A cleaning method, system and terminal for a mixer

Abstract

The present invention relates to a cleaning method, system and terminal for a mixer, belonging to the field of mixers, and includes: obtaining internal image information of the mixer; determining residue characteristics and residue positions by comparing the internal image information with preset reference image information; determining residue humidity information based on the internal image information and the residue characteristics; determining residue characteristic types according to the residue humidity information, and the residue characteristic types include wet adhered residues and dry adhered residues; based on the dry adhered residues, controlling a preset knocking device to knock the mixer to knock off the dry adhered residues at the residue positions by a preset knocking separation method; based on the wet adhered residues, controlling a preset air blowing device to blow the wet adhered residues at the residue positions by a preset drying separation method to dry and shed the wet adhered residues. This application has the effect of improving the cleaning efficiency and product quality of the mixer.

Description

Technical Field

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

[0002] In the industrial production process, as a commonly used device, a mixer is an industrial device for uniformly mixing multiple materials in a certain proportion, and is widely used in many fields such as chemical industry, food, and pharmaceuticals.

[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 batch of mixed materials, and it is necessary to regularly clean the inner wall of the mixer. At present, the cleaning of the residues on the inner wall of the mixer mainly relies on manual methods, and workers rely on cleaning the inner wall of the mixer.

[0004] Due to the complex internal structure of the mixer, it is difficult for manual cleaning to comprehensively and thoroughly remove the residues in all corners, especially some inaccessible parts. Therefore, the manual cleaning efficiency is low and needs to be improved. Summary of the Invention

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

[0006] In a first aspect, the present invention provides a cleaning method for a mixer, adopting the following technical solution:

[0007] A cleaning method for a mixer includes:

[0008] Obtaining internal image information of the mixer;

[0009] Comparing the internal image information with preset reference image information to determine the residue characteristics and residue positions;

[0010] Determining the residue humidity information based on the internal image information and the residue characteristics;

[0011] Determining the residue characteristic types based on the residue humidity information, and the residue characteristic types include wet adhered residues and dry adhered residues;

[0012] Based on the dry adhered residues, controlling a preset knocking device to knock the mixer with a preset knocking separation method to knock down the dry adhered residues at the residue positions;

[0013] Based on the wet adhered residues, controlling a preset blowing device to blow the wet adhered residues at the residue positions with a preset drying separation method to dry and remove the wet adhered residues.

[0014] By adopting the above technical solution, the position of the residue and the residue humidity information are determined by using a camera, and the residue is classified according to the residue humidity information. According to the characteristics of different types of residues, the system can specifically process different types of residues. For dry adhered residues, the knocking device is controlled to knock, so that the residues fall off; for wet adhered residues, the blowing device is controlled to blow air, so that the residues fall off after drying. Through the distinction of residue characteristics in the whole process, different treatment methods are adopted according to residue characteristics, which can achieve targeted cleaning, improve the cleaning effect of residues, and realize the automation and intelligence of residue cleaning inside the mixer without manual intervention.

[0015] Optionally, the knocking separation method includes:

[0016] Determine the dry residue area, dry residue contour and dry residue thickness according to the internal image information and residue characteristics;

[0017] Judge whether the dry residue area is larger than the preset reference treatment area;

[0018] When the dry residue area is larger than the reference treatment area, determine the vibration intensity according to the dry residue area and the dry residue thickness;

[0019] Vibrate the mixer with the preset vibration device according to the vibration intensity to split the residue characteristics, and re-determine the dry residue area and dry residue contour of the residue characteristics according to the internal image information;

[0020] When the dry residue area is not larger than the reference treatment area, determine the center point of the dry feature contour according to the dry residue contour;

[0021] Match the position of the concentrated knocking point on the outer wall of the mixer corresponding to the center point of the dry feature contour;

[0022] Match the knocking path on the outer wall of the mixer corresponding to the dry residue contour;

[0023] Determine the knocking force according to the dry residue area and the dry residue thickness;

[0024] Control the preset knocking device to knock along the knocking path for one week with the knocking force, and after completing the circumferential knocking, knock at the position of the concentrated knocking point with the knocking force to knock off the residue.

[0025] By adopting the above technical solution, after the camera obtains the internal image information of the mixer, for large-area dry residues, the vibration device vibrates the mixer according to the vibration intensity, splitting the residues into small-area dry residues; for small-area dry residues, the knocking device circumferentially knocks along the knocking path to loosen the periphery of the residues in advance, and then knocks at the position of the concentrated knocking point until the residues fall off. This process gradually clears the residues through the treatment of knocking and splitting, and the knocking method from the periphery to the center first can efficiently remove large residues on the inner wall of the mixer, improving the cleaning efficiency and convenience.

[0026] Optionally, the drying and separation method includes:

[0027] Determine the contour of the wet residue, the contour inclination angle, and the center point of the wet residue according to the internal image information and the residue characteristics;

[0028] Match the blowing path of the preset blowing device according to the contour of the wet residue;

[0029] Match the blowing angle of the blowing device according to the contour inclination angle;

[0030] Control the blowing device to blow on the residue characteristics according to the blowing path and the blowing angle to dry and warp the residue characteristics circumferentially;

[0031] During the blowing process of the blowing device, obtain the internal image information and the residue characteristics to determine the dry-wet boundary;

[0032] Determine the wet radius according to the center point of the wet residue and the dry-wet boundary;

[0033] Complete the preliminary drying if and only if the wet radius is less than the preset reference radius.

[0034] By adopting the above technical solution, based on the contour of the wet residue, the contour inclination angle, and the center point of the wet residue, the system matches the blowing path and the blowing angle of the blowing device, and at the same time controls the blowing device to blow along the contour of the wet residue until the residue is dried and warped circumferentially. During the blowing process, the system obtains the internal image information and the residue characteristics in real time, determines the dry-wet boundary, and monitors the wet radius accordingly. When the wet radius is less than the reference radius, it indicates that the preliminary drying and separation process of the wet residue is completed.

[0035] On this premise, blowing along the planned blowing path can improve the drying effect on the residue, reduce the viscosity of the residue, make the residue dry and loosen circumferentially first, and then warp the periphery to further loosen the residue for easy falling off. Moreover, when blowing on the circumference of the residue, the drying speed of the circumference of the residue is faster than that of the central part. By identifying the dry-wet boundary, the power consumption of the blowing device can be saved while improving the drying efficiency.

[0036] Optionally, the drying and separation method further includes:

[0037] After completing the preliminary drying, obtain the remaining moisture information of the characteristics of the dried residue;

[0038] Determine the adhesion of the residue characteristics according to the remaining moisture information and the preset viscosity database;

[0039] Match the corresponding rotational blowing force that drives the residue characteristics to rotate according to the adhesion;

[0040] Determine the residue characteristic thickness according to the internal image information and the residue characteristics;

[0041] Determine the shortest distance from the center point of the wet residue in the wet residue contour, and define it as the reference circle radius;

[0042] Generate a reference circle range according to the reference circle radius, and determine all regions of the residue characteristics that exceed the reference circle range according to the reference circle range and the wet residue contour, and define them as the areas to be blown;

[0043] Sort all the areas to be blown in descending order of area to obtain an area sequence, and determine the area to be blown with the largest area, which is defined as the optimal blowing area;

[0044] Determine the edge contour of the optimal blowing area according to the internal image information and the optimal blowing area;

[0045] Match 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 the preset force database;

[0046] Screen out the positions on the edge contour of the optimal blowing area where the blowing force condition is greater than the rotational blowing force according to the blowing force condition and the adhesion, and define them as the actual blowing positions;

[0047] Blow air at the actual blowing positions of the residue characteristics by controlling the blowing device with the rotational blowing force to drive the residue characteristics to rotate and fall off, and the blowing device follows the residue characteristics to rotate synchronously during the blowing process.

[0048] By adopting the above technical solution, the optimal blowing area is identified through the analysis of 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 positions that are easier to drive the residue to rotate are screened out; by controlling the blowing device to blow air at the actual blowing positions, the residue can rotate and can be further dried during the rotation; since the circumference of the residue has been dried and the viscosity is low, the connection force between the central part of the residue and the inner wall of the mixer is reduced after rotation and falls off, realizing the removal of the residue.

[0049] Quantitatively match the appropriate rotational blowing force according to the adhesion force of the residue, compare the rotational blowing force with the blowing force condition, so that when the blowing device blows air on 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.

[0050] Optionally, the processing method when the blowing force condition on the edge contour of the optimal blowing area is not greater than the rotational blowing force includes:

[0051] Determine the blowing force condition on the edge contour of each area to be blown in sequence according to the area sequence;

[0052] Determine the positions where the blowing force condition of each area to be blown is greater than the adhesion force according to the blowing force condition, and define them as sequence blowing positions;

[0053] Determine the contour tangents of all the sequence blowing positions according to the internal image information and the sequence blowing positions;

[0054] Determine the deflection angle according to the contour tangent and the center point of the wet residue;

[0055] Determine the sequence blowing position with the smallest deflection angle among the contour tangents according to the deflection angle, and define it as the corrected blowing position;

[0056] Control the blowing device to blow air on the corrected blowing position of the residue feature at the rotational blowing force to drive the residue feature to rotate and fall off, and during the blowing process, the blowing device follows the residue feature to rotate synchronously.

[0057] By adopting the above technical solution, when the blowing force condition on the edge contour is less than the rotational blowing force, the system automatically selects other suitable positions for blowing in the residue to correct the blowing position, so that the blowing device can generate a greater torque when blowing air, which helps to drive the rotation of the residue feature, and avoids the residue from being broken and splashed under the blowing of the blowing device, and the residue can be blown off as a whole.

[0058] Optionally, small residues will fall into the gaps during the cleaning process of the residue feature. The cleaning method for the residues in the gaps includes:

[0059] Determine the gap path and the gap depth according to the internal image information and the preset gap features;

[0060] Analyze the gap path to determine the lowest point position of the gap path in the mixer, and define it as the gap blowing position of the blowing device;

[0061] Determine the gap blowing angle of the blowing device according to the gap depth and the preset equipment outlet position;

[0062] Match the amplitude information of the vibration device according to the gap depth;

[0063] 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 air along the gap path to the gap according to the gap blowing position and the gap blowing angle to blow the residue in the gap to the equipment outlet position.

[0064] By adopting the above technical solution, the system identifies the residue in the gap through the internal image information, and adopts the synchronous control of the blowing device and the vibration device and combines the rotation of the mixer for processing. The vibration device can vibrate the residue in the gap, and the blowing device can blow the residue to the equipment outlet position; during this process, the mixer rotates while the vibration device vibrates, which can make the residue blown out from the gap gather together, facilitating subsequent processing and improving the processing efficiency of the residue.

[0065] Optionally, the processing method for the residue characteristics falling at the bottom of the mixer includes:

[0066] Obtain the internal image information and the residue characteristics to determine the falling position and the residue volume of the residue characteristics falling at the bottom of the mixer;

[0067] Determine the discharge path according to the falling position and the equipment outlet position;

[0068] Match the discharge knocking force of the knocking device according to the residue volume;

[0069] Control the knocking device to knock on the residue characteristics at the falling position along the discharge path with the discharge knocking force to push the residue characteristics to the equipment outlet position.

[0070] By adopting the above technical solution, the system analyzes and determines the position where the residue falls at the bottom of the mixer, determines the discharge path according to the outlet position, and combines the knocking control of the knocking device to discharge the residue along the discharge path. The system matches different intensities of knocking forces of the knocking device according to the identified residue volume, which can avoid energy loss and effectively discharge the residue.

[0071] Optionally, a screen is arranged at the outlet position of the mixer, and the screen filters and collects the residue characteristics discharged from the mixer. The residue filtering and collecting method includes:

[0072] Obtain the residue weight of the residue characteristics located in the screen;

[0073] Match the gas pressure value of the high-pressure gas device preset in the mixer according to the residue weight;

[0074] 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.

[0075] 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 sieve, and the high-pressure gas device is controlled to release high-pressure gas. The high-pressure gas can further clean the inside of the mixer to blow the remaining residue towards the sieve, and the residue on the sieve 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.

[0076] In a second aspect, the present application provides a mixer cleaning system, adopting the following technical solution:

[0077] A mixer cleaning system, comprising:

[0078] An acquisition module, configured to acquire the internal image information of the mixer, the residue characteristics to determine the dropping position and residue volume of the residue dropped at the bottom of the mixer, and the residue weight of the residue characteristics located in the sieve;

[0079] A memory, configured to store the program of any one of the above mixer cleaning methods;

[0080] A processor, configured to load and execute the program stored in the memory.

[0081] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0082] An intelligent terminal, characterized by comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is any one of the above mixer cleaning methods.

[0083] In summary, the present application includes at least one of the following beneficial technical effects:

[0084] 1. The camera is used to determine the residue position and 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 specifically. For dry and adhered residues, the knocking device is controlled to knock to make the residues fall off; for wet and adhered residues, the blowing device is controlled to blow to make the residues dry and then fall off. The whole process realizes different treatment methods according to the residue characteristics by distinguishing the residue characteristics, can achieve targeted cleaning to improve the cleaning effect of the residue, and realizes the automation and intelligence of the residue cleaning inside the mixer without manual intervention;

[0085] 2. Blowing air along the planned blowing path can improve the drying effect on the residue, reduce the viscosity of the residue, enabling the residue to be dried and loosened circumferentially first, and then the periphery warps up to further loosen the residue for easier detachment. Moreover, when blowing air circumferentially on the residue, the drying speed of the residue circumferentially is faster than that of the central part. By identifying the dry-wet demarcation line, the power consumption of the blowing device can be saved while improving the drying efficiency;

[0086] 3. Analyze the information of the residue contour obtained by the camera to identify the optimal blowing area, analyze the blowing force on each point of the edge contour, and screen to obtain the actual blowing positions that are more likely to drive the residue to rotate; control the blowing device to blow air at the actual blowing positions, enabling the residue to rotate and further dry during the rotation process; since the circumferential part of the residue has been dried and has a lower viscosity, after rotation, the connection force between the central part of the residue and the inner wall of the mixer is reduced and the residue falls off, realizing the removal of 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 situation, so that when the blowing device blows air on 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 is a flowchart of a cleaning method for a mixer according to an embodiment of the present invention;

[0088] Figure 2 is a flowchart of a knocking separation method according to an embodiment of the present invention;

[0089] Figure 3 is the flowchart of the drying separation method according to an embodiment of the present invention Figure 1 ;

[0090] Figure 4 is the flowchart of the drying separation method according to an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION OF THE EMBODIMENTS

[0091] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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.

[0092] An embodiment of the present application discloses a cleaning method for a mixer. By identifying the residue characteristics on the inner wall of the mixer, the types of residue characteristics are classified. The system processes different types of residue characteristics by different methods. After separating the residue from the inner wall and dropping it off, the residue characteristics in the gaps are cleared. Finally, the residue is concentrated at the bottom of the mixer and discharged to the outlet position of the mixer, where it is broken and filtered through a sieve for collection.

[0093] Referring to Figure 1 , a cleaning method for a mixer includes the following steps:

[0094] Step S100: Obtain the internal image information of the mixer.

[0095] The internal image information of the mixer refers to the images of various parts inside the mixer obtained through a camera, and the camera is set inside the mixer. If there are residue characteristics, the residue characteristics can appear in the internal image information and can be recognized and analyzed. Taking pictures of various parts inside the mixer provides a data source for the analysis and determination of technical characteristics in the subsequent steps.

[0096] Step S101: Compare the internal image information with the preset reference image information to determine the residue characteristics and the residue position.

[0097] The reference image information is a manually set database, which is a reference image obtained by technicians through a camera in advance for the clean state when there are no residue characteristics inside the mixer, and will not be elaborated here.

[0098] By comparing the internal image information of the mixer with the reference image information, the difference between the two is the residue characteristics. After determining the residue characteristics, perform image recognition and analysis on the residue characteristics in the internal image information. First, the position of the residue characteristics in the internal image information can be obtained, and then combined with the image ratio when the camera takes pictures, so as to obtain the residue position of the residue characteristics. The residue position refers to the actual position of the residue characteristics inside the mixer.

[0099] Step S102: Determine the residue humidity information according to the internal image information and the residue characteristics.

[0100] The residue humidity information refers to the humidity of the residue characteristics.

[0101] Since the color shades of the residue are different in the dry and wet states, it can be used to judge the humidity of the residue. Therefore, the residue humidity information can be obtained by performing image recognition and analysis on the residue characteristics in the internal image information and matching the obtained color shade of the residue with the preset humidity database. The humidity database is a manually set database, which includes the relationship between residues with different color shades and humidity, and will not be elaborated here.

[0102] Step S103: Determine the residue characteristic type according to the residue humidity information. The residue characteristic type includes wet adherent residue and dry adherent residue.

[0103] The residue characteristic type refers to the type classification made by analyzing the state of the residue from the humidity parameter. The wet adherent residue refers to the residue characteristic in the wet state. In this state, the residue has a stronger adhesion force and will firmly adhere to the inner wall of the mixer. The dry adherent residue is the residue characteristic in the dry state, and its adhesion force is inferior to that of the wet adherent residue, and it can be separated from the inner wall of the mixer relatively simply.

[0104] Step S104: Based on the dry adherent residue, control a preset knocking device to knock on the mixer with a preset knocking separation method to knock off the dry adherent residue at the residue position.

[0105] The knocking device refers to a knocking component that can knock on the outer wall of the mixer and is controlled by a manipulator arranged outside the mixer. When the knocking device knocks on the outside of the mixer, local vibration can be generated on the inner wall of the mixer.

[0106] In this embodiment, for the dry adherent residue, the system controls the knocking device to knock on the mixer with the knocking separation method to knock off the dry adherent residue at the residue position. The knocking separation method will not be elaborated here and will be described in detail in the subsequent steps.

[0107] Step S105: Based on the wet adherent residue, control a preset blowing device to blow on the wet adherent residue at the residue position with a preset drying separation method to dry and drop the wet adherent residue.

[0108] The blowing device is arranged inside the mixer and is used to blow on the inner wall of the mixer.

[0109] When cleaning the wet adherent residue inside the mixer, the system controls the blowing device to blow at the blowing position with the drying separation method, and the wet adherent residue will fall off after being dried. The drying separation method will be described in detail in the subsequent steps and will not be elaborated here.

[0110] Refer to Figure 2 , the knocking separation method includes the following steps:

[0111] Step S200: Determine the dry residue area, dry residue contour and dry residue thickness according to the internal image information and residue characteristics.

[0112] The dry residue area refers to the actual area size of the dry residue attached to the inner wall of the mixer.

[0113] The dry residue thickness refers to the actual thickness size of the dry residue attached to the inner wall of the mixer.

[0114] Both the area and thickness of the dried residue are obtained by performing image recognition and analysis on the residue features from the internal image information. The specific method and steps of the image recognition and analysis are the same as those for determining the residue position in step S101, and will not be elaborated here.

[0115] Step S202: Determine whether the area of the dried residue is greater than a preset reference processing area.

[0116] The reference processing area refers to the maximum area of the dried 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 by technicians and will not be elaborated here.

[0117] By comparing the area of the dried residue with the reference processing area, it is determined whether the dried residue on the inner wall of the mixer can be knocked off by the knocking device at one time, so as to take different treatment measures.

[0118] Step S203: When the area of the dried residue is greater than the reference processing area, determine the vibration intensity according to the area and thickness of the dried residue.

[0119] When the area of the dried residue is greater than the reference processing area, it indicates that the area of the dried residue is large, and the knocking device cannot directly knock off the large pieces of dried residue from the inner wall of the mixer. Therefore, in this embodiment, the vibration device is first used to vibrate the whole mixer to split the large pieces of dried residue first.

[0120] The vibration intensity is the magnitude of the force when the vibration device vibrates the whole mixer.

[0121] The different areas and thicknesses of the dried residue require different vibration intensities for vibration and shedding matching. Both the area and thickness of the dried residue are factors affecting the vibration force. By inputting the area and thickness of the dried residue into a preset vibration database, the vibration intensity is matched. The vibration database is a database preset by technicians, which includes the one-to-one correspondence between the area and thickness of the dried residue and the vibration intensity.

[0122] Step S204: Control the preset vibration device to vibrate the mixer with the vibration intensity to split the residue features, and re-determine the area of the dried residue and the dried residue contour of the residue features according to the internal image information.

[0123] After determining the vibration intensity, the system controls the vibration device to vibrate the mixer with the vibration intensity. First, the larger residue is split through vibration. At this time, the split small residues still adhere to the inner wall of the mixer, and then the small residues are knocked off by the knocking device.

[0124] After the larger residue is split, the internal image information is obtained again by real-time shooting with a camera to re-determine the area of the dry residue and the contour of the dry residue, so as to facilitate the subsequent processing by the knocking device.

[0125] Moreover, by obtaining the area of the dry residue and the contour of the dry residue again, it is re-judged whether there are still larger residues that need to be knocked and have not been split, and further separation is carried out through the vibration device.

[0126] Step S205: When the area of the dry residue is not greater than the reference processing area, determine the center point of the dry feature contour according to the contour of the dry residue.

[0127] When the area of the dry residue is not greater than the reference processing area, it means that the area of the dry residue is small, and the knocking device can directly knock the dry residue off the inner wall of the mixer. At this time, it is not necessary to vibrate the mixer through the vibration device first.

[0128] The center point of the dry feature contour refers to the geometric center point position of the dry residue, and it 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 feature contour can be directly obtained through calculation and analysis of the contour of the dry residue, and the corresponding position of the center point of the dry residue on the inner wall of the mixer can also be determined through the actual position of the dry residue.

[0129] By accurately knocking on the center point of the dry feature contour, the effect of knocking can be ensured, and the residue can be knocked off and cleaned up at this point at one time.

[0130] Step S206: Match the position of the concentrated knocking point on the outer wall of the mixer corresponding to the center point of the dry feature contour.

[0131] The position of the concentrated knocking point on the outer wall of the mixer is the position point where the knocking device knocks on the outer wall of the mixer and can knock the dry residue on the inner wall of the mixer off.

[0132] The position of the concentrated knocking point corresponds to the center point of the dry feature contour inside and outside the mixer. By inputting the center point of the dry feature contour into the preset mixer model, the position of the concentrated knocking point can be directly matched. The mixer model is a three-dimensional solid model of the mixer constructed by humans and will not be elaborated here.

[0133] Step S207: Match the knocking path on the outer wall of the mixer corresponding to the contour of the dry residue.

[0134] The knocking path is the 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.

[0135] The knocking path corresponds to the contour of the dry residue inside and outside the mixer. The determination method of the position of the concentrated knocking point in step S206 is the same and will not be elaborated here.

[0136] In this embodiment, first, the knocking device knocks on the outer wall of the mixer along the knocking path to the outline of the dry residue, which can loosen the residue circumferentially in advance, making it easier to fall off in one piece when knocking at the center point of the residue outline later.

[0137] Step S208: Determine the knocking force according to the area and thickness of the dry residue.

[0138] The knocking force is the force with which the knocking device knocks on the outer wall of the mixer to make the dry residue at the corresponding position on the inner wall fall off.

[0139] Both the area and thickness of the dry residue are influencing factors of the knocking force. By inputting the area and thickness of the dry residue into a preset force database for matching, the knocking force is obtained. The force database is a database preset by technicians, which includes the corresponding relationship between the area and thickness of the dry residue and the knocking force, and will not be elaborated here.

[0140] Step S209: Control the preset knocking device to knock along the knocking path for one week with the knocking force. After completing the circumferential knocking, knock at the concentrated knocking point position with the knocking force to knock off the residue.

[0141] After determining parameters such as the position of the concentrated knocking point, the knocking path, and the knocking force, the system first controls the knocking device to knock on the outline of the dry residue with the knocking force and the knocking path, so that the edge of the dry residue is loosened first. Then the system knocks on the center point of the dry residue with the knocking force and the position of the concentrated knocking point, so that the force of the knocking acting on the residue can produce a better falling-off effect, making the residue easier to fall off from the surface of the equipment.

[0142] By adopting the method of first the edge and then the concentration, a larger area of the inner wall of the mixer can be covered, reducing the cleaning dead corners.

[0143] Refer to Figure 3 , the drying and separation method includes the following steps:

[0144] Step S300: Determine the wet residue outline, the outline inclination angle, and the center point of the wet residue according to the internal image information and the residue characteristics.

[0145] The wet residue outline is the actual edge outline of the wet residue characteristics in the mixer.

[0146] The outline inclination angle is the actual inclination angle of the edge outline of the wet residue characteristics.

[0147] The center point of the wet residue is the geometric center point position of the wet residue.

[0148] The wet residue contour, contour inclination angle, and the center point of the wet residue are all obtained by performing image recognition and analysis on the residue features from the internal image information. The specific method of image recognition and analysis is the same as the method for determining the residue position in step S101, and will not be elaborated here.

[0149] Step S301: Match the blowing path of a preset blowing device according to the wet residue contour.

[0150] The blowing path is the path for the system to control the blowing device to blow air along the wet residue contour. The blowing path is consistent with the wet residue contour and is obtained by the system analyzing the wet residue contour.

[0151] In this embodiment, since the system controls the blowing device to blow air along the blowing path of the wet residue contour, it is necessary to determine the blowing path first.

[0152] Step S302: Match the blowing angle of the blowing device according to the contour inclination angle.

[0153] When the blowing device blows air along the blowing path, changing the angle of the blowing device when blowing air according to the contour inclination angle can make the edge of the wet residue warp. The angle of the blowing device when blowing air on the wet residue is the blowing angle.

[0154] 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 technicians and contains the corresponding relationship between the contour inclination angle and the blowing angle, which will not be elaborated here. When blowing air at the blowing angle, the residue edge can be blown up with the least effort.

[0155] Step S303: Control the blowing device to blow air on the residue features according to the blowing path and blowing angle to dry and warp the residue features circumferentially.

[0156] When the blowing path and blowing angle of the blowing device when blowing air on the wet residue are determined, the system controls the blowing device to blow air around along the blowing path. At this time, the edge of the wet residue can be dried, and the drying width can extend towards the center position of the residue. Moreover, the blowing device blows air at the blowing angle. Since the air blown out by the blowing device exerts a force on the wet residue, when the residue edge is dried, it can warp synchronously, facilitating subsequent cleaning.

[0157] Step S304: During the blowing process of the blowing device, obtain the internal image information and residue features to determine the dry-wet dividing line.

[0158] The dry-wet boundary line refers to the boundary line between the dry part and the wet part of the surface of the wet residue feature. Since the colors of the dry part and the wet part of the residue are different in shade, the boundary line between the two can be easily recognized in the image. The dry-wet boundary line can be determined by means of image recognition analysis in the internal image information, which is the same as the method for determining the position of the residue in step S101 and will not be elaborated here.

[0159] By determining the position of the boundary line, it can be used to judge the drying progress of the wet residue, so as to control the blowing mode of the blowing device.

[0160] Step S305: Determine the wet radius according to the center point of the wet residue and the dry-wet boundary line.

[0161] The wet radius is the distance from the center point of the wet residue to the dry-wet boundary line, which is used to indicate the drying progress of the wet residue. The smaller the wet radius, the higher the drying progress. After the position of the dry-wet boundary line is determined, the wet radius can be directly measured and determined in the internal image information.

[0162] Step S306: Complete the preliminary drying if and only if the wet radius is less than the preset reference radius.

[0163] The reference radius is the maximum radius set by the technician at which the blowing device can easily blow off the wet residue and will not be elaborated here. When the wet radius of the residue gradually decreases, the adhesion force between the residue and the inner wall of the mixer also gradually decreases. When the wet radius shrinks to the reference radius and is blown by the blowing device, the wet residue can be easily blown off. Moreover, 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 blowing device is the smallest.

[0164] When the wet radius is not less than the reference radius, the blowing device continues to blow and dry the wet residue. When the wet radius is less than the reference radius, the drying progress of the wet residue has reached the level of being easily dropped. At this time, the preliminary drying is completed, and the system controls the blowing device to process the residue by other methods to blow off the residue.

[0165] Refer to Figure 4 , after the preliminary drying is completed, there may still be some parts that may not be completely dried and adhere to the inner wall. The residue needs to be further processed, and the processing method includes the following steps:

[0166] Step S400: After the preliminary drying is completed, obtain the humidity information of the remaining part of the dried residue feature.

[0167] The remaining part humidity information is the humidity information of the moist part that has not been completely dried within the moist radius of the moist residue. The remaining part humidity information is obtained by analyzing the humidity information of the moist residue through the internal image information in combination with the dry-wet demarcation line. The specific analysis method is the same as that in step S102 and will not be elaborated here.

[0168] Step S401: Determine the adhesion force of the residue characteristics according to the remaining part humidity information and the preset viscosity database.

[0169] The adhesion force of the residue characteristics is the adhesion strength of the residue adhering to the inner wall of the mixer. The adhesion force of the residue characteristics is related to the remaining part humidity information. Inputting the remaining part humidity information into the viscosity database can obtain the adhesion force of the residue characteristics. The viscosity database is a database set by technicians, which includes the corresponding relationship between the remaining part humidity information and the adhesion force of the residue characteristics and will not be elaborated here.

[0170] Step S402: Match the corresponding rotational blowing force that drives the residue characteristics to rotate according to the adhesion force.

[0171] The rotational blowing force refers to the force that the blowing device needs to apply to blow the moist residue so that the residue can 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.

[0172] In this embodiment, after the edge of the moist residue is dried, the blowing device is used to drive the residue to rotate, so that the force of the center position of the residue adhering to the inner wall of the mixer gradually decreases and falls off.

[0173] Step S403: Determine the residue characteristic thickness according to the internal image information and the residue characteristics.

[0174] The residue characteristic thickness refers to the thickness information of each part of the moist residue. The residue characteristic thickness is obtained by performing image recognition and analysis on the residue characteristics from the internal image information. The specific image recognition and analysis method is the same as the method for determining the residue position in step S101 and will not be elaborated here.

[0175] Step S404: Determine the shortest distance from the center point of the moist residue in the moist residue contour, and define it as the reference circle radius.

[0176] The reference circle radius is the shortest distance from the position point on the moist residue contour to the center point of the moist residue. After the center point of the moist residue is determined, the system analyzes the moist residue contour to obtain the shortest distance between the two.

[0177] Step S405: Generate a reference circle range based on the reference circle radius, determine all regions in the residue characteristics that exceed the reference circle range according to the reference circle range and the wet residue contour, and define them as the regions to be blown.

[0178] The reference circle range is a circular area range generated based on the reference circle radius. The reference circle range is used to divide the residue into a corner area and a central area. The corner area that exceeds the reference circle range is the region to be blown. In the subsequent embodiments, the blowing device will blow the corner area.

[0179] Step S406: Sort all the regions to be blown in descending order of area to obtain a region sequence, and determine the region to be blown with the largest area, which is defined as the optimal blowing region.

[0180] There may be multiple regions to be blown that exceed the reference circle range in the residue. The effect of making the residue rotate when the blowing device blows each region to be blown is different. Therefore, it is necessary to select the region to be blown with the best rotation effect. When the blowing device blows the region to be blown with the largest area, since the rotational torque received by the residue is relatively large, the effect of making the residue rotate is the best. Therefore, the optimal blowing region is the region to be blown with the largest area.

[0181] The region sequence refers to the sequence obtained by sorting all the regions to be blown in a specific manner. Subsequently, the regions to be blown will be processed according to this region sequence.

[0182] The system can screen out the optimal blowing region by sorting all the regions to be blown in descending order of area.

[0183] Step S407: Determine the edge contour of the optimal blowing region according to the internal image information and the optimal blowing region.

[0184] The edge contour of the optimal blowing region is the contour line position of the optimal blowing region. By performing image recognition and analysis on the contour of the optimal blowing region from the internal image information, the edge contour is determined.

[0185] Step S408: Match the blowing force conditions of all points on the edge contour of the optimal blowing region according to the edge contour of the optimal blowing region, the wet residue contour, the residue characteristic thickness, and a preset force database.

[0186] In this embodiment, the blowing device blows the points on the edge contour of the optimal blowing region. In order to ensure that the corner area of the residue is not easily broken when the blowing device blows it, it is necessary to first determine the blowing force conditions of all points on the edge contour of the optimal blowing region. The blowing force condition is the maximum force that the points on the edge contour of the optimal blowing region can withstand. When the points on the edge contour are subjected to a force not greater than the blowing force condition, the optimal blowing region is not easily broken.

[0187] The force-bearing database is a pre-set database by humans, which contains the corresponding relationships between the edge contour of the optimal blowing area, the wet residue contour, the characteristic thickness of the residue, and the blowing force. Details are not described here.

[0188] The blowing force 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-bearing database can match the blowing force.

[0189] Step S409: According to the blowing force and the adhesion force, select the positions where the blowing force of the edge contour of the optimal blowing area is greater than the adhesion force, and define them as the actual blowing positions.

[0190] Since there is an adhesion force between the center position of the residue and the inner wall of the mixer, the force that the blowing device can use to drive the residue to rotate must not be less than the adhesion force. Therefore, when selecting the blowing positions in the optimal blowing area, it is necessary to choose the positions where the blowing force is greater than the adhesion force in order to make the residue rotate in the optimal blowing area without breaking. The actual blowing position is the position where the blowing force of 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.

[0191] Step S410: Use the rotational blowing force to control the blowing device to blow at the actual blowing positions of the residue characteristics to drive the residue characteristics to rotate and fall off, and during the blowing process, the blowing device rotates synchronously following the residue characteristics.

[0192] The system controls the blowing device to blow at the actual blowing positions of the optimal blowing area. At this time, the wet residue can rotate, and during the rotation process, the adhesion force between the residue and the inner wall of the mixer gradually decreases and then the residue falls off. And during the rotation of the residue, the system captures the characteristic state of the residue characteristics in real time through the camera, and drives the blowing device to always rotate following the residue, so that the blowing device always blows at the actual blowing positions to ensure that the residue can always receive the maximum rotational torque.

[0193] Through rotational blowing, the fragmentation of the residue during the falling-off process can be reduced, the residues that are difficult to remove by static blowing can be cleaned, and the stubborn large residues can be removed more effectively, improving the overall removal efficiency while shortening the cleaning time of a single residue.

[0194] The processing methods when the blowing force of the edge contour of the optimal blowing area is not greater than the adhesion force include the following steps:

[0195] 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 by the blowing device will cause the corner area where the optimal blowing area is located to break, which is not conducive to the integral detachment of the wet residue. Therefore, it is necessary to re-correct the selection of the optimal blowing area.

[0196] Step S500: Determine the blowing force on the edge contour of each area to be blown in sequence according to the area sequence.

[0197] Since the optimal blowing area cannot withstand the force exerted by the blowing device, it is necessary to re-select a suitable area to be blown from other areas to be blown. In step S406, all areas to be blown have been sorted according to the area. Therefore, the blowing force on the edge contour of each area to be blown is determined according to the area sequence.

[0198] Step S501: Determine the positions where the blowing force on each area to be blown is greater than the adhesion force according to the blowing force, and define them as sequence blowing positions.

[0199] The sequence blowing position refers to the blowing position re-screened from other areas to be blown. The blowing force that this blowing position can withstand is greater than the adhesion force, and it is not easy to be blown off when the blowing device blows on it. The number of sequence blowing positions may be more than one, and all eligible sequence blowing positions will be screened out.

[0200] Step S502: Determine the contour tangents of all sequence blowing positions according to the internal image information and the sequence blowing positions.

[0201] The contour tangent refers to the tangent that is tangent to the sequence blowing position. The contour tangent is obtained by performing image recognition and analysis on the contour of the sequence blowing position in the internal image information, which will not be elaborated here.

[0202] Step S504: Determine the deflection angle according to the contour tangent and the center point of the wet residue.

[0203] 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. The deflection angle is used to judge the blowing efficiency of the blowing device on the sequence blowing position. The smaller the deflection angle, the better the effect of rotating the residue when the blowing device blows on the residue.

[0204] Step S505: Determine the sequence blowing position with the smallest deflection angle among the contour tangents according to the deflection angle, and define it as the corrected blowing position.

[0205] After determining the deflection angles of all the sequence blowing positions, select the sequence blowing position with the smallest deflection angle, which is the corrected blowing position. When the blowing device blows air at this sequence blowing position, the blowing effect is the best.

[0206] Step S506: Control the blowing device to blow air at the corrected blowing position of the residue feature with a rotating blowing force to drive the residue feature to rotate and fall off, and during the blowing process, the blowing device rotates synchronously following the residue feature.

[0207] After re-determining the corrected blowing position, the system controls the blowing device to blow air at the corrected blowing position, and the blowing method is the same as that in Step S410, which will not be elaborated here.

[0208] During the cleaning process of the residue feature, small residues will fall into the gaps. The method for cleaning the residues in the gaps includes the following steps:

[0209] Step S600: Determine the gap path and gap depth according to the internal image information and the preset gap feature.

[0210] The gap feature refers to the gap positions that exist inside the mixer when it leaves the factory.

[0211] The gap path refers to the specific layout direction passing through the gap.

[0212] The gap depth refers to the depth value of the gap path.

[0213] The gap depth is obtained by performing image recognition and analysis on the gap feature from the internal image information. The specific image recognition and analysis method is the same as the method for determining the residue position in Step S101, which will not be elaborated here.

[0214] Step S601: Analyze the gap path to determine the lowest point position of the gap path in the mixer, and define it as the gap blowing position of the blowing device.

[0215] The gap blowing position refers to the blowing position when the blowing device blows air at the gap feature. In this embodiment, the gap blowing position is the lowest point position of the gap path in the mixer.

[0216] By analyzing the lowest point position of the gap path in the mixer, the residues in the gap are concentrated for blowing treatment. Since the residues at the lowest point of the gap are the natural gathering points in the gap path under the action of gravity, blowing at the lowest point can make the airflow directly act on the residue gathering area, improve the blowing efficiency, prevent the residues from spreading to other areas during the blowing process, and reduce secondary pollution during the cleaning process.

[0217] Step S602: Determine the gap blowing angle of the blowing device according to the gap depth and the preset equipment outlet position.

[0218] The equipment outlet position is the outlet position for the materials inside the mixer to go out, which has been determined when the mixer leaves the factory.

[0219] The gap blowing angle is the angle when the blowing device blows air at the gap blowing position of the lowest point. This gap blowing angle is related to the gap depth and the equipment outlet position. The overall angle orientation of the blowing device in the horizontal plane is determined by the equipment outlet position, and then the angle of the blowing device in the vertical plane is determined by the gap depth. In this embodiment, it is necessary to blow the residue in the gap towards the equipment outlet position through the blowing device.

[0220] Adjust the gap blowing angle according to different gap depths and equipment outlet positions, so that the blowing device can handle various different situations. A suitable gap blowing angle can maximize the guidance of the residue to move along the gap path, making it easier to be pushed towards the outlet position, and also improving the intelligence and automation level of the cleaning process.

[0221] Step S603: Match the amplitude information of the vibration device according to the gap depth.

[0222] In this embodiment, when the blowing device blows air along the gap path, the vibration device vibrates the mixer synchronously. The residue in the gap can vibrate with the vibration of the vibration device, which is beneficial for the blowing device to blow out the residue in the gap. Therefore, the corresponding amplitude information needs to be matched.

[0223] The amplitude information is the amplitude when the vibration device vibrates. The amplitude information is directly 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.

[0224] 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 air along the gap path according to the gap blowing position and the gap blowing angle to blow the residue in the gap towards the equipment outlet position.

[0225] The residue in the gap consists of the residue originally in it and the residue falling from the inner wall during processing. When processing the residue in the gap, control the mixer to rotate at a rotation speed, and combine the blowing device to blow air at the lowest point of the gap path, so that the blowing device can blow out the residue in it along the gap path. And during the blowing process, combine the vibration device to vibrate. On the one hand, it can vibrate the residue in the gap to facilitate the blowing device to blow it out, and on the other hand, it can concentrate the residue blown out from the gap inside the mixer for subsequent unified processing.

[0226] The rotation speed is the rotation speed of the mixer set by the technical personnel when processing the residue in the gap, which will not be elaborated here.

[0227] The treatment method for the residue characteristics falling at the bottom of the mixer includes the following steps:

[0228] Step S700: Obtain the internal image information and residue characteristics to determine the falling position and residue volume of the residue characteristics falling at the bottom of the mixer.

[0229] In the previous steps of cleaning the dry adhered residue, wet adhered residue, and residue in the gaps, the residue falling at the bottom needs to be centrally cleaned and removed, so it is necessary to first determine the residue falling position and residue volume.

[0230] Both the falling position and residue volume of the residue characteristics are obtained by performing image recognition and analysis on the internal image information. The specific image recognition and analysis method is the same as the method for determining the residue position in step S101, which will not be elaborated here.

[0231] Step S701: Determine the discharge path based on the falling position and the equipment outlet position.

[0232] The discharge path refers to the shortest path for discharging the residue from the falling position to the equipment outlet position, which is obtained by analyzing the falling position and the equipment outlet position.

[0233] Step S702: Match the discharge knocking force of the knocking device according to the residue volume.

[0234] In this embodiment, the outer wall of the mixer is knocked by the knocking device to guide the residue towards the equipment outlet position.

[0235] 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 a preset knocking database. The knocking database is a database preset by technicians through experimental tests, which includes the corresponding relationship between the residue volume and the discharge knocking force, and will not be elaborated here. An appropriate discharge knocking force can make the residue vibrate slightly while preventing the residue from spreading due to excessive force or vibrating back into the gaps again.

[0236] Step S703: Control the knocking device to knock on the residue characteristics at the falling position along the discharge path with the discharge knocking force to push the residue characteristics towards the equipment outlet position.

[0237] Controlling the knocking of the knocking device on the residue according to the discharge knocking force makes the residue vibrate slightly and gradually vibrate along the discharge path to the equipment outlet position.

[0238] A sieve is provided at the outlet position of the mixer. The sieve filters and collects the residue characteristics discharged from the mixer. The method for filtering and collecting the residue includes the following steps:

[0239] Step S800: Obtain the residue weight of the residue characteristics located within the sieve.

[0240] The residue weight is the weight value of the residue characteristics that are discharged from the outlet position of the device and fall within the sieve. A pressure sensor is provided on the sieve, and by sensing the change in the pressure magnitude on the sieve through the pressure sensor, the residue weight can be obtained.

[0241] Step S801: Match the gas pressure value of the high-pressure gas device preset in the mixer according to the residue weight.

[0242] In this embodiment, the air pressure inside the mixer is increased by the high-pressure gas device so that the residue characteristics within the sieve can be crushed and filtered.

[0243] The high-pressure gas device is pre-set inside the mixer by technicians. It is a device that makes the internal air pressure increase by injecting gas into the mixer, and equipment such as a pneumatic booster pump can be selected.

[0244] The gas pressure value refers to the air pressure value inside the mixer after the high-pressure gas device injects gas into the mixer. The gas pressure value needs to be monitored in real time through the 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 referring to 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, and will not be elaborated here.

[0245] Matching the gas pressure value according to different residue weights can flexibly adjust the pressure, and using the pressure sensor to monitor the air pressure magnitude inside the mixer in real time can determine whether the released gas pressure value is reached.

[0246] 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 sieve and then filter and collect it.

[0247] The released high-pressure gas can apply pressure to the residue on the sieve and further crush it. The crushed residue is more likely to pass through the sieve for recycling, avoiding the possibility of sieve blockage, enabling continuous screening, improving the residue collection rate, and at the same time, the high-pressure gas can further discharge the residual residue inside the mixer to the sieve to ensure the cleanliness inside the mixer.

[0248] Based on the same inventive concept, an embodiment of the present invention provides a mixer cleaning system, including:

[0249] An acquisition module for acquiring the internal image information of the mixer, determining the dropping position and residue volume of the residue characteristics that fall to the bottom of the mixer, and the residue weight of the residue characteristics located within the sieve.

[0250] A memory for storing a program of a cleaning method for a mixer.

[0251] A processor for loading and executing the program stored in the memory.

[0252] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is a cleaning method for a mixer.

[0253] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, 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 processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0254] The above description 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 falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A cleaning method for a mixer, characterized in that, Including: Obtaining internal image information of the mixer; Comparing the internal image information with preset reference image information to determine the residue characteristics and residue location; Determining the residue humidity information based on the internal image information and residue characteristics; Determining the residue characteristic type according to the residue humidity information, and the residue characteristic type includes wet adhered residue and dry adhered residue; Based on the dry adhered residue, controlling a preset knocking device to knock the mixer according to a preset knocking separation method to knock off the dry adhered residue at the residue location; Based on the wet adhered residue, controlling a preset air blowing device to blow the wet adhered residue at the residue location according to a preset drying separation method to dry and shed the wet adhered residue; The knocking separation method includes: Determining the dry residue area, dry residue contour and dry residue thickness according to the internal image information and residue characteristics; Judging whether the dry residue area is larger than a preset reference processing area; When the dry residue area is larger than the reference processing area, determining the vibration intensity according to the dry residue area and dry residue thickness; Controlling a preset vibration device to vibrate the mixer with the vibration intensity to split the residue characteristics, and re-determining the dry residue area and dry residue contour of the residue characteristics according to the internal image information; When the dry residue area is not larger than the reference processing area, determining the central point of the dry characteristic contour according to the dry residue contour; Matching the position of the concentrated knocking point on the outer wall of the mixer corresponding to the central point of the dry characteristic contour; Matching the knocking path on the outer wall of the mixer corresponding to the dry residue contour; Determining the knocking force according to the dry residue area and dry residue thickness; Controlling the preset knocking device to knock around along the knocking path with the knocking force, and after completing the circumferential knocking, knocking at the position of the concentrated knocking point with the knocking force to knock off the residue.

2. The cleaning method of a mixer according to claim 1, characterized in that, The drying separation method includes: Determining the wet residue contour, contour inclination angle and wet residue central point according to the internal image information and residue characteristics; Matching the blowing path of a preset air blowing device according to the wet residue contour; Matching the blowing angle of the air blowing device according to the contour inclination angle; Controlling the air blowing device to blow the residue characteristics according to the blowing path and blowing angle to dry and warp the residue characteristics circumferentially; During the air blowing process of the air blowing device, obtaining the internal image information and residue characteristics to determine the dry-wet demarcation line; Determining the wet radius according to the wet residue central point and the dry-wet demarcation line; Completing the preliminary drying if and only if the wet radius is less than a preset reference radius.

3. The cleaning method of a mixer according to claim 2, characterized in that, It also includes: After completing the preliminary drying, obtaining the remaining part humidity information of the dried residue characteristics; Determining the adhesion force of the residue characteristics according to the remaining part humidity information and a preset viscosity database; Matching the rotational air blowing force corresponding to the adhesion force to drive the residue characteristics to rotate; Determining the residue characteristic thickness according to the internal image information and residue characteristics; Determining the shortest distance from the wet residue central point in the wet residue contour, and defining it as the reference circle radius; Generating a reference circle range according to the reference circle radius, and determining all regions of the residue characteristics that exceed the reference circle range according to the reference circle range and the wet residue contour, and defining them as the regions to be blown. Sort all the areas to be blown in descending order of area to obtain an area sequence, and determine the area to be blown with the largest area, 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; Match 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 the preset force database; Screen out the positions on the edge contour of the optimal blowing area where the blowing force condition is greater than the rotational blowing force according to the blowing force condition and the adhesion force, and define them as the actual blowing positions; Control the blowing device to blow at the actual blowing positions of the residue characteristics with the rotational blowing force to drive the residue characteristics to rotate and fall off, and during the blowing process, the blowing device follows the residue characteristics and rotates synchronously.

4. The cleaning method of a mixer according to claim 3, characterized in that, The processing methods when the blowing force condition on the edge contour of the optimal blowing area is not greater than the rotational blowing force include: Determine the blowing force conditions of the edge contours of each area to be blown in sequence according to the area sequence; Determine the positions where the blowing force condition of each area to be blown is greater than the adhesion force according to the blowing force condition, and define them as the sequence blowing positions; Determine the contour tangents of all the sequence blowing positions according to the internal image information and the sequence blowing positions; Determine the deflection angle according to the contour tangent and the center point of the wet residue; Determine the sequence blowing position with the smallest deflection angle among the contour tangents according to the deflection angle, and define it as the corrected blowing position; Control the blowing device to blow at the corrected blowing position of the residue characteristics with the rotational blowing force to drive the residue characteristics to rotate and fall off, and during the blowing process, the blowing device follows the residue characteristics and rotates synchronously.

5. The cleaning method of a mixer according to claim 1, characterized in that, During the cleaning process of the residue characteristics, small residues will fall into the gaps. The cleaning method for the residues in the gaps includes: Determine the gap path and the gap depth according to the internal image information and the preset gap characteristics; Analyze the gap path to determine the lowest point position of the gap path in the mixer, and define it 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; Match the amplitude information of the vibration device according to the gap depth; Control the mixer to rotate at a preset rotational speed, control the vibration device to vibrate the mixer according to the amplitude information, and control the blowing device to blow along the gap path to the gaps according to the gap blowing position and the gap blowing angle to blow the residues in the gaps to the equipment outlet position.

6. The cleaning method of a mixer according to claim 5, characterized in that, The processing methods for the residue characteristics that fall to the bottom of the mixer include: Obtain the internal image information and the residue characteristics to determine the falling position and the residue volume of the residue characteristics that fall to the bottom of the mixer; Determine the discharge path according to the falling position and the equipment outlet position; Match the discharge knocking force of the knocking device according to the residue volume; Control the knocking device to knock on the residue characteristics at the falling position along the discharge path with the discharge knocking force to push the residue characteristics to the equipment outlet position.

7. The cleaning method of a mixer according to claim 6, wherein, A sieve is arranged at the outlet position of the mixer. The sieve filters and collects the residue characteristics discharged from the mixer. The filtering and collection method for the residues includes: Obtain the residue weight of the residue characteristics located inside the sieve; Match the gas pressure value of the high-pressure gas device preset in the mixer according to the residue weight; 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.

8. A mixer cleaning system, characterized in that, Including: An acquisition module, configured to acquire the internal image information of the mixer, and determine the falling position, residue volume of the residue characteristics falling at the bottom of the mixer, and the residue weight of the residue characteristics located in the screen; A memory, configured to store the program of a mixer cleaning method according to any one of claims 1 to 7; A processor, configured to load and execute and implement the program stored in the memory.

9. An intelligent terminal, characterized in that, Including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, and the computer program is a mixer cleaning method according to any one of claims 1 to 7.

Images