off, and the blowing device rotates synchronously with the residue feature during the blowing process.

5. A method for cleaning a mixer according to claim 4, characterized in that: The processing methods when the blowing force of the edge contour of the optimal blowing area is not greater than the rotational blowing force include: Determine the blowing force condition of the edge contour of each area to be blown in sequence according to the area sequence; According to the blowing force condition, determine the position where the blowing force condition of each area to be blown is greater than the adhesion force, and define it as the sequential blowing position; Determine contour tangents of all sequential blowing positions according to internal image information and sequential blowing positions; Determine the deflection angle based on the contour tangent and the center point of the wet residue; According to the deflection angle, determine the sequential blowing position with the smallest deflection angle in the contour tangent, and define it as the corrected blowing position; The blowing device is controlled by the rotating blowing force to blow air to the modified blowing position of the residue feature to drive the residue feature to rotate and fall off, and the blowing device rotates synchronously with the residue feature during the blowing process.

6. A method for cleaning a mixer according to claim 1, characterized in that: Residue characteristics During the cleaning process, small residues will fall into the gaps. The methods for cleaning the residues in the gaps include: Determine the gap path and gap depth according to the internal image information and the preset gap characteristics; According to the gap path analysis, the lowest point of the gap path in the mixer is determined and defined as the gap blowing position of the blowing device; Determine the gap blowing angle of the blowing device according to the gap depth and the preset equipment outlet position; Matching the amplitude information of the vibration device according to the gap depth; The mixer is controlled to rotate at a preset rotation speed, the vibration device is controlled to vibrate the mixer according to the amplitude information, and the blowing device is controlled to blow the gap along the gap path according to the gap blowing position and the gap blowing angle to blow the residue in the gap to the equipment outlet position.

7. A method for cleaning a mixer according to claim 6, characterized in that: Methods for dealing with the characteristics of the residue that falls to the bottom of the mixer include: Acquire internal image information and residue features to determine the drop position and residue volume of the residue features dropped on the bottom of the mixer; Determine the discharge path based on the drop location and the equipment outlet location; Match the discharge striking force of the striking device according to the volume of the residue; The knocking device is controlled by the discharge knocking force to knock the residue features at the falling position along the discharge path to push the residue features to the equipment outlet position.

8. A method for cleaning a mixer according to claim 7, characterized in that: A screen is provided at the outlet of the mixer to filter and collect the residue characteristics discharged from the mixer. The filtering and collecting methods of the residue include: obtaining a residue weight of a residue characteristic located within the screen; Match the gas pressure value of the high-pressure gas device preset in the mixer according to the weight of the residue; The high pressure gas device is controlled according to the gas pressure value to release high pressure gas into the mixer to crush the residue on the screen and then filter and collect it.

9. A mixer cleaning system, characterized in that: include: An acquisition module is used to acquire internal image information of the mixer, determine the drop position and volume of the residue features of the residue features dropped at the bottom of the mixer, and the residue weight of the residue features located in the screen; A memory for storing a program of a mixer cleaning method according to any one of claims 1 to 8; The processor is used to load, execute and implement the program stored in the memory.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a mixer cleaning method as claimed in any one of claims 1 to 8.

Images