Clean conveying belt intelligent sterilization and temperature control system suitable for deep processing of dairy products

Abstract

The application discloses a clean conveying belt intelligent sterilization and temperature control system suitable for deep processing of dairy products, relates to the technical field of dairy product processing process control, and comprises a state determination unit, a recovery path generation unit, a recovery scheduling unit, an execution control unit and a release control unit. The system determines a target belt surface section according to abnormal events and conveying operation data, forms a processing result in combination with processing records of a residual cleaning, sterilization and temperature recovery stage, determines a failure result set and an earliest failure result, and generates a recovery path. A contact time when the target belt surface section enters a dairy product contact area again is taken as a scheduling end point, recovery tasks are arranged in reverse order in combination with task lengths and execution windows, when the recovery tasks cannot be completed on time, the contact time is updated by delaying dairy product feeding or conveying belt empty running, the processing result is updated after the recovery tasks are executed, a dairy product feeding permission state is generated when a release condition is met, and a recovery path is regenerated when a new abnormal event occurs.

Description

Technical Field

[0001] This invention relates to the field of dairy product processing control technology, and more specifically, to a clean conveyor belt intelligent sterilization and temperature control system suitable for deep processing of dairy products. Background Technology

[0002] In the deep processing of dairy products, a clean conveyor belt circulates through the dairy product contact zone, residue removal zone, sterilization zone, and temperature recovery zone. The process control system typically completes residue removal, sterilization, and cooling sequentially according to a fixed procedure, allowing dairy product feeding to resume only after the corresponding parameters meet the requirements. After the conveyor belt completes part of the processing, it may experience dairy product re-contact, sterilization interruption, re-spraying, or temperature changes before re-entering the dairy product contact zone. Different abnormal events have different impacts on the residue removal, sterilization, and temperature control results. Existing process control systems usually mark the entire processing procedure as completed or incomplete. After an abnormality occurs, either the original processing results are continued, or the complete processing procedure is re-executed. If the original processing results are continued, expired sterilization or temperature control results may still be used as the basis for dairy product feeding, causing belt sections that do not meet hygiene or contact temperature requirements to re-contact dairy products. Re-executing the complete processing procedure will repeat the still-effective processing stages, increasing recovery time and potentially causing delayed dairy product feeding, conveyor belt idling, or production interruption.

[0003] In summary, existing technologies are insufficient to determine the recovery starting point of the target belt section based on the actual impact of abnormal events on different processing results in conveyor belt process control, and to reasonably arrange the corresponding recovery tasks before the target belt section re-enters the dairy product contact area. Summary of the Invention

[0004] This invention provides an intelligent sterilization and temperature control system for clean conveyor belts suitable for deep processing of dairy products. It determines the recovery starting point based on the impact of abnormal events on residue removal, sterilization, and temperature control results. A recovery schedule is formed with the next contact time of the target conveyor belt segment into the dairy product contact area as the cutoff boundary. If the recovery time is insufficient, the dairy product delivery or conveying status is adjusted so that the target conveyor belt segment can only enter the dairy product delivery state after verification that it meets the requirements for residue removal, sterilization, and contact temperature. This solves the problem that existing process control methods cannot accurately determine the failure range of existing treatment results, thus failing to reasonably rebuild and complete the recovery task before the target conveyor belt segment comes into contact with dairy products again.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A clean conveyor belt intelligent sterilization and temperature control system suitable for deep processing of dairy products, including: The status determination unit acquires abnormal events and conveying operation data, determines the target belt area based on the location and duration of the abnormal events and the conveying operation data, acquires the processing record of the target belt area, and generates residue removal results, sterilization results, and temperature control results based on the processing record. The recovery path generation unit, based on the impact of abnormal events on residue removal, sterilization, and temperature control results, determines the earliest failure result from the processing results affected by the abnormal event, according to the processing order of residue removal, sterilization, and temperature recovery. It retains the processing results that precede the earliest failure result, are not affected by the abnormal event, and meet the corresponding requirements, and generates a recovery path starting from the processing stage corresponding to the earliest failure result. In the event of a dairy product re-contact event, the residue removal result is determined as the earliest failure result, and the recovery path includes the residue removal task, sterilization task, and temperature recovery task in sequence. The recovery scheduling unit determines the next contact time for the target strip section to enter the dairy product contact area under the dairy product delivery state, based on the operating position and conveying status of the target strip section. Using the contact time as the cutoff boundary, the execution time of each task is allocated in reverse order of the recovery path to form a recovery schedule. The execution control unit outputs control commands corresponding to each task when the recovery path can be completed according to the recovery schedule; when the recovery path cannot be completed according to the recovery schedule, it outputs delayed dairy product delivery commands or conveyor belt no-load operation commands, and re-forms the recovery schedule based on the updated contact time. The release control unit updates the processing results of each task in the recovery path according to the execution results of the recovery path, retains the processing results of tasks not included in the recovery path, and generates a dairy product release permission status when the residue removal result, sterilization result, and temperature control result meet the residue removal requirement, sterilization requirement, and contact temperature requirement of the corresponding dairy product, respectively.

[0006] In a preferred embodiment, the state determination unit includes: The section positioning subunit obtains the location and duration of the abnormal event, as well as the running trajectory of the conveyor belt during the duration, and determines the belt surface range that passes through the location of the abnormal event as the target belt surface section. Record the associated sub-units, and according to the processing order of the target strip area through the residue removal stage, sterilization stage and temperature recovery stage, associate the execution data and execution time of each processing stage with the target strip area to form a processing record.

[0007] In a preferred embodiment, the processing record includes a residue removal record, a sterilization execution record, and a temperature recovery record, wherein the sterilization requirements include sterilization temperature requirements and sterilization holding time. The status determination unit compares the executed actions, operating temperature, and operating duration in the residue removal record with the residue removal conditions to form the residue removal result; The status determination unit accumulates the time it takes for the actual sterilization temperature to reach the required sterilization temperature in the sterilization execution record, forming the effective action time that has been completed. The non-negative value obtained by subtracting the effective action time from the sterilization holding time is determined as the remaining effective action time, and a sterilization result containing the remaining effective action time is generated. The status determination unit compares the surface temperature in the temperature recovery record with the contact temperature requirements of the corresponding dairy products to form a temperature control result.

[0008] In a preferred embodiment, the recovery path generation unit includes: The abnormal impact determination sub-unit obtains the event type and duration of the abnormal event, determines the processing results affected by the abnormal event based on the failure relationship between the event type and the processing result, and forms a set of failure results. Among them, re-contact events with dairy products invalidate the residue removal results, sterilization results, and temperature control results; spraying events where the spraying medium does not meet the cleanliness requirements invalidate the sterilization results and temperature control results, do not retain the completed effective action time in the original sterilization results, and determine the sterilization hold time as the new remaining effective action time; reheating events after temperature recovery invalidate the temperature control results; sterilization interruption events invalidate the sterilization results, but retain the completed effective action time before the sterilization interruption.

[0009] In a preferred embodiment, the recovery path generation unit further includes: The failure sequence determination sub-unit arranges the residue removal results, sterilization results, and temperature control results according to the processing order of residue removal, sterilization, and temperature recovery. The processing result with the earliest processing order is selected from the failure result set to form the earliest failure result. The recovery start point is determined by the sub-unit, which retains the processing results that are located before the earliest failure result and meet the corresponding requirements, and determines the processing stage corresponding to the earliest failure result as the recovery start point.

[0010] In a preferred embodiment, when a dairy product re-contact event occurs, the recovery path generation unit determines the residue removal result as the earliest failure result, matches the upper limit of the pre-rinse temperature according to the type of dairy product re-contacted, determines the pre-rinse process with a rinsing temperature not higher than the upper limit of the pre-rinse temperature as the residue removal task, and generates the recovery path corresponding to the dairy product re-contact event in the order of residue removal task, sterilization task, and temperature recovery task.

[0011] In a preferred embodiment, the recovery path generation unit generates a recovery path based on the recovery starting point, including: When the recovery starting point is the temperature recovery stage, a temperature recovery task is generated based on the contact temperature requirements of the corresponding dairy products and the current surface temperature of the target area. When the recovery starting point is the sterilization stage, a remaining sterilization task is generated based on the remaining effective duration in the sterilization results, and a temperature recovery task is generated after the remaining sterilization task. When the recovery starting point is the residue removal stage, the recovery path is generated in the order of residue removal task, sterilization task, and temperature recovery task.

[0012] In a preferred embodiment, the schedule recovery unit includes: The contact time determination sub-unit obtains the running position, conveying status and dairy product contact area position of the target belt section, determines the remaining conveying path from the target belt section to the dairy product contact area, and determines the contact time of the target belt section entering the dairy product contact area next in the dairy product delivery state based on the remaining conveying path and conveying status. The task duration determination subunit determines the task duration of each task based on the residue removal conditions and execution parameters of the residue removal task, the target effective action duration of the sterilization task, and the current surface temperature, contact temperature requirements, and execution parameters of the temperature recovery task. The execution window determines the sub-unit, and forms the executable window corresponding to each task based on the time period of the target strip segment passing through each processing stage along the remaining transport path between the current time and the contact time. The sub-units are assigned in reverse order, with the contact time as the cutoff boundary. Continuous time periods that meet the task duration are selected sequentially from the corresponding executable window in reverse order of the recovery path to form the execution time periods of each task. The start time of the first task in the recovery path is determined as the allowed start time, and a recovery schedule is generated.

[0013] In a preferred embodiment, the execution control unit includes: The completion decision subunit is formed when each task in the recovery schedule has an execution period that meets the task duration and the current time is not later than the allowed start time; otherwise, an incomplete result is formed. The instruction output subunit, when a complete result is formed, converts each task and its corresponding execution time period into control instructions, and outputs the control instructions according to the task order of the recovery path; The scheduling gap determination sub-unit, when an incomplete result is formed, postpones the contact time until each task in the recovery path can obtain an execution period that meets the task duration and allows the start time to be no earlier than the current time, forming the earliest feasible contact time, and the duration between the earliest feasible contact time and the original contact time is determined as the scheduling gap. The adjustment instruction determines the sub-unit, obtains the delay time for dairy product delivery and the single empty cycle time of the conveyor belt, generates a delayed dairy product delivery instruction when the delay time for dairy product delivery can cover the scheduling gap, and generates an empty cycle instruction for the conveyor belt based on the number of empty cycles required to cover the scheduling gap when the delay time for dairy product delivery cannot cover the scheduling gap. The scheduling update subunit updates the contact time based on the delayed dairy product delivery time or the next dairy product delivery time after no-load operation, and triggers the recovery scheduling unit to regenerate the recovery schedule.

[0014] In a preferred embodiment, the release control unit includes: The result update subunit obtains the actual execution data of each task in the recovery path, compares the actual execution data with the processing requirements of the corresponding task, updates the processing results of each task according to the comparison results, and retains the processing results of tasks not included in the recovery path. The release verification subunit compares the residue removal results, sterilization results, and temperature control results with the residue removal requirements, sterilization requirements, and contact temperature requirements of the corresponding dairy products, respectively, to form the release verification results; The status generation subunit associates the target strip area with the contact time to generate the dairy product release permit status when the release verification results show that the residue removal results, sterilization results, and temperature control results all meet the corresponding requirements. When a new abnormal event is detected during the execution of the recovery path or after the dairy product placement permission status is generated but before the contact time, the path reconstruction subunit determines the new earliest failure result based on the new abnormal event, retains the processing result that is located before the new earliest failure result, is not affected by the new abnormal event, and still meets the corresponding requirements; when the dairy product placement permission status has been generated, the corresponding dairy product placement permission status is revoked, and the recovery path generation unit is triggered to regenerate the recovery path from the processing stage corresponding to the new earliest failure result.

[0015] Beneficial effects: 1. Determine the recovery starting point for the target zone area based on the actual impact of the abnormal event on the residue removal, sterilization, and temperature control results, and arrange recovery tasks around the time limit for re-entry into the dairy product contact area, so that the abnormal recovery range is coordinated with the available processing time; 2. By forming a set of failure results and selecting the failure result with the highest processing order, while retaining the previous processing results that are not affected by the anomaly and still meet the requirements, unnecessary duplicate processing can be reduced and the recovery path can be kept consistent with the original processing order. 3. Using the contact time of the target area as the scheduling endpoint, and combining the task duration and execution window of each recovery task, the tasks of residue removal, sterilization and temperature recovery are allocated in reverse order so that the tasks can be completed sequentially before contact with dairy products. 4. If the recovery task cannot be completed before the original contact time, the earliest feasible contact time shall be determined based on the candidate contact time, and the production sequence shall be adjusted in combination with the deployment delay time and the idle cycle time to alleviate the time conflict between the recovery task and the normal deployment. 5. Update the three types of processing results based on the actual execution data of the recovery task, and generate the allowable state only when the requirements of residue removal, sterilization and temperature control are met; when a new abnormal event occurs, redetermine the recovery starting point to avoid the failure state from continuing to be transmitted to the dairy product contact stage. Attached Figure Description

[0016] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a flowchart illustrating the determination of the target area segment and the generation of the recovery path in this invention. Figure 3 This is a schematic diagram illustrating the process of restoring the reverse scheduling of tasks according to the present invention. Figure 4 This is a flowchart of the process for resuming execution and controlling the dispensing of dairy products in this invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] See attached document Figures 1 to 4 This invention provides an intelligent sterilization and temperature control system for clean conveyor belts suitable for deep processing of dairy products. The system includes a status determination unit, a recovery path generation unit, a recovery scheduling unit, an execution control unit, and a release control unit. The system is applied to a circulating clean conveyor belt in a deep processing production line for dairy products. The conveyor belt sequentially passes through a dairy product contact area, a residue removal area, a sterilization area, and a temperature recovery area along its operating direction. The system receives conveying operation data, execution data for each processing stage, dairy product delivery data, and abnormal event data. It locates and tracks the target belt section affected by abnormal events, determines the residue removal result, sterilization result, and temperature control result, generates a recovery path based on the earliest failure result, and forms a recovery schedule with the next contact time of the target belt section entering the dairy product contact area under dairy product delivery status as the cutoff boundary. This controls the execution of recovery tasks, conveying operation, and dairy product delivery. This embodiment uses a recovery control scenario where an abnormal event occurs during the continuous batch transportation of dairy products, after the circulating clean conveyor belt has completed partial processing but before it contacts dairy products again, as an example to specifically illustrate the solution.

[0019] State determination unit refer to Figure 2 The status determination unit includes a segment positioning subunit, a record association subunit, and a processing result determination subunit. The segment positioning subunit locates the target strip segment affected by the abnormal event based on the abnormal event and the transport operation data. The record association subunit establishes the correspondence between the execution data, the execution time period, and the target strip segment according to the order of the target strip segment's various processing stages. The processing result determination subunit generates the residue removal result, sterilization result, and temperature control result based on the processing record formed by the association and the residue removal conditions, sterilization requirements, and contact temperature requirements corresponding to the current production batch, in order to determine the processing status of the target strip segment when the abnormal event occurs, and provides the judgment data to the recovery path generation unit.

[0020] The section positioning subunit reads abnormal events from the conveyor belt process control log. Abnormal events are written to the conveyor belt process control log in data form when they are detected, such as when dairy products are re-contaminated, the spray medium does not meet the cleanliness requirements, reheating is performed after temperature recovery is completed, or sterilization is interrupted. The abnormal events include at least the abnormal event identifier, event type, action location, action start time, and action end time. The action location is recorded using the starting and ending coordinates of the abnormal action area in the conveyor path. For point-like action locations, the starting and ending coordinates are the same. The action start time and action end time together constitute the action period. The section positioning subunit reads the corresponding field according to the abnormal event identifier and limits the reading range of the conveyor operation data by the action period.

[0021] The conveying operation data within the effective period is extracted from the operation log of the conveying controller. The conveying operation data is recorded according to the timestamp, including the encoder count of the drive roller, the running direction, the running speed, and the start / stop status. The section positioning subunit calculates the conveying displacement within the corresponding time period based on the encoder count change between adjacent timestamps and the conveying distance corresponding to the encoder unit count. When the encoder count does not change, the corresponding conveying displacement is recorded as zero. When the running direction changes, the conveying displacement is accumulated in the forward or reverse direction according to the changed running direction. The conveying displacements of each time period are connected in chronological order to form the running trajectory of the conveyor belt within the effective period.

[0022] Using a fixed reference position on the conveyor belt surface as the starting point of the belt surface coordinates, a belt surface coordinate system covering the entire circumference of the conveyor belt is established along the positive running direction of the conveyor belt. Based on the cumulative conveying displacement and the position of action in the running trajectory, the belt surface coordinates at each moment of the action period are calculated. When the conveyor belt cyclically crosses the starting point of the belt surface coordinates, the cumulative conveying displacement is moduloed according to the circumference of the conveyor belt. When the position of action is limited to the conveying path interval by the starting position coordinates and the ending position coordinates, the belt surface coordinates corresponding to the starting point and the ending point of the interval are calculated respectively, thereby determining the range of belt surface coordinates within the position of action at each moment.

[0023] The continuous coordinate ranges are merged according to the order of changes in the belt surface coordinates during the operating period. When the conveyor belt stops at the operating position, the belt surface coordinate range within the operating position during the stopping period is included in the merged result. When the conveyor belt reverses and passes through the operating position again, the belt surface coordinate range passed through again is included in the merged result. The merged belt surface range is determined as the target belt surface segment, and the belt surface start coordinates, belt surface end coordinates, and abnormal event identifiers are written into the target belt surface segment data. The segment positioning subunit establishes the association relationship between the abnormal event and the target belt surface segment identifier using the abnormal event identifier, which is then read by the recording association subunit and subsequent units.

[0024] The recording subunit reads the surface coordinates of the target surface section, the transport operation data, and the regional positions of the residue removal stage, sterilization stage, and temperature recovery stage in the transport path; based on the encoder counts and corresponding timestamps when the front and rear ends of the target surface section pass through the boundaries of each region, the time when the target surface section enters and leaves each processing stage is determined, and the time range between the entry time and the exit time is determined as the execution period of the corresponding processing stage.

[0025] The execution data generated by the controller in each processing stage is filtered according to the execution time period; the action instructions, medium temperature sampling value and action duration in the control log of the residue removal stage are written into the residue removal record; the actual sterilization temperature and corresponding sampling time in the temperature detection data of the sterilization stage are written into the sterilization execution record; and the zone temperature and corresponding sampling time in the temperature detection data of the temperature recovery stage are written into the temperature recovery record. The target zone segment identifier is written into the records of the three stages, and the processing record is composed according to the processing order of the target zone segment passing through the residue removal stage, sterilization stage and temperature recovery stage.

[0026] The status determination unit reads the sterilization requirements from the dairy product process parameters corresponding to the current production batch. The dairy product process parameters are stored according to the dairy product category and production batch identifier. Among them, the sterilization temperature requirement records the minimum temperature that needs to be reached for the actual sterilization effect to be counted as an effective effect, and the sterilization holding time records the cumulative effective action time that needs to be reached to complete the sterilization of the target strip area. The read sterilization temperature requirement and sterilization holding time are linked with the sterilization execution record of the target strip area as the basis for calculating the sterilization result.

[0027] The residual removal conditions are read from the residual removal process parameters corresponding to the current production batch. The residual removal conditions are the specific execution conditions for determining whether the residual removal result meets the residual removal requirements, including the removal actions to be performed, the allowable operating temperature range, and the minimum operating time. The status determination unit checks the execution actions in the residual removal record according to the action identifier, determines whether the operating temperature is within the allowable range based on the temperature sampling value, and accumulates the execution time when the operating temperature is within the allowable range according to the time difference between adjacent sampling times. When the execution actions match, the operating temperature meets the allowable range, and the accumulated execution time reaches the minimum operating time, a residual removal result that meets the residual removal requirements is formed. When there is an execution action mismatch, the operating temperature exceeds the allowable range, or the accumulated execution time is insufficient, a residual removal result that does not meet the residual removal requirements is formed.

[0028] The actual sterilization temperatures in the sterilization execution record are arranged according to the sampling time, and the corresponding time interval is determined by the time difference between adjacent sampling times. When the actual sterilization temperatures corresponding to adjacent sampling times all meet the sterilization temperature requirements, the corresponding time interval is included in the effective action time. When any sampling temperature is lower than the sterilization temperature requirements, the corresponding time interval is excluded. The effective action time is calculated by accumulating all effective time intervals. For example, if the sterilization temperature requirement is 80℃, and the target area segment successively forms effective temperature intervals of 20 seconds and 25 seconds, the effective action time is taken as 45 seconds.

[0029] The remaining effective time is calculated by subtracting the completed effective time from the sterilization holding time. If the difference is greater than zero, the difference is determined as the remaining effective time; if the difference is equal to or less than zero, the remaining effective time is determined as zero. The completed effective time and the remaining effective time are written together into the sterilization result. When the sterilization holding time is 60 seconds and the completed effective time is 45 seconds, the remaining effective time is taken as 15 seconds and used by the recovery path generation unit to determine the remaining sterilization task.

[0030] The temperature data collected during the temperature recovery phase at the exit detection position of the target zone segment is matched with the target zone segment identifier, and all valid temperature sample values ​​obtained from the matching are used as the zone temperature data of the target zone segment. When the contact temperature requirement is recorded using a temperature range, all valid temperature sample values ​​must be between the lower limit and the upper limit of the range to form a temperature control result that meets the requirements. If any valid temperature sample value exceeds the temperature range, a temperature control result that does not meet the requirements is formed. When the contact temperature requirement is recorded using a temperature upper limit, the highest value among all valid temperature sample values ​​is compared with the temperature upper limit. If the highest value does not exceed the temperature upper limit, a temperature control result that meets the requirements is formed. If the highest value exceeds the temperature upper limit, a temperature control result that does not meet the requirements is formed. The temperature control result is then transmitted to the recovery path generation unit after being associated with the target zone segment.

[0031] Recovery Path Generation Unit refer to Figure 2 The recovery path generation unit includes an anomaly impact determination subunit, a failure sequence determination subunit, a recovery start point determination subunit, and a recovery path generation subunit. The anomaly impact determination subunit determines the set of failure results based on the anomaly event. The failure sequence determination subunit selects the earliest failure result according to the processing order corresponding to each processing result. The recovery start point determination subunit retains the processing results that are located before the earliest failure result, are not affected by the anomaly event, and still meet the corresponding requirements, and determines the recovery start point. The recovery path generation subunit organizes the tasks that need to be re-executed according to the recovery start point and the processing order of residue removal, sterilization, and temperature recovery, forming a recovery path that matches the current processing status of the target strip segment.

[0032] The abnormal impact determination subunit reads the event type, start time, and end time of action according to the abnormal event identifier, and reads the target belt segment identifier according to the correlation between the abnormal event and the target belt segment. The event type is written by the conveyor belt process control system when the abnormality occurs. The start time and end time of action together constitute the action period. The reading results are used to match the failure relationship between the event type and the processing result.

[0033] The abnormal failure relationship data is called to match the event type; the abnormal failure relationship data uses the event type as an index to record the processing results that the corresponding event needs to be set to the failure state and whether the effective duration before the sterilization interruption is retained; the matching processing results are written into the failure result set, which is associated with the target zone segment identifier, abnormal event identifier and duration of action, for the failure sequence determination subunit to read.

[0034] When the event type is dairy product re-contact event, the original residue removal results, sterilization results, and temperature control results of the target strip area are all written into the failure result set. Dairy product re-contact event means that the target strip area that has undergone partial or full treatment comes into contact with dairy products again, and dairy product residues are re-formed on the surface of the target strip area. The original sterilization results and temperature control results are no longer valid as a basis for subsequent dairy product release.

[0035] When the event type is a spray event where the spray medium does not meet the cleanliness requirements, the sterilization result and temperature control result are written into the failure result set. The spray medium status is derived from the spray medium detection data or spray supply status data. When the medium status does not meet the cleanliness requirements and the action period coincides with the time period when the target zone passes through the spray position, it is determined that the spray medium has acted on the target zone. The completed effective action time in the original sterilization result is not used as the cumulative basis for subsequent sterilization tasks. The target effective action time of the complete sterilization task is the sterilization maintenance time.

[0036] When the event type is a reheating event after temperature recovery is completed, the temperature control result is written into the failure result set. The start time of the reheating event is compared with the time when the target strip section completes the temperature recovery stage. If the start time is later than the time when the temperature recovery is completed and the action location covers the target strip section, it is determined that the strip temperature of the target strip section has changed. The residue removal result and sterilization result remain in their original state, and the subsequent recovery path is established from the temperature recovery stage.

[0037] When the event type is sterilization interruption, the sterilization result is written to the failure result set; the effective temperature range that was formed before the sterilization interruption continues to be included in the effective action time, and the remaining effective action time is retained in the sterilization result as a non-negative value after subtracting the effective action time from the sterilization hold time; the residue removal result remains in its original state, the recovery path is to arrange the temperature recovery task after the remaining sterilization task, and the temperature control result is updated after the temperature recovery task is completed.

[0038] The failure sequence determination sub-unit sets the same sequence values ​​as the processing stage for the residue removal result, sterilization result, and temperature control result; the residue removal result corresponds to the first sequence, the sterilization result corresponds to the second sequence, and the temperature control result corresponds to the third sequence; the sequence values ​​are recorded in the processing result type data and are arranged in the first to third sequence when reading the failure result set.

[0039] The processing result with the smallest order value is read from the sorted set of failure results, and the corresponding processing result is determined as the earliest failure result; for example, the set of failure results formed by a spray event in which the spray medium does not meet the cleanliness requirements includes sterilization results and temperature control results. The sterilization result corresponds to the second order, the temperature control result corresponds to the third order, and the earliest failure result is determined to be the sterilization result.

[0040] The recovery starting point determination subunit checks the processing results located before the earliest failure result. In this embodiment, before entering the abnormal recovery process, the processing results located before the earliest failure result have already met the corresponding requirements. When the corresponding processing result is not written into the failure result set but still meets the corresponding requirements, the corresponding processing result is written into the retained result data, and the subsequent recovery path does not include the corresponding processing stage. The processing results affected by the abnormal event are reassigned according to the failure result set and the earliest failure result.

[0041] The recovery starting point is determined according to the correspondence between the earliest failure result and the processing stage. When the earliest failure result is the residue removal result, the residue removal stage is determined as the recovery starting point. When the earliest failure result is the sterilization result, the sterilization stage is determined as the recovery starting point. When the earliest failure result is the temperature control result, the temperature recovery stage is determined as the recovery starting point. The recovery starting point and the retained result data are jointly transmitted to the recovery path generation process.

[0042] When the recovery starting point is the temperature recovery stage, the recovery path generation unit reads the contact temperature requirement of the corresponding dairy product and the current surface temperature of the target zone. The current surface temperature is determined from the latest set of valid temperature sampling data corresponding to the target zone when the path is generated. When the temperature recovery direction is cooling, the highest value in the latest set of valid temperature sampling values ​​is used, and when the temperature recovery direction is heating, the lowest value in the latest set of valid temperature sampling values ​​is used. The contact temperature requirement is read from the process parameters of the dairy product in the current production batch. The current surface temperature, contact temperature requirement, and target zone identifier are written into the temperature recovery task for the recovery scheduling unit to calculate the task duration and executable window.

[0043] When the recovery starting point is the sterilization stage, the remaining effective action time is read from the sterilization result and written into the target effective action time field of the remaining sterilization task. After the remaining sterilization task is completed, the target area needs to meet the contact temperature requirements of the corresponding dairy product. The temperature recovery task is written after the remaining sterilization task in the recovery path, forming an execution order of remaining sterilization task first and temperature recovery task second.

[0044] When the recovery starting point is the residue removal stage, the residue removal task, sterilization task, and temperature recovery task are established sequentially. The residue removal task is written with the residue removal conditions, the sterilization task is written with the complete sterilization temperature requirements and sterilization holding time, and the temperature recovery task is written with the contact temperature requirements of the corresponding dairy products. The three tasks are written with the same recovery path data, and the sequential connection relationship is established according to the order of residue removal task, sterilization task, and temperature recovery task.

[0045] When the abnormal event is a dairy product re-contact event, the residue removal result is determined as the earliest failure result, and the residue removal stage is determined as the recovery starting point; the original residue removal result, sterilization result and temperature control result are not written into the retained result data, and the recovery path is established starting from the surface residue treatment of the target zone section.

[0046] Read the dairy product category that was re-contacted from the dairy product re-contact event, and query the pre-rinse process parameters using the dairy product category as the index; the pre-rinse process parameters record the upper limit of the pre-rinse temperature corresponding to different dairy product categories, and write the queried upper limit of the pre-rinse temperature into the residue removal task as the control limit value of the pre-rinse medium temperature.

[0047] The planned rinsing temperature for the residue removal task is limited to no higher than the upper limit of the pre-rinsing temperature, and the pre-rinsing action, planned rinsing temperature, and corresponding duration are written into the residue removal task. The recovery path corresponding to the dairy product re-contact event is established in the order of residue removal task, sterilization task, and temperature recovery task. After the residue removal task is completed, the sterilization task is initiated, and after the sterilization task is completed, the temperature recovery task is initiated, forming a complete recovery path for the recovery scheduling unit to allocate execution time.

[0048] Restore scheduling unit refer to Figure 3 The recovery scheduling unit includes a contact time determination subunit, a task duration determination subunit, an execution window determination subunit, and a reverse allocation subunit. The contact time determination subunit determines the contact time according to the running position, conveying status, and dairy product delivery arrangement of the target strip section. The task duration determination subunit calculates the execution time required for each task in the recovery path. The execution window determination subunit determines the time range within which the target strip section can accept the corresponding processing. The reverse allocation subunit arranges each task in reverse order of the recovery path starting from the contact time to form a recovery schedule for the execution control unit to make completion judgments and output instructions.

[0049] The contact time determination subunit reads the current operating position and conveying status of the target belt segment from the conveying controller, and reads the dairy product contact area position from the conveying path configuration data. The operating position of the target belt segment is recorded using the belt coordinates corresponding to the front and rear ends of the segment and the coordinates of the current conveying path. The conveying status includes the running direction, running speed, start / stop status, and the speed adjustment data that has been issued. The dairy product contact area position is recorded using the start and end coordinates of the dairy product placement position in the conveying path. The read data is associated with the target belt segment identifier for use in the calculation of the remaining conveying path.

[0050] According to the current operating direction, the search for the dairy product contact area starts from the current conveying path coordinates at the front end of the target belt section and searches along the conveying path. If the target belt section has not yet passed the dairy product contact area, the path between the current position and the starting coordinates of the dairy product contact area is determined as the remaining conveying path. If the target belt section has already passed the dairy product contact area, the path from the current position to the end of the conveyor belt cycle and the path from the start of the cycle to the dairy product contact area are connected to form the remaining conveying path. When the conveyor belt runs in reverse, the remaining conveying path is determined according to the reverse operating direction, and the path length, operating direction, and the order of passing through each processing stage are written into the remaining conveying path data.

[0051] The conveying time required for the target belt section to reach the dairy product contact area is calculated based on the remaining conveying path and conveying status. When the conveyor belt maintains a constant operating speed, the conveying time is obtained by dividing the remaining conveying path length by the operating speed. When the conveyor is currently in a stopped state, the waiting time between the planned start time and the current time in the production operation data is included in the conveying time. When the remaining conveying path contains multiple speed ranges, the path length of each range is divided by the corresponding operating speed and the time of each range is accumulated. The accumulated conveying time is added to the current time to form a candidate arrival time, and the dairy product delivery status corresponding to the candidate arrival time is queried in the dairy product delivery data.

[0052] When the candidate arrival time is in the dairy product delivery state, the candidate arrival time is determined as the contact time; when the candidate arrival time is in the paused delivery state, the arrival time of each subsequent entry into the dairy product contact area of ​​the target belt segment is calculated according to the conveyor belt circulation path until the corresponding arrival time falls into the dairy product delivery period, and the arrival time that first meets the condition is determined as the contact time; the contact time represents the time when the front end of the target belt segment enters the starting position of the dairy product contact area in the dairy product delivery state, and serves as the cutoff boundary for the completion of the recovery task.

[0053] The task duration determination subunit reads the residual removal conditions and execution parameters from the residual removal task. The execution parameters record the medium switching time, equipment state switching time, planned medium temperature, and conveying speed between adjacent execution actions. When the residual removal task contains multiple execution actions, the task duration of each execution action is taken as the corresponding minimum action duration recorded in the residual removal conditions. Then, the minimum action duration of each execution action is added to the medium switching time and equipment state switching time between adjacent actions to form the task duration of the residual removal task.

[0054] The target effective duration is read from the sterilization task; the target effective duration for a complete sterilization task is the sterilization hold time in the sterilization requirements, and the target effective duration for a remaining sterilization task is the remaining effective duration in the sterilization results; when the sterilization equipment operates according to the planned control parameters and the planned sterilization temperature reaches the sterilization temperature requirement, the target effective duration is determined as the task duration of the sterilization task; the preparation time required for the equipment to heat up to the sterilization temperature requirement is not included in the target effective duration, and is excluded by the execution window sub-unit when forming the executable window of the sterilization task.

[0055] The current surface temperature, the corresponding dairy product contact temperature requirement, and the execution parameters for the temperature recovery stage are read from the temperature recovery task. When the contact temperature requirement is recorded using a temperature range and the current surface temperature is higher than the upper limit of the range, the task duration is determined by dividing the difference between the current surface temperature and the upper limit of the range by the cooling rate in the execution parameters. When the current surface temperature is lower than the lower limit of the range, the task duration is determined by dividing the difference between the lower limit of the range and the current surface temperature by the heating rate. When the current surface temperature falls within the temperature range, the task duration is recorded as zero. When the contact temperature requirement is recorded using the upper limit of the temperature range, the task duration is determined by dividing the difference between the current surface temperature and the upper limit of the temperature range by the cooling rate. When the current surface temperature does not exceed the upper limit of the temperature range, the task duration is recorded as zero.

[0056] The cooling rate or heating rate is determined using the most recently completed similar execution data during the temperature recovery phase. The similar execution data is matched according to the dairy product category and the operating parameters of the temperature recovery phase, and the rate value is formed by dividing the change in belt surface temperature by the corresponding execution duration. When the current belt surface temperature is 85℃, the upper limit of the contact temperature requirement is 25℃, and the cooling rate recorded in the execution parameters is 2℃ / second, the task duration of the temperature recovery task is taken as 30 seconds.

[0057] The execution window determines the sub-unit based on the remaining conveying path and conveying status of the target strip section, and calculates the time when the target strip section enters and leaves the residual removal stage, sterilization stage and temperature recovery stage between the current time and the contact time. The entry time to exit time of each processing stage forms the basic time range of the corresponding task, and then the basic time range is superimposed on the equipment operation plan, equipment availability status and plan control parameters of the corresponding processing stage for calculation.

[0058] The time period during which the residue removal equipment is in an updatable state and the planned medium temperature falls within the residue removal condition limit is defined as the executable window for the residue removal task; the time period during which the sterilization equipment is in an available state and the planned sterilization temperature reaches the sterilization temperature requirement is defined as the executable window for the sterilization task; the time period during which the temperature control equipment is in an available state and can operate according to the temperature recovery execution parameters is defined as the executable window for the temperature recovery task; each executable window records the start time, end time, corresponding task identifier, and target zone segment identifier for the reverse allocation subunit to read; the actual control parameters and detection data after task execution are verified by the result update subunit.

[0059] The reverse allocation subunit uses the contact time as the latest end time of the last task in the recovery path, and reads the temperature recovery task, sterilization task, and residue removal task in reverse order of the recovery path. For the current task, it selects a continuous time period from the corresponding executable window whose end time is no later than the start time of the subsequent task and whose duration is equal to the duration of the current task. When multiple executable windows meet the conditions, the continuous time period with the latest end time is selected. The end time of the selected continuous time period is subtracted from the task duration to form the task start time, and this task start time is used as the latest end boundary when allocating the previous task, until the tasks in the recovery path are allocated in reverse order.

[0060] When the recovery path contains only temperature recovery tasks, the latest continuous time period that meets the task duration before the contact time is selected from the executable window corresponding to the temperature recovery task. When the recovery path contains remaining sterilization tasks and temperature recovery tasks, the temperature recovery tasks are allocated first, and then the remaining sterilization tasks are allocated with the start time of the temperature recovery tasks as the boundary. When the recovery path contains residue removal tasks, sterilization tasks, and temperature recovery tasks, the allocation is completed in reverse order according to the order of temperature recovery tasks, sterilization tasks, and residue removal tasks, and the resulting execution time period is consistent with the forward task order specified in the recovery path.

[0061] Given that the contact time is 10:00, the temperature recovery task duration is 5 minutes, the sterilization task duration is 15 minutes, and the residue removal task duration is 8 minutes, first select a 5-minute continuous time period that ends no later than 10:00 from the temperature recovery task executable window; then select a 15-minute continuous time period that ends no later than the temperature recovery task start time from the sterilization task executable window; and finally select an 8-minute continuous time period that ends no later than the sterilization task start time from the residue removal task executable window. When each time period meets the corresponding executable window, a scheduling result is generated in which the residue removal task, sterilization task, and temperature recovery task are executed sequentially.

[0062] The start time of the first task in the recovery path is determined as the allowed start time; the target area segment identifier, contact time, each task identifier, each task duration, execution period and allowed start time are written into the recovery schedule, and the recovery schedule is passed to the execution control unit to determine whether the recovery path can be completed before the contact time.

[0063] Execution control unit refer to Figure 4 The execution control unit includes a completion determination subunit, an instruction output subunit, a scheduling gap determination subunit, an adjustment instruction determination subunit, and a scheduling update subunit. The completion determination subunit verifies whether the recovery path can be completed according to the recovery schedule. The instruction output subunit outputs control instructions in the order of tasks when the completion conditions are met. The scheduling gap determination subunit calculates the time that needs to be delayed when the completion conditions are not met. The adjustment instruction determination subunit selects whether to delay the delivery of dairy products or run the conveyor belt without load based on this. The scheduling update subunit updates the contact time based on the adjustment results and calls back the recovery scheduling unit so that the target belt section has an executable recovery schedule before actually contacting the dairy products.

[0064] The completion judgment subunit reads the task duration, execution period, and allowed start time of the first task in the recovery path for each task in the recovery schedule. For each task, the allocated duration is obtained by subtracting the start time from the end time of the execution period, and the allocated duration is compared with the task duration. If each task has an execution period, the allocated duration of each execution period reaches the corresponding task duration, and the current time recorded by the system clock is not later than the allowed start time, a complete result is formed. If any task lacks an execution period, has insufficient allocated duration, or the current time is later than the allowed start time, an incomplete result is formed.

[0065] After generating a achievable result, the instruction output subunit reads the task identifier, task sequence, execution time period, and execution parameters from the recovery path, and writes the target strip segment identifier, task type, start time, end time, and corresponding execution parameters into the control instruction. The control instruction for the residue removal task writes the removal action, planned action temperature, and action duration; the control instruction for the sterilization task writes the sterilization temperature requirement and target effective action duration; and the control instruction for the temperature recovery task writes the current strip temperature, contact temperature requirement, and temperature recovery execution parameters. Each control instruction is written into the instruction queue according to the task sequence specified in the recovery path and sent sequentially to the controller of the corresponding processing stage.

[0066] When an incomplete result is formed, the scheduling gap determination subunit calculates the arrival time of each subsequent entry of the target strip into the dairy product contact area after the original contact time, based on the running position and conveying status of the target strip. Each arrival time is then used as a candidate contact time assuming the corresponding time is in the dairy product delivery state. For each candidate contact time, the scheduling recovery unit is called to recalculate the executable window and execution period of each task. The earliest feasible contact time is determined when each task obtains an execution period that meets the task duration and allows the start time to be no earlier than the current time.

[0067] The earliest feasible contact time is subtracted from the original contact time, and the resulting non-negative duration is written into the scheduling gap field. For example, if the original contact time is 10:00 and the candidate contact time that first meets the conditions for a complete recovery path scheduling is 10:08, the scheduling gap is 8 minutes and is transmitted to the adjustment instruction determination subunit.

[0068] The adjustment instruction determines the subunit by reading the planned delivery time and the latest allowed delivery time from the dairy product delivery plan of the current production batch, and subtracting the planned delivery time from the latest allowed delivery time to form the delayed delivery time of dairy products; the single empty cycle time of the conveyor belt is determined based on the complete cycle path of the conveyor belt and the corresponding conveying state; when the conveying state adopts a constant operating speed, the single empty cycle time is obtained by dividing the length of the complete cycle path by the operating speed; when the complete cycle path includes different speed sections or planned dwell time periods, the running time of each section is calculated separately and the planned dwell time is added to obtain the cumulative single empty cycle time.

[0069] The delay time for dairy product delivery is compared with the scheduling gap. If the delay time for dairy product delivery is greater than or equal to the scheduling gap, the original dairy product delivery time is postponed to the next scheduling gap to form a delayed dairy product delivery time. A delayed dairy product delivery instruction containing the delay time and the delayed dairy product delivery time is generated.

[0070] When the delay time for dairy product delivery is less than the scheduling gap, the scheduling gap is divided by the single empty cycle time of the conveyor belt, and the calculation result is rounded up to form the number of empty cycles required to cover the scheduling gap; for example, when the scheduling gap is 18 minutes and the single empty cycle time of the conveyor belt is 12 minutes, the number of empty cycles is 2; the number of empty cycles, the target belt section identifier, and the control status of stopping dairy product delivery during empty operation are all written into the conveyor belt empty operation instruction.

[0071] After generating the delayed dairy product delivery instruction, the scheduling update subunit selects the first arrival time of the target belt segment that is in the dairy product delivery state and is no earlier than the delayed dairy product delivery time, based on the delayed dairy product delivery time and the arrival time of each subsequent entry into the dairy product contact area, and updates it as the contact time. After generating the conveyor belt no-load operation instruction, the subunit extends the system time according to the number of no-load cycles and the duration of a single no-load cycle of the conveyor belt, and updates the running position and subsequent arrival times of the target belt segment based on the conveyor operation data during the no-load operation. It then selects the next dairy product delivery time after the end of the no-load operation and redetermines the contact time of the target belt segment entering the dairy product contact area in the dairy product delivery state. The updated contact time is then transmitted to the recovery scheduling unit, which redetermines the executable window, execution period, and allowed start time of each task, forming the updated recovery schedule.

[0072] Release control unit refer to Figure 4 The release control unit includes a result update subunit, a release verification subunit, a status generation subunit, and a path reconstruction subunit. The result update subunit updates the corresponding processing results based on the actual execution of the recovery path. The release verification subunit checks whether the three processing results meet their respective requirements. When the verification is passed, the status generation subunit establishes the release relationship between the target strip area and the contact time. The path reconstruction subunit handles new abnormal events that occur during the execution of the recovery path and before contact after release, so as to ensure that the processing results on which the dairy product release permission status is based are consistent with the latest status of the target strip area.

[0073] The result update subunit reads the task start time, task end time, actual control parameters, and detection data from the control log of the corresponding processing stage according to the task identifier and target area segment identifier in the recovery schedule. The data corresponding to the residue removal task is taken from the action execution data and temperature sampling data of the residue removal stage, the data corresponding to the sterilization task is taken from the temperature sampling data of the sterilization stage, and the data corresponding to the temperature recovery task is taken from the area temperature detection data of the temperature recovery stage. The read data is limited to the actual execution period of the task according to the sampling time and is associated with the corresponding task in the recovery path.

[0074] The actual actions, operating temperatures, and operating durations of the residue removal task are compared with the residue removal conditions. If the actions match the residue removal conditions, the operating temperature is within the corresponding temperature range, and the effective operating duration reaches the minimum operating duration, the residue removal result is updated to meet the residue removal requirements. If any condition is not met, the residue removal result is updated to not meet the residue removal requirements. The updated residue removal result is written into the processing record of the target strip area.

[0075] The actual sterilization temperature during the sterilization task execution is selected according to the sterilization temperature requirements, and the effective action time for reaching the sterilization temperature requirements is accumulated according to the time difference between adjacent sampling times. When the recovery path includes the remaining sterilization task, the accumulated effective action time is added to the completed effective action time retained before the sterilization interruption, and then the sterilization hold time is subtracted from the sum to form a new remaining effective action time. When the recovery path includes the complete sterilization task, the accumulated effective action time of this task is used to form a new completed effective action time, and the remaining effective action time is recalculated accordingly. The updated completed effective action time and remaining effective action time are written into the sterilization result.

[0076] After the temperature recovery task is completed, the result update subunit reads all valid temperature sampling values ​​formed during the period when the target strip section passes through the exit detection position of the temperature recovery stage. When the contact temperature requirement is recorded using a temperature range, if all valid temperature sampling values ​​are between the lower limit and the upper limit of the range, the temperature control result is updated to meet the contact temperature requirement. If any valid temperature sampling value exceeds the temperature range, the temperature control result is updated to not meet the contact temperature requirement. When the contact temperature requirement is recorded using a temperature upper limit, the highest value among all valid temperature sampling values ​​is compared with the temperature upper limit. If the highest value does not exceed the temperature upper limit, the temperature control result is updated to meet the contact temperature requirement. If the highest value exceeds the temperature upper limit, the temperature control result is updated to not meet the contact temperature requirement.

[0077] The recovery path is checked based on the correspondence between task type and processing result type. If the recovery path does not include a residual removal task, the original residual removal result is retained; if it does not include a sterilization task, the original sterilization result is retained; if it does not include a temperature recovery task, the original temperature control result is retained. The retained processing results and the updated processing results together form the set of processing results currently used in the target strip area and are transferred to the release verification subunit.

[0078] The release verification subunit reads the current residue removal results, sterilization results, and temperature control results for the target zone area and compares them with the residue removal requirements, sterilization requirements, and contact temperature requirements of the corresponding dairy products, respectively. If the residue removal result is recorded as meeting the residue removal requirements, the remaining effective action time in the sterilization result is zero, and the temperature control result is recorded as meeting the contact temperature requirements, all three verification items are recorded as passed. If any verification item fails, the release verification result is recorded as failed, and the result type and current value of the failed item are saved.

[0079] After all three verification items in the release verification result pass, the status generation subunit reads the contact time determined by the recovery schedule and writes the target strip segment identifier, contact time, and release verification result into the same status data to generate a dairy product placement permission status. The dairy product placement permission status is maintained from the generation time until the corresponding contact time and serves as the basis for the dairy product placement control process to determine whether the target strip segment is allowed to enter the dairy product contact area at the corresponding contact time. After the target strip segment completes the corresponding contact process, the dairy product placement permission status is updated to the executed status. If the release verification result fails, the dairy product placement permission status is not generated.

[0080] The path reconstruction subunit establishes a first detection period from the start time of the recovery path execution to the end time of the recovery path execution, and a second detection period from the time of the generation of the dairy product delivery permission status to the contact time. The path reconstruction subunit continuously reads the conveyor belt process control log. When a new abnormal event is detected in any detection period, the subunit determines the belt area affected by the new abnormal event based on the location, duration, and conveyor operation data of the new abnormal event. When the new abnormal event affects the target belt area, it transmits the new abnormal event to the abnormal impact determination subunit of the recovery path generation unit.

[0081] Based on the event type of the new abnormal event, query the failure relationship between the event type and the processing result to form a set of failure results corresponding to the new abnormal event; arrange the processing results in the set of failure results according to the processing order of residue removal, sterilization and temperature recovery, determine the processing result with the earliest order as the new earliest failure result, and determine the corresponding processing stage as the new recovery starting point.

[0082] Check the processing results that precede the new earliest invalid result; if the corresponding processing result is not affected by the new abnormal event and still meets the corresponding requirements, write the corresponding processing result into the retained result data; if a dairy product release permit status has been generated, change the dairy product release permit status to a revoked status, so that the target area segment cannot enter the dairy product release process based on the original dairy product release permit status before the new recovery path is completed and the release verification is passed again.

[0083] The new earliest failure result, the new recovery starting point, and the retained result data are transmitted to the recovery path generation unit. The recovery path generation unit reorganizes the recovery task from the processing stage corresponding to the new recovery starting point and uses the processing results that are not affected by the new abnormal event and meet the corresponding requirements. The regenerated recovery path enters the recovery scheduling, execution control, and release verification process in sequence, and re-forms the dairy product release permission status corresponding to the target area segment status after the new abnormal event.

[0084] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A clean conveyor belt intelligent sterilization and temperature control system suitable for deep processing of dairy products, characterized in that, include: The status determination unit acquires abnormal events and conveying operation data, determines the target belt area based on the location and duration of the abnormal events and the conveying operation data, acquires the processing record of the target belt area, and generates residue removal results, sterilization results, and temperature control results based on the processing record. The recovery path generation unit, based on the impact of abnormal events on residue removal, sterilization, and temperature control results, determines the earliest failure result from the processing results affected by the abnormal event, according to the processing order of residue removal, sterilization, and temperature recovery. It retains the processing results that precede the earliest failure result, are not affected by the abnormal event, and meet the corresponding requirements, and generates a recovery path starting from the processing stage corresponding to the earliest failure result. In the event of a dairy product re-contact event, the residue removal result is determined as the earliest failure result, and the recovery path includes the residue removal task, sterilization task, and temperature recovery task in sequence. The recovery scheduling unit determines the next contact time for the target strip section to enter the dairy product contact area under the dairy product delivery state, based on the operating position and conveying status of the target strip section. Using the contact time as the cutoff boundary, the execution time of each task is allocated in reverse order of the recovery path to form a recovery schedule. The execution control unit outputs control commands corresponding to each task when the recovery path can be completed according to the recovery schedule; when the recovery path cannot be completed according to the recovery schedule, it outputs delayed dairy product delivery commands or conveyor belt no-load operation commands, and re-forms the recovery schedule based on the updated contact time. The release control unit updates the processing results of each task in the recovery path according to the execution results of the recovery path, retains the processing results of tasks not included in the recovery path, and generates a dairy product release permission status when the residue removal result, sterilization result, and temperature control result meet the residue removal requirement, sterilization requirement, and contact temperature requirement of the corresponding dairy product, respectively.

2. The system according to claim 1, characterized in that, The state determination unit includes: The section positioning subunit obtains the location and duration of the abnormal event, as well as the running trajectory of the conveyor belt during the duration, and determines the belt surface range that passes through the location of the abnormal event as the target belt surface section. Record the associated sub-units, and according to the processing order of the target strip area through the residue removal stage, sterilization stage and temperature recovery stage, associate the execution data and execution time of each processing stage with the target strip area to form a processing record.

3. The system according to claim 2, characterized in that, The processing records include residue removal records, sterilization execution records, and temperature recovery records; the sterilization requirements include sterilization temperature requirements and sterilization holding time. The status determination unit compares the executed actions, operating temperature, and operating duration in the residue removal record with the residue removal conditions to form the residue removal result; The status determination unit accumulates the time it takes for the actual sterilization temperature to reach the required sterilization temperature in the sterilization execution record, forming the effective action time that has been completed. The non-negative value obtained by subtracting the effective action time from the sterilization holding time is determined as the remaining effective action time, and a sterilization result containing the remaining effective action time is generated. The status determination unit compares the surface temperature in the temperature recovery record with the contact temperature requirements of the corresponding dairy products to form a temperature control result.

4. The system according to claim 3, characterized in that, The recovery path generation unit includes: The abnormal impact determination sub-unit obtains the event type and duration of the abnormal event, determines the processing results affected by the abnormal event based on the failure relationship between the event type and the processing result, and forms a set of failure results. Among them, re-contact events with dairy products invalidate the residue removal results, sterilization results, and temperature control results; spraying events where the spraying medium does not meet the cleanliness requirements invalidate the sterilization results and temperature control results, do not retain the completed effective action time in the original sterilization results, and determine the sterilization hold time as the new remaining effective action time; reheating events after temperature recovery invalidate the temperature control results; sterilization interruption events invalidate the sterilization results, but retain the completed effective action time before the sterilization interruption.

5. The system according to claim 4, characterized in that, The recovery path generation unit further includes: The failure sequence determination sub-unit arranges the residue removal results, sterilization results, and temperature control results according to the processing order of residue removal, sterilization, and temperature recovery. The processing result with the earliest processing order is selected from the failure result set to form the earliest failure result. The recovery start point is determined by the sub-unit, which retains the processing results that are located before the earliest failure result and meet the corresponding requirements, and determines the processing stage corresponding to the earliest failure result as the recovery start point.

6. The system according to claim 5, characterized in that, When a dairy product re-contact event occurs, the recovery path generation unit determines the residue removal result as the earliest failure result, matches the upper limit of the pre-rinse temperature according to the type of dairy product re-contact, determines the pre-rinse process with a rinsing temperature not higher than the upper limit of the pre-rinse temperature as the residue removal task, and generates the recovery path corresponding to the dairy product re-contact event in the order of residue removal task, sterilization task and temperature recovery task.

7. The system according to claim 5, characterized in that, The recovery path generation unit generates a recovery path based on the recovery starting point, including: When the recovery starting point is the temperature recovery stage, a temperature recovery task is generated based on the contact temperature requirements of the corresponding dairy products and the current surface temperature of the target area. When the recovery starting point is the sterilization stage, a remaining sterilization task is generated based on the remaining effective duration in the sterilization results, and a temperature recovery task is generated after the remaining sterilization task. When the recovery starting point is the residue removal stage, the recovery path is generated in the order of residue removal task, sterilization task, and temperature recovery task.

8. The system according to claim 7, characterized in that, The recovery scheduling unit includes: The contact time determination sub-unit obtains the running position, conveying status and dairy product contact area position of the target belt section, determines the remaining conveying path from the target belt section to the dairy product contact area, and determines the contact time of the target belt section entering the dairy product contact area next in the dairy product delivery state based on the remaining conveying path and conveying status. The task duration determination subunit determines the task duration of each task based on the residue removal conditions and execution parameters of the residue removal task, the target effective action duration of the sterilization task, and the current surface temperature, contact temperature requirements, and execution parameters of the temperature recovery task. The execution window determines the sub-unit, and forms the executable window corresponding to each task based on the time period of the target strip section passing through each processing stage along the remaining transport path between the current time and the contact time. The sub-units are assigned in reverse order, with the contact time as the cutoff boundary. Continuous time periods that meet the task duration are selected sequentially from the corresponding executable window in reverse order of the recovery path to form the execution time periods of each task. The start time of the first task in the recovery path is determined as the allowed start time, and a recovery schedule is generated.

9. The system according to claim 8, characterized in that, The execution control unit includes: The completion decision subunit is formed when each task in the recovery schedule has an execution period that meets the task duration and the current time is not later than the allowed start time; otherwise, an incomplete result is formed. The instruction output subunit, when a complete result is formed, converts each task and its corresponding execution time period into control instructions, and outputs the control instructions according to the task order of the recovery path; The scheduling gap determination sub-unit, when an incomplete result is formed, postpones the contact time until each task in the recovery path can obtain an execution period that meets the task duration and allows the start time to be no earlier than the current time, forming the earliest feasible contact time, and the duration between the earliest feasible contact time and the original contact time is determined as the scheduling gap. The adjustment instruction determines the sub-unit, obtains the delay time for dairy product delivery and the single empty cycle time of the conveyor belt, generates a delayed dairy product delivery instruction when the delay time for dairy product delivery can cover the scheduling gap, and generates an empty cycle instruction for the conveyor belt based on the number of empty cycles required to cover the scheduling gap when the delay time for dairy product delivery cannot cover the scheduling gap. The scheduling update subunit updates the contact time based on the delayed dairy product delivery time or the next dairy product delivery time after no-load operation, and triggers the recovery scheduling unit to regenerate the recovery schedule.

10. The system according to claim 9, characterized in that, The release control unit includes: The result update subunit obtains the actual execution data of each task in the recovery path, compares the actual execution data with the processing requirements of the corresponding task, updates the processing results of each task according to the comparison results, and retains the processing results of tasks not included in the recovery path. The release verification subunit compares the residue removal results, sterilization results, and temperature control results with the residue removal requirements, sterilization requirements, and contact temperature requirements of the corresponding dairy products, respectively, to form the release verification results; The status generation subunit associates the target strip area with the contact time to generate the dairy product release permit status when the release verification results show that the residue removal results, sterilization results, and temperature control results all meet the corresponding requirements. When a new abnormal event is detected during the execution of the recovery path or after the dairy product placement permission status is generated but before the contact time, the path reconstruction subunit determines the new earliest failure result based on the new abnormal event, retains the processing result that is located before the new earliest failure result, is not affected by the new abnormal event, and still meets the corresponding requirements; when the dairy product placement permission status has been generated, the corresponding dairy product placement permission status is revoked, and the recovery path generation unit is triggered to regenerate the recovery path from the processing stage corresponding to the new earliest failure result.

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