Cleaning and canning control method and system and intelligent terminal

Abstract

The invention relates to a cleaning and canning control method and system and an intelligent terminal, and relates to the field of intelligent control, and the method comprises the following steps: obtaining a trigger signal of a to-be-cleaned tank; when the trigger signal is consistent with the cleaning demand signal, in-tank image information is obtained; according to the in-tank image information and the stain characteristics, the stain thickness condition in the tank is determined; pre-flushing parameters are determined according to the thickness condition of stains in the tank; controlling a pre-flushing device to pre-flush the to-be-cleaned tank based on the pre-flushing parameters, and acquiring post-flushing image information; on the basis that stubborn stain characteristics are contained in the post-punching image information, according to the post-punching image information and the stubborn stain characteristics, determining a stain attachment type; and determining an agent spraying method according to the stain attachment type, controlling the rotary spraying device to spray an agent based on the agent spraying method, and removing stains by a stain removal method after the agent spraying is completed. The cleaning device has the effect of improving the cleaning effect.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control, and in particular to a cleaning canning control method, system and intelligent terminal. Background Art

[0002] Cleaning and canning control refers to a series of operations to clean the cans containing products and accurately control the canning process during the production process of food, beverage, pharmaceutical and other industries.

[0003] Currently, during the cleaning stage, a fixed cleaning procedure is usually adopted. The staff will place the cans to be cleaned on the conveyor belt one by one. The conveyor belt runs at a constant speed according to the set speed, and transports the cans to each cleaning link in an orderly manner.

[0004] However, using a fixed-program cleaning mode will result in the cans being cleaned for a uniform duration, water pressure, and amount of cleaning agent regardless of their actual degree of dirtiness. This may result in the cans not being cleaned to standard due to insufficient cleaning, thereby reducing the cleaning effect and needs to be improved. Summary of the Invention

[0005] In order to improve the cleaning effect, the present invention provides a canning cleaning control method, system and intelligent terminal.

[0006] In a first aspect, the present invention provides a method for controlling cleaning and canning, which adopts the following technical solutions: A canning control method for cleaning, comprising: Obtaining a preset trigger signal of the tank to be cleaned; When the trigger signal is consistent with the preset cleaning requirement signal, the image information inside the tank is obtained; Determine the thickness of the stain in the tank based on the image information in the tank and the preset stain characteristics; Determine the pre-rinsing parameters based on the thickness of the stains in the tank; Based on the pre-flushing parameters, a preset pre-flushing device is controlled to pre-flushing the tank to be cleaned, and image information after flushing is obtained; When the post-development image information contains a preset stubborn stain feature, determining the type of stain attachment according to the post-development image information and the stubborn stain feature; The agent spraying method is determined according to the type of stain attachment, and based on the agent spraying method, a preset rotary spraying device is controlled to spray the agent, and after the agent spraying is completed, the stain is removed using a preset stain removal method.

[0007] By employing this technical solution, a trigger signal from the tank to be cleaned is first obtained. If this signal matches the cleaning request signal, an image of the tank interior is captured. Based on the image and stain characteristics, the thickness of the stain within the tank is determined, and pre-rinse parameters are then determined. The pre-rinse device is then controlled according to these parameters to capture the post-rinse image. If the post-rinse image contains stubborn stain characteristics, the stain type is determined based on these characteristics, and the chemical spraying method is then determined. The rotary spray device is then controlled to apply the chemical, and the stain is then removed using a pre-set method. This allows for flexible adjustment of the cleaning process based on the actual stain level within the tank, effectively removing various stains and improving cleaning results.

[0008] Optionally, the agent spraying method includes a surrounding spraying method, and the surrounding spraying method includes: When the stain attachment type is a preset surrounding attached stain, the stain width value and the stain area are determined according to the post-development image information, the stubborn stain characteristics, and the preset reference object; Determine the spraying position of the device according to the stain width value and the stain area; Determine the spray distance based on the device spray position, preset tank size, and device size; When the stain width value does not exceed the preset reference width value, the preset dosage value of the stain removal agent is determined according to the stain width value and the tank size; Determine the rotary spraying speed based on the spraying distance; Matching the unit spraying amount from a preset rotation database according to the rotational spraying speed; Determine the rotation time based on the dosage value of the reagent, the rotation speed of the rotary spraying, and the unit spraying volume; The preset rotary spraying device is controlled to reach the device spraying position, rotate at the rotary spraying speed, and after the rotation time, the rotary spraying device is controlled to stop rotating to complete the rotary spraying.

[0009] Optionally, mobile spraying methods are also available: When the stain width value exceeds a preset reference width value, determining a width excess value based on the stain width value and the reference width value; Determine the amount of medicine to be replenished based on the width excess value; Determine required dosage based on drug refill volume and pre-set baseline dosage; Determine the downstream distance of the agent based on the required usage and the preset agent viscosity; Determine the final position of the device based on the downstream distance of the agent and the width of the stain; Determine the spraying speed of the device according to the spraying distance; Determine the unit spraying volume of the device according to the spraying speed of the device; Determine the device downward movement parameters based on the device spraying speed, the device unit spraying volume, the device final position and the device spraying position; The preset rotary spraying device is controlled to reach the device spraying position, and the rotary spraying is performed at the device spraying speed. At the same time as the rotary spraying, the device moves downward according to the device downward movement parameter.

[0010] Optionally, the agent spraying method further includes other spraying methods, and the other spraying methods include: When the stain attachment type is not the preset surrounding attachment stain, the area occupied by the stain and the width of the stain are determined based on the post-development image information, the characteristics of the stubborn stain, and the preset reference object; When the area occupied by the stain does not exceed the preset fixed-point spraying area, the fixed-point spraying parameters are determined according to the area occupied by the stain and the width of the stain, and the preset rotary spraying device is controlled to perform fixed-point spraying on the area occupied by the stain with the fixed-point spraying parameters; When the area occupied by the stain exceeds the preset fixed-point spraying area, the surrounding stain area, the distance to the surrounding stain, and the blank stain area are determined based on the post-processing image information, the characteristics of the stubborn stain, the area occupied by the stain, and the reference object; When the distance of the surrounding stains does not exceed the preset reference transfer distance, the rotary spraying device is controlled to perform rotary spraying using a pharmaceutical spraying method; After the rotary spraying is completed, the preset agent transfer device is controlled to transfer the agent in the blank stain area to the surrounding stain area.

[0011] Optionally, a pause spraying method is also included: When the distance between the surrounding stains exceeds the preset reference transfer distance, the spraying pause area is determined based on the blank stain area; Determine the spraying consumption based on the area occupied by the stain and the width of the stain; Get the current angle value of the rotary spraying device; Determine the current nozzle position according to the current angle value and the preset spray device model; Determine the pause time and duration of spraying according to the spraying pause area, current nozzle position, preset tank size and power spraying speed; The rotary spraying device is controlled to perform rotary spraying at a spraying consumption, and at a spraying pause time point, the rotary spraying device is controlled to stop spraying, and after the spraying pause time, the rotary spraying device is controlled to perform rotary spraying.

[0012] Optional stain removal methods include: Determine the type of cleaning device based on the method of spraying the agent; When the cleaning device type is a preset surrounding cleaning device, the device starting position is determined according to the device spraying position and the preset surrounding device size; Determining cleaning parameters of the surround device according to the stain width value, the surround device size, and the preset surround device speed; Controlling the surrounding cleaning device to move to the device starting position to remove stubborn stains using the surrounding device cleaning parameters; When the type of the cleaning device is a preset single-point cleaning device, the single-point cleaning device is controlled to remove stubborn stains using a preset single-point cleaning method.

[0013] Optional, single-point cleaning methods include: Determine the specific stain area based on post-processing image information, stubborn stain characteristics, and preset inner wall characteristics; When the specific area of the stain is not located in the preset curved side wall area, a cleaning path is matched from a preset cleaning database according to the specific area of the stain; Based on the cleaning path, the single-point cleaning device is controlled to remove stubborn stains in a specific area of the stain; When the specific area of the stain is located in the preset curved side wall area, the angle is adjusted as required based on the specific area of the stain and the preset tank size; The angle is adjusted according to needs to control the angle adjustment part preset on the single-point cleaning device to adjust the angle, and after the angle adjustment is completed, the single-point cleaning brush preset on the angle adjustment part is controlled to remove stubborn stains in a specific area of the stain.

[0014] Optionally, an algorithm formula for calculating the rotation speed of the rotary spraying is also included: n={1 / (2π)}*√(μg) / r, where n is the rotational spraying speed, π is the circumference of a circle, μ is the coefficient of kinetic friction between the stain remover and the rotary spraying device, g is the acceleration due to gravity, and r is the spraying distance.

[0015] In a second aspect, the present application provides a canning cleaning control system, which adopts the following technical solutions: A cleaning canning control system, comprising: The acquisition module is used to obtain the trigger signal, the image information inside the tank, the image information after punching and the current angle value; A memory for storing a program of any one of the above-mentioned canning and cleaning control methods; The processor is configured to load, execute, and implement the program stored in the memory.

[0016] In a third aspect, the present application provides a smart terminal that adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores any one of the above-mentioned canning and cleaning control methods that can be loaded and executed by the processor.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. First, a trigger signal from the tank to be cleaned is obtained. If the signal matches the cleaning request signal, the image information inside the tank is obtained. Based on the image and stain characteristics, the thickness of the stain inside the tank is determined, and then the pre-rinsing parameters are determined. The pre-rinsing device is controlled according to these parameters to obtain the post-rinsing image. If the post-rinsing image contains stubborn stain characteristics, the stain attachment type is determined based on this, and the agent spraying method is determined. The rotary spraying device is controlled to spray the agent, and after completion, the stain is removed using a preset method. This allows the cleaning steps to be flexibly adjusted according to the actual stain situation inside the tank, effectively removing various stains and improving the cleaning effect. 2. When the stain attachment type is not a surrounding attached stain, first determine the area occupied by the stain and the width value based on the post-processing image information, the characteristics of the stubborn stain and the reference object. If the area occupied by the stain does not exceed the fixed-point spraying area, determine the fixed-point spraying parameters based on these two parameters, and control the rotary spraying device to perform fixed-point spraying. If the area occupied by the stain exceeds the fixed-point spraying area, determine the surrounding stain area, distance and blank stain area based on the above information. When the distance to the surrounding stains does not exceed the benchmark transfer distance, control the rotary spraying device to perform rotary spraying. After completing the rotary spraying, control the agent transfer equipment to transfer the agent from the blank stain area to the surrounding stain area, so as to flexibly select the spraying method and reasonably transfer the agent, thereby improving the agent utilization efficiency and the stubborn stain removal effect; 3. Accurately locate the specific area of the stain based on the post-flushing image information, stubborn stain characteristics, and inner wall characteristics. If the area is not in the curved side wall area, directly match the corresponding cleaning path from the cleaning database, and control the single-point cleaning device to remove stubborn stains along the path. If the specific area of the stain is in the curved side wall area, calculate the required adjustment angle based on the area and the tank size, and control the angle adjustment part on the single-point cleaning device to adjust it according to this angle. After completing the angle adjustment, use the single-point cleaning brush installed on the angle adjustment part to remove stubborn stains in the specific area of the stain, effectively improving the ability to handle local stubborn stains in the canning operation, and ensuring better cleaning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a method flow chart of a canning control method for cleaning according to an embodiment of the present invention; Figure 2 is a method flow chart of a surround spraying method according to an embodiment of the present invention; Figure 3 is a method flow chart of a mobile spraying method according to an embodiment of the present invention; Figure 4 is a method flow chart of other spraying methods in embodiments of the present invention; Figure 5 is a flow chart of a method for pausing spraying in an embodiment of the present invention; Figure 6 is a method flow chart of a stain removal method according to an embodiment of the present invention; Figure 7 4 is a flow chart of a single-point cleaning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0020] Reference Figure 1 The embodiment of the present application discloses a canning control method, comprising the following steps: Step 100: Obtain a preset trigger signal of the tank to be cleaned.

[0021] A tank to be cleaned refers to a tank that has not yet been cleaned. A trigger signal is a signal used to determine whether the tank requires cleaning. The trigger signal is obtained via a pre-set signal transceiver. Trigger signals include a cleaning request signal and a cleaning-not-needed signal. A cleaning request signal indicates that the tank requires cleaning. A cleaning-not-needed signal indicates that the tank does not require cleaning at this time. Both the cleaning request signal and the cleaning-not-needed signal are pre-set by those skilled in the art and are not described in detail here.

[0022] Step 101: When the trigger signal is consistent with the preset cleaning requirement signal, image information inside the tank is obtained.

[0023] Tank internal image information refers to the image of the tank interior to be cleaned. This image information is captured by a camera entering the tank interior. When the trigger signal matches the cleaning request signal, it indicates that the tank requires cleaning, and the internal image information must be captured for subsequent steps.

[0024] Step 102: Determine the thickness of the stain in the can according to the image information in the can and the preset stain characteristics.

[0025] Stain features refer to the contours of stains within a can that need to be cleaned. Stain features are pre-defined by those skilled in the art and are not described here. Stain thickness refers to the size of the stain attached to the inner surface of the can, measured perpendicularly to the surface. A preset stain database can be used to match the can image information with stain features and the corresponding stain thickness. This database contains the correspondence between the can image information, stain features, and stain thickness. The stain database is manually configured and is not described here.

[0026] Step 103: Determine pre-rinsing parameters according to the thickness of the dirt in the tank.

[0027] Pre-rinse parameters refer to the intensity and duration of the pre-rinse applied to various locations within the tank. A pre-set flushing database is used to match pre-rinse parameters to the thickness of the tank's stains. This database contains the corresponding relationships between the thickness of the tank's stains and the pre-rinse parameters. This flushing database is manually configured and will not be discussed in detail here.

[0028] Step 104: Based on the pre-flushing parameters, a preset pre-flushing device is controlled to pre-flushing the tank to be cleaned, and post-flushing image information is obtained.

[0029] The pre-flushing device is used to pre-flush stains at various locations within the tank. Post-flushing image information refers to an image of the tank after the pre-flushing process. Post-flushing image information is captured by a camera.

[0030] The pre-rinsing device is controlled to pre-rinse the stains at various positions in the tank to be cleaned using pre-rinsing parameters, and after the pre-rinsing is completed, the post-rinsing image information is obtained for subsequent steps.

[0031] Step 105: When the post-development image information contains a preset stubborn stain feature, the stain attachment type is determined according to the post-development image information and the stubborn stain feature.

[0032] The stubborn stain feature refers to the feature of the stain that is still attached to the inner surface of the tank after pre-rinsing. The stain attachment type refers to the type of stain attached to the inner surface of the tank. The stain attachment type includes circumferential attachment stains and other attachment stains. Circumferential attachment stains refer to the type of stubborn stains that are attached to the tank in an uninterrupted circle. Other attachment stains refer to the type of stubborn stains that are attached to the tank without an uninterrupted circle. The circumferential attachment stains, other attachment stains and stubborn stain features are all set in advance by those skilled in the art and will not be described in detail here. The stain attachment type corresponding to the post-rinsing image information and the stubborn stain feature can be matched through the stain database, which includes the correspondence between the post-rinsing image information and the stubborn stain feature and the stain attachment type.

[0033] When the post-rinsing image information contains stubborn stain features, it means that after pre-rinsing, stains are still attached to the inner surface of the tank. The stain attachment type needs to be matched first for subsequent steps.

[0034] Step 106: Determine the agent spraying method according to the type of stain attachment, and control the preset rotary spraying device to spray the agent based on the agent spraying method. After the agent spraying is completed, remove the stain using the preset stain removal method.

[0035] The agent spraying method refers to a method for spraying a stain removal agent on stubborn stains. The specific agent spraying method is described in detail in subsequent steps 200 to 505 and is not further described here. The stain removal agent is used to assist in removing stubborn stains within the tank. The stain removal agent is pre-determined by those skilled in the art and is not further described here.

[0036] The rotary spraying device is used to spray a stain removal agent onto stubborn stains. The stain removal method is used to remove stains from a tank. The specific stain removal method is described in detail in subsequent steps 600 to 704 and is not further described here.

[0037] The preset spraying database can be used to match the chemical spraying method corresponding to the stain attachment type, which includes the correspondence between the stain attachment type and the chemical spraying method. The spraying database is a manually set database and will not be described in detail here.

[0038] After the agent spraying method is matched, the rotary spraying device is controlled to spray the agent using the agent spraying method, and after the agent spraying is completed, the preset cleaning device is controlled to remove stains using the stain removal method.

[0039] The cleaning device includes a surround cleaning device and a single-point cleaning device. The surround cleaning device is used to remove stains with surround attachment type. The single-point cleaning device is used to remove stains with other attachment types.

[0040] Reference Figure 2 , the surround spraying method includes the following steps: Step 200: When the stain attachment type is a preset surrounding attached stain, determine the stain width and stain area according to the post-development image information, stubborn stain characteristics, and a preset reference object.

[0041] A reference object refers to an object used to assist in comparing the actual size and position of each feature in the image. The position and size of the reference object are set in advance by a person skilled in the art and will not be described in detail here. The stain width value refers to the linear dimension measurement of the stubborn stain in the vertical direction inside the tank. The stain area refers to the specific area inside the tank where the stain is located. The stain database can be used to match the post-development image information, stubborn stain features, and the stain width value and stain area corresponding to the reference object, which contains the correspondence between the post-development image information, stubborn stain features, reference objects, stain width values, and stain areas.

[0042] When the stain attachment type is a surrounding attachment stain, the stain width value and the stain area must be matched first for subsequent steps.

[0043] Step 201: Determine the spraying position of the device according to the stain width value and the stain area.

[0044] The device spray position refers to the position that the rotary spray device must reach before spraying the stained area. A preset spray database is used to match the device spray position to the stain width and stained area. This database contains the corresponding relationships between stain width, stain area, and device spray position. The spray database is a manually configured database and will not be discussed in detail here.

[0045] Step 202: Determine the spraying distance according to the spraying position of the device, the preset tank size, and the device size.

[0046] Tank size refers to the dimensions of the tank to be cleaned. Device size refers to the dimensions of the rotary spray device. Both tank and device dimensions are pre-determined by those skilled in the art and will not be detailed here. Spray distance refers to the distance between the spray nozzle of the rotary spray device and the stained area. The spray database can be used to match the device spray position, tank size, and spray distance corresponding to the device size. This database contains the corresponding relationships between the device spray position, tank size, device size, and spray distance.

[0047] Step 203: When the stain width value does not exceed the preset reference width value, a preset dosage value of the stain removal agent is determined according to the stain width value and the tank size.

[0048] The reference width value refers to the maximum width that the stain remover can reach without vertical displacement of the rotary spraying device. The reference width value is pre-determined by those skilled in the art and is not detailed here. The agent dosage value refers to the amount of stain remover required. The spraying database can be used to match stain width values with tank dimensions, providing a mapping between stain width values, tank dimensions, and agent dosage values.

[0049] When the stain width value does not exceed the reference width value, it means that the rotary spraying device can fully spray all stubborn stains in the stain area without vertical displacement. The dosage value of the agent needs to be matched first for subsequent steps.

[0050] Step 204: Determine the rotational spraying speed according to the spraying distance.

[0051] The rotary spraying speed refers to the speed at which the rotary spraying device generates centrifugal force through its rotation, spraying the stain remover onto the stained area. Rotary spraying devices have two spraying modes: spraying using centrifugal force generated by rotation and spraying using power provided by the device's internal power system. When the stain attachment type is circumferential, the rotary spraying device uses centrifugal force generated by rotation to spray the agent. When the stain attachment type is other, the device uses power provided by the device's internal power system to spray the agent. The rotary spraying speed can be calculated using the algorithm formula n = {1 / (2π)} * √(μg) / r. Here, n is the rotary spraying speed, π is pi, μ is the kinetic friction coefficient between the stain remover and the rotary spraying device, g is the acceleration due to gravity, and r is the spraying distance. π, μ, and g are measured in advance by those skilled in the art and are not detailed here.

[0052] Step 205: Match the unit spraying amount from a preset rotation database according to the rotational spraying speed.

[0053] The unit spray volume refers to the amount of agent sprayed per one rotation of the rotary spraying device at the rotary spraying speed. The unit spray volume corresponding to the rotary spraying speed can be matched using a rotary database, which contains the corresponding relationship between rotary spraying speed and unit spray volume. The rotary database is a manually set database and is not detailed here.

[0054] Step 206: Determine the rotation time according to the dosage value of the reagent, the rotation speed of the rotary spraying, and the unit spraying amount.

[0055] Rotation duration refers to the length of time a rotary spraying device rotates at a rotary spraying speed. The rotation database can be used to match agent dosage values, rotary spraying speeds, and the corresponding rotation duration per unit spraying volume. This database contains the corresponding relationships between agent dosage values, rotary spraying speeds, unit spraying volumes, and rotation duration.

[0056] Step 207: Control the preset rotary spraying device to reach the device spraying position, rotate at the rotary spraying speed, and control the rotary spraying device to stop rotating after the rotation time to complete the rotary spraying.

[0057] The rotary spraying device is controlled to move to the device spraying position. When the rotary spraying device reaches the device spraying position, the rotary spraying device is controlled to rotate at the rotary spraying speed to spray the material. After the rotation time is long, the rotary spraying device is controlled to stop rotating to complete the rotary spraying.

[0058] Reference Figure 3 , the mobile spraying method includes the following steps: Step 300 : When the stain width value exceeds a preset reference width value, determine a width excess value according to the stain width value and the reference width value.

[0059] The width excess value refers to the value by which the stain width value exceeds the reference width value. The width excess value can be obtained by calculating the difference between the stain width value and the reference width value.

[0060] When the stain width exceeds the reference width, it means that the rotary spray device cannot fully spray all stubborn stains in the stain area without vertical displacement. The width excess value must be calculated first for subsequent steps.

[0061] Step 301: Determine the medicine replenishment amount according to the width excess value.

[0062] The refill amount is the amount of stain remover to be applied to stains that exceed the baseline width. The spray database can be used to match the refill amount for each width exceeding value, which contains the corresponding relationship between the width exceeding value and the refill amount.

[0063] Step 302: Determine the required dosage based on the drug replenishment amount and the preset baseline dosage.

[0064] The baseline dosage refers to the amount of agent required for a stain corresponding to a baseline width. The baseline dosage is predetermined by those skilled in the art and is not detailed here. The required dosage refers to the actual amount of agent required. The required dosage is calculated by adding the supplemental dosage and the baseline dosage.

[0065] Step 303: Determine the downstream distance of the medicine according to the required usage and the preset medicine viscosity.

[0066] The viscosity of the agent refers to the resistance generated by the friction between the molecules of the agent when it is on the stain. The viscosity of the agent is set in advance by those skilled in the art and will not be described in detail here. The downstream distance of the agent refers to the distance when the agent flows down after being sprayed on the stain. The preset downstream database can match the required usage amount and the agent viscosity. The downstream distance of the agent corresponding to the required usage amount and the agent viscosity and the corresponding relationship between the required usage amount, the agent viscosity and the agent downstream distance. The downstream database is a manually set database and will not be described in detail here.

[0067] Step 304: Determine the final position of the device according to the downstream distance of the agent and the width of the stain.

[0068] The final position of the device refers to the final position of the rotary spray device after completing the rotary spraying. The spraying database can be used to match the final position of the device with the agent downflow distance and stain width values. It contains the corresponding relationship between the agent downflow distance, stain width and the final position of the device.

[0069] Step 305: Determine the spraying speed of the device according to the spraying distance.

[0070] The device spraying speed is the same as the rotary spraying speed in the above step 204. The determination method is the same as that of step 204 and will not be described in detail here.

[0071] Step 306: Determine the unit spraying volume of the device according to the spraying speed of the device.

[0072] The unit spraying amount of the device is the unit spraying amount in the above step 205. The determination method is the same as that of step 205 and will not be repeated here.

[0073] Step 307: Determine the device downward movement parameters according to the device spraying speed, the device unit spraying amount, the device final position and the device spraying position.

[0074] The device downward movement parameters refer to the distance and speed of vertical displacement of the rotary spray device while rotating and spraying. A preset downward movement database can be used to match the device spraying speed, device unit spraying amount, device final position, and device spraying position corresponding to the device downward movement parameters. The database contains the corresponding relationship between the device spraying speed, device unit spraying amount, device final position, device spraying position, and device downward movement parameters. The downward movement database is a manually set database and will not be detailed here.

[0075] Step 308: Control the preset rotary spraying device to reach the device spraying position, perform rotary spraying at the device spraying speed, and while rotating and spraying, move downward according to the device downward movement parameter.

[0076] Control the rotary spraying device to go to the device spraying position. When the rotary spraying device reaches the device spraying position, control the rotary spraying device to rotate at the device spraying speed to spray the material. While rotating and spraying, control the rotary spraying device to move downward with the device downward movement parameter to complete the rotary spraying.

[0077] Reference Figure 4 , other spraying methods include the following steps: Step 400: When the stain attachment type is not the preset surrounding attachment stain, determine the area occupied by the stain and the width of the stain according to the post-development image information, the characteristics of the stubborn stain, and a preset reference object.

[0078] The area occupied by the stain refers to the area occupied by the stain in the tank. The stain width value in this step is the same as that in step 200 above, and the matching of the stain area and the stain width value is also the same as that in step 200 above, which will not be repeated here.

[0079] When the stain attachment type is not a surrounding attached stain, it means that the stain attachment type is other attached stains. The area occupied by the stain and the stain width value must be matched first for subsequent steps.

[0080] Since there may be multiple stains in the tank that are not surrounding stains, there may be multiple areas with stains. The system will randomly select an area as the area occupied by the stain. When the work in that area is completed, another area will be randomly selected as the area occupied by the stain. This operation will be repeated until there are no stains in the tank.

[0081] Step 401: When the area occupied by the stain does not exceed the preset fixed-point spraying area, the fixed-point spraying parameters are determined according to the area occupied by the stain and the stain width value, and the preset rotary spraying device is controlled to perform fixed-point spraying on the area occupied by the stain with the fixed-point spraying parameters.

[0082] The fixed-point spraying area is the area where the rotary spraying device can directly spray the stains in the area without rotating the spraying method. The fixed-point spraying parameters refer to the amount of agent required and the spraying time when spraying the stains in the fixed-point spraying area.

[0083] When the area occupied by the stain does not exceed the fixed-point spraying area, it means that the rotary spraying device can directly complete the comprehensive spraying of the stains in the area without the need for rotary spraying. First, match the fixed-point spraying parameters, and then control the rotary spraying device to perform fixed-point spraying on the area occupied by the stain with the fixed-point spraying parameters.

[0084] Step 402: When the area occupied by the stain exceeds the preset fixed-point spraying area, the surrounding stain area, the surrounding stain distance and the blank stain area are determined based on the post-processing image information, the stubborn stain characteristics, the area occupied by the stain and the reference object.

[0085] The surrounding stain area refers to the area of stains surrounding the currently selected stain area. The surrounding stain distance refers to the distance between the stain area and the surrounding stain areas. The blank stain area refers to the area without stains covered by the spray during the rotary spraying operation.

[0086] The stain database can be used to match the post-development image information, stubborn stain characteristics, the area occupied by the stain, the surrounding stain area corresponding to the reference object, the surrounding stain distance, and the blank stain area. It contains the correspondence between the post-development image information, stubborn stain characteristics, the area occupied by the stain, the reference object, the surrounding stain area, the surrounding stain distance, and the blank stain area.

[0087] When the area occupied by the stain exceeds the fixed-point spraying area, it means that it is too time-consuming and labor-intensive for the rotary spraying device to complete the comprehensive spraying of the stains in the area without rotary spraying. Therefore, it is necessary to first match the surrounding stain area, the surrounding stain distance and the blank stain area for subsequent steps.

[0088] As explained in the above step 204, when the stain attachment type is other attached stains, the agent will be sprayed using the power system in the device to provide power. Therefore, even if the rotary spraying device rotates, the agent is sprayed using the power system in the device to provide power, rather than spraying the agent by generating centrifugal force through rotation.

[0089] Step 403: When the distance between the surrounding stains does not exceed the preset reference transfer distance, the rotary spraying device is controlled to perform rotary spraying using a chemical spraying method.

[0090] The reference transfer distance refers to the maximum distance that the agent sprayed on the blank stain area can be transferred to other stain areas. The reference transfer distance is set in advance by those skilled in the art and will not be described in detail here.

[0091] When the distance between the surrounding stains does not exceed the reference transfer distance, it means that the agent sprayed on the blank stain area can be transferred to the surrounding stain area. The rotary spraying device must be controlled to perform rotary spraying using the agent spraying method.

[0092] Step 404: After the rotary spraying is completed, the preset agent transfer device is controlled to transfer the agent in the blank stain area to the surrounding stain area.

[0093] The agent transfer device is used to transfer the agent sprayed on the blank stain area to the surrounding stain area. After the rotation spraying is completed, the agent transfer device is controlled to transfer the agent from the blank stain area to the surrounding stain area, thereby completing the agent transfer.

[0094] Reference Figure 5 , the suspension spraying method includes the following steps: Step 500 : When the distance of the surrounding stain exceeds a preset reference transfer distance, a spraying pause area is determined according to a blank stain area.

[0095] The spray pause zone is the area where the rotary sprayer stops spraying during rotary spraying. Since there are no stains in the blank stain area, there is no need to spray the agent there. This means that the rotary sprayer should stop spraying when the discharge port reaches this area. Therefore, the blank stain area is the spray pause zone.

[0096] When the distance between the surrounding stains exceeds the reference transfer distance, it means that the agent sprayed on the blank stain area cannot be transferred to the surrounding stain area. The spraying pause area must be matched first for subsequent steps.

[0097] Step 501: Determine the spraying consumption according to the area occupied by the stain and the width of the stain.

[0098] Spraying dosage refers to the amount of spray needed to fully cover the stain within the area it occupies. The spraying database can be used to match the spraying dosage to the stain area and width, which includes the corresponding relationship between the stain area, stain width, and spraying dosage.

[0099] Step 502: Acquire the current angle value of the rotary spraying device.

[0100] The current angle value refers to the current angular orientation of the rotary spraying device. The current angle value is measured by the angle sensor on the rotary spraying device.

[0101] Step 503: Determine the current nozzle position according to the current angle value and the preset spray device model.

[0102] The spray device model refers to the specific model of the rotary spray device, which includes the design structure of the rotary spray device. The spray device model is set in advance by a person skilled in the art and will not be described in detail here. The current nozzle position refers to the current position and orientation of the discharge port of the rotary spray device. The current angle value and the current nozzle position corresponding to the spray device model can be matched through a preset angle database, which includes the corresponding relationship between the current angle value and the spray device model and the current nozzle position. The angle database is a manually set database and will not be described in detail here.

[0103] Step 504: Determine the pause time point and pause duration of spraying according to the spraying pause area, the current nozzle position, the preset tank size, and the power spraying speed.

[0104] The power spraying speed refers to the speed at which the rotary spraying device rotates when the power system within the device provides power to the spraying agent. The power spraying speed is set in advance by those skilled in the art and will not be discussed in detail here. The pause time refers to the point in time when the rotary spraying device needs to pause during the spraying process. The pause duration refers to the duration of the pause.

[0105] The preset pause database can match the pause spraying time point and pause spraying duration corresponding to the spraying pause area, current nozzle position, tank size and power spraying speed. It includes the correspondence between the spraying pause area, current nozzle position, tank size, power spraying speed, pause spraying time point and pause spraying duration. The pause database is a manually set database and will not be elaborated here.

[0106] Step 505: Control the rotary spraying device to perform rotary spraying at a spraying consumption, control the rotary spraying device to stop spraying at a spraying pause time point, and control the rotary spraying device to perform rotary spraying after the spraying pause time period.

[0107] The rotary spraying device is controlled to perform rotary spraying at a spraying consumption, and when the spraying pause time point is reached, the rotary spraying device is controlled to stop spraying and continue rotating, and after the spraying pause time period, the rotary spraying device is controlled to restart rotary spraying.

[0108] Reference Figure 6 , the stain removal method comprises the following steps: Step 600: Determine the type of cleaning device according to the chemical spraying method.

[0109] The cleaning device type refers to the type of cleaning device used to remove stains from the tank. These cleaning device types include surround cleaning devices and single-point cleaning devices. A surround cleaning device is used to remove stains with surround attachment. A single-point cleaning device is used to remove stains with other attachment types.

[0110] The cleaning device type corresponding to the agent spraying method can be matched through the preset cleaning database, which includes the correspondence between the agent spraying method and the cleaning device type. The cleaning database is an artificial database and will not be described in detail here.

[0111] Step 601: When the cleaning device type is a preset surrounding cleaning device, the device starting position is determined according to the device spraying position and the preset surrounding device size.

[0112] Surrounding device size refers to the dimensions of the surrounding cleaning device. Surrounding device size is pre-determined by those skilled in the art and is not detailed here. The device starting position refers to the position that the surrounding cleaning device must reach before performing a cleaning operation. The cleaning database can be used to match the device spray position with the surrounding device size, which includes the corresponding relationship between the device spray position, the surrounding device size, and the device starting position.

[0113] When the cleaning device type is a surround cleaning device, the device starting position must be matched first for subsequent steps.

[0114] Step 602: Determine the cleaning parameters of the surrounding device according to the stain width value, the surrounding device size, and the preset surrounding device rotation speed.

[0115] The "surrounding device speed" refers to the rotational speed of the surrounding cleaning device during cleaning operations. The surrounding device speed is pre-set by those skilled in the art and will not be detailed here. Surrounding device cleaning parameters refer to the speed and distance the surrounding cleaning device moves in the vertical direction during cleaning operations. The cleaning database can be used to match the corresponding surrounding device cleaning parameters to the stain width value, surrounding device size, and surrounding device speed. This database contains the corresponding relationships between the stain width value, surrounding device size, surrounding device speed, and surrounding device cleaning parameters.

[0116] Step 603: Control the surrounding cleaning device to move to the device starting position to remove stubborn stains using surrounding device cleaning parameters.

[0117] The surrounding cleaning device is controlled to move toward the device starting position, and after the surrounding cleaning device reaches the device starting position, the surrounding cleaning device is controlled to remove stubborn stains using surrounding device cleaning parameters.

[0118] Step 604: When the cleaning device type is a preset single-point cleaning device, control the single-point cleaning device to remove stubborn stains using a preset single-point cleaning method.

[0119] The single-point cleaning method is a method for removing stains whose stain attachment type is other attached stains. The specific single-point cleaning method is described in detail in the subsequent steps 700 to 704 and will not be described in detail here.

[0120] When the cleaning device type is a single-point cleaning device, it indicates that the stain attachment type is other attached stains, and the single-point cleaning device needs to be controlled to remove stubborn stains using a single-point cleaning method.

[0121] Reference Figure 7 , the single point cleaning method includes the following steps: Step 700: Determine the specific area of the stain based on the post-development image information, stubborn stain characteristics, and preset inner wall characteristics.

[0122] Inner wall features refer to the contour features of the inner wall of the tank. These features are pre-defined by those skilled in the art and are not detailed here. The specific stain area refers to the specific area on the inner wall of the tank where the stain is located. The stain database can be used to match the post-processing image information, stubborn stain features, and specific stain areas corresponding to the inner wall features. This database contains the corresponding relationships between the post-processing image information, stubborn stain features, inner wall features, and specific stain areas.

[0123] Step 701: When the specific stain area is not located in the preset curved side wall area, a cleaning path is matched from a preset cleaning database according to the specific stain area.

[0124] The curved sidewall area refers to the arcuate portion of the tank where the sidewall meets the bottom. The curved sidewall area is pre-determined by those skilled in the art and will not be described in detail here. The cleaning path refers to the path that a single-point cleaning device follows when cleaning a stain whose specific area is not located within the curved sidewall area. The cleaning database can be used to match the cleaning path corresponding to the specific stain area, which contains the corresponding relationship between the specific stain area and the cleaning path.

[0125] When the specific area of the stain is not located in the curved side wall area, it means that the stain is located on the vertical side wall inside the tank body. The cleaning path can be matched first for subsequent steps.

[0126] Step 702: Control the single-point cleaning device based on the cleaning path to remove stubborn stains in a specific stain area.

[0127] The single-point cleaning device is controlled to move along a cleaning path to remove stubborn stains in a specific area of the stain.

[0128] Step 703: When the specific area of the stain is located in the preset curved side wall area, the angle is adjusted as required according to the specific area of the stain and the preset tank size.

[0129] The required angle adjustment refers to the specific degree of adjustment required for the angle adjustment portion of the single-point cleaning device. The angle adjustment portion is located on the single-point cleaning device, facing the bottom of the tank. It is equipped with a single-point cleaning brush specifically for removing stains from the curved area where the tank wall meets the bottom.

[0130] Under normal circumstances, the single-point cleaning device provides power to the single-point cleaning brush to complete the stain removal task. However, when the curved part has a special stain position that requires angle adjustment for effective cleaning, the angle adjustment part activates, driving the single-point cleaning brush to rotate to the appropriate angle. At this time, the single-point cleaning brush switches to self-powered mode and continues to perform the stain removal task, ensuring that the stain in the curved area is completely removed.

[0131] When the specific area of the stain is located in the curved side wall area, it means that the stain is located on the arc-shaped part where the side wall and the bottom surface of the tank are connected. It is too difficult to directly control the single-point cleaning device to clean the stain. It is necessary to first match the required adjustment angle for subsequent steps.

[0132] Step 704: Adjust the angle according to the needs to control the angle adjustment part preset on the single-point cleaning device to adjust the angle, and after the angle adjustment is completed, control the single-point cleaning brush preset on the angle adjustment part to remove stubborn stains in the specific stain area.

[0133] Control the angle adjustment part on the single-point cleaning device to adjust the angle to be consistent with the required adjustment angle, and after completing the angle adjustment, control the single-point cleaning brush on the angle adjustment part to remove stubborn stains in the specific stain area.

[0134] Based on the same inventive concept, an embodiment of the present invention provides a cleaning canning control system, comprising: The acquisition module is used to obtain the trigger signal, the image information inside the tank, the image information after punching and the current angle value; a memory for storing a program for a method of controlling a cleaning can; The processor is configured to load, execute, and implement the program stored in the memory.

[0135] 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 method for controlling a cleaning can that can be loaded and executed by the processor.

[0136] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0137] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A cleaning canning control method, characterized in that: include: Obtaining a preset trigger signal of the tank to be cleaned; When the trigger signal is consistent with the preset cleaning requirement signal, the image information inside the tank is obtained; Determine the thickness of the stain in the tank based on the image information in the tank and the preset stain characteristics; Determine the pre-rinsing parameters based on the thickness of the stains in the tank; Based on the pre-flushing parameters, a preset pre-flushing device is controlled to pre-flushing the tank to be cleaned, and image information after flushing is obtained; When the post-development image information contains a preset stubborn stain feature, determining the type of stain attachment according to the post-development image information and the stubborn stain feature; The agent spraying method is determined according to the type of stain attachment, and based on the agent spraying method, a preset rotary spraying device is controlled to spray the agent, and after the agent spraying is completed, the stain is removed using a preset stain removal method.

2. A cleaning canning control method according to claim 1, characterized in that: The agent spraying method includes a surrounding spraying method, and the surrounding spraying method includes: When the stain attachment type is a preset surrounding attached stain, the stain width value and the stain area are determined according to the post-development image information, the stubborn stain characteristics, and the preset reference object; Determine the spraying position of the device according to the stain width value and the stain area; Determine the spray distance based on the device spray position, preset tank size, and device size; When the stain width value does not exceed the preset reference width value, the preset dosage value of the stain removal agent is determined according to the stain width value and the tank size; Determine the rotary spraying speed based on the spraying distance; Matching the unit spraying amount from a preset rotation database according to the rotational spraying speed; Determine the rotation time based on the dosage value of the reagent, the rotation speed of the rotary spraying, and the unit spraying volume; The preset rotary spraying device is controlled to reach the device spraying position, rotate at the rotary spraying speed, and after the rotation time, the rotary spraying device is controlled to stop rotating to complete the rotary spraying.

3. A cleaning canning control method according to claim 2, characterized in that: Also includes mobile spraying methods: When the stain width value exceeds a preset reference width value, determining a width excess value based on the stain width value and the reference width value; Determine the amount of medicine to be replenished based on the width excess value; Determine required dosage based on drug refill volume and pre-set baseline dosage; Determine the downstream distance of the agent based on the required usage and the preset agent viscosity; Determine the final position of the device based on the downstream distance of the agent and the width of the stain; Determine the spraying speed of the device according to the spraying distance; Determine the unit spraying volume of the device according to the spraying speed of the device; Determine the device downward movement parameters based on the device spraying speed, the device unit spraying volume, the device final position and the device spraying position; The preset rotary spraying device is controlled to reach the device spraying position, and the rotary spraying is performed at the device spraying speed. At the same time as the rotary spraying, the device moves downward according to the device downward movement parameter.

4. A cleaning canning control method according to claim 2, characterized in that: The medicament spraying method also includes other spraying methods, and the other spraying methods include: When the stain attachment type is not the preset surrounding attachment stain, the area occupied by the stain and the width of the stain are determined based on the post-development image information, the characteristics of the stubborn stain, and the preset reference object; When the area occupied by the stain does not exceed the preset fixed-point spraying area, the fixed-point spraying parameters are determined according to the area occupied by the stain and the width of the stain, and the preset rotary spraying device is controlled to perform fixed-point spraying on the area occupied by the stain with the fixed-point spraying parameters; When the area occupied by the stain exceeds the preset fixed-point spraying area, the surrounding stain area, the distance to the surrounding stain, and the blank stain area are determined based on the post-processing image information, the characteristics of the stubborn stain, the area occupied by the stain, and the reference object; When the distance of the surrounding stains does not exceed the preset reference transfer distance, the rotary spraying device is controlled to perform rotary spraying using a pharmaceutical spraying method; After the rotary spraying is completed, the preset agent transfer device is controlled to transfer the agent in the blank stain area to the surrounding stain area.

5. A cleaning canning control method according to claim 4, characterized in that: Also includes a pause spray method: When the distance between the surrounding stains exceeds the preset reference transfer distance, the spraying pause area is determined based on the blank stain area; Determine the spraying consumption based on the area occupied by the stain and the width of the stain; Get the current angle value of the rotary spraying device; Determine the current nozzle position according to the current angle value and the preset spray device model; Determine the pause time and duration of spraying according to the spraying pause area, current nozzle position, preset tank size and power spraying speed; The rotary spraying device is controlled to perform rotary spraying at a spraying consumption, and at a spraying pause time point, the rotary spraying device is controlled to stop spraying, and after the spraying pause time, the rotary spraying device is controlled to perform rotary spraying.

6. A cleaning canning control method according to claim 5, characterized in that: Stain removal methods include: Determine the type of cleaning device based on the method of spraying the agent; When the cleaning device type is a preset surrounding cleaning device, the device starting position is determined according to the device spraying position and the preset surrounding device size; Determining cleaning parameters of the surround device according to the stain width value, the surround device size, and the preset surround device speed; Controlling the surrounding cleaning device to move to the device starting position to remove stubborn stains using the surrounding device cleaning parameters; When the type of the cleaning device is a preset single-point cleaning device, the single-point cleaning device is controlled to remove stubborn stains using a preset single-point cleaning method.

7. A cleaning canning control method according to claim 6, characterized in that: Single-point cleaning methods include: Determine the specific stain area based on post-processing image information, stubborn stain characteristics, and preset inner wall characteristics; When the specific area of the stain is not located in the preset curved side wall area, a cleaning path is matched from a preset cleaning database according to the specific area of the stain; Based on the cleaning path, the single-point cleaning device is controlled to remove stubborn stains in a specific area of the stain; When the specific area of the stain is located in the preset curved side wall area, the angle is adjusted as required based on the specific area of the stain and the preset tank size; The angle is adjusted according to needs to control the angle adjustment part preset on the single-point cleaning device to adjust the angle, and after the angle adjustment is completed, the single-point cleaning brush preset on the angle adjustment part is controlled to remove stubborn stains in a specific area of the stain.

8. A cleaning canning control method according to claim 2, characterized in that: Also included is the algorithm formula for calculating the rotation speed of rotary spraying: n={1 / (2π)}*√(μg) / r, where n is the rotational spraying speed, π is the circumference of a circle, μ is the coefficient of kinetic friction between the stain remover and the rotary spraying device, g is the acceleration due to gravity, and r is the spraying distance.

9. A cleaning canning control system, characterized in that: include: The acquisition module is used to obtain the trigger signal, the image information inside the tank, the image information after punching and the current angle value; A memory for storing a program of a canning and cleaning control method according to any one of claims 1 to 8; The processor is configured to load, execute, and implement the program stored in the memory.

10. An intelligent terminal, characterized in that: The device comprises a memory and a processor, wherein the memory stores a method for controlling a cleaning can as claimed in any one of claims 1 to 8 that can be loaded and executed by the processor.

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