Automatic adsorption device for cleaning inner wall of tobacco industry liquid tank

Abstract

The application discloses an automatic adsorption device for cleaning the inner wall of a tobacco industry liquid tank, which comprises a mounting seat, a double-adsorption-disc assembly, a sealing protection assembly, a pressure collection assembly, a negative pressure driving assembly and a control unit. The double-adsorption-disc assembly is arranged on the mounting seat and is used for forming negative pressure adsorption with the inner wall of the liquid tank. The pressure collection assembly is used for collecting negative pressure data of the two adsorption discs respectively. The negative pressure driving assembly is used for providing negative pressure to the double-adsorption-disc assembly. The control unit is used for obtaining negative pressure data, negative pressure driving assembly operation data, cleaning tool movement data and brushing load data, taking the adsorption disc with lower negative pressure or greater leakage trend as a control reference, generating target negative pressure and target rotating speed, and outputting a cleaning tool speed reduction, pause, back-off re-adsorption or alarm shutdown instruction when the adsorption margin is insufficient.

Description

Technical Field

[0001] This invention relates to the tobacco industry, and more specifically to an automatic adsorption device for cleaning the inner wall of a tobacco industry liquid tank. Background Technology

[0002] In tobacco production, liquid tanks are typically used for storing, preparing, or transferring tobacco liquids. The inner walls of these tanks are prone to retaining residues of the liquid, which can be sticky, acidic, or sugary. Insufficient cleaning of the inner walls can lead to these residues affecting the quality of subsequent liquids and increasing hygiene and safety risks. To reduce the risks associated with manual entry into the liquid tanks, automated cleaning tools are increasingly being used to clean the inner walls. These cleaning tools rely on adsorption devices for stable fixation and movement when operating on the tank's inner walls.

[0003] Existing adsorption devices typically create negative pressure adsorption between the cleaning tool and the inner wall of the tank using vacuum suction cups and a vacuum pump. Some devices can also detect the negative pressure using pressure sensors and perform simple closed-loop regulation. However, the cleaning conditions of the inner wall of the tobacco liquid tank are quite complex. The adsorption stability depends not only on the current negative pressure level but also on factors such as the curved transition of the inner wall of the tank, the liquid adhering to the sealing gasket, the reaction force of the cleaning brush, the acceleration of the cleaning tool, cable traction, and uneven adhesion of the two adsorption plates. If the vacuum pump speed is increased or decreased based solely on the current negative pressure deviation, it is difficult to promptly identify early signs of failure such as localized lifting of the adsorption plate, leakage on the weaker side of the adsorption plate, and the inability to restore negative pressure despite increased pump speed. Summary of the Invention

[0004] To achieve the above and other related objectives, this invention discloses an automatic adsorption device for cleaning the inner wall of a liquid tank in the tobacco industry, comprising a mounting base, a double adsorption plate assembly, a sealing and protection assembly, a pressure acquisition assembly, a negative pressure drive assembly, and a control unit. The dual adsorption plate assembly is mounted on the mounting base and is used to form a negative pressure adsorption with the inner wall of the liquid tank; The pressure acquisition component is used to collect negative pressure data from the two adsorption plates respectively; The negative pressure drive component is used to provide negative pressure to the dual adsorption disk assembly; The control unit is used to acquire negative pressure data, negative pressure drive component operation data, cleaning tool movement data, and brushing load data. It uses the suction plate with low negative pressure or a large leakage trend as the control reference to generate target negative pressure and target speed. When the suction margin is insufficient, it outputs cleaning tool deceleration, pause, retraction for re-suction, or alarm shutdown commands.

[0005] Preferably, the dual adsorption plate assembly includes a first adsorption plate and a second adsorption plate. Both the first and second adsorption plates are mounted on the mounting base through a connection structure that allows for fine-tuning of the angle. The sealing and protection assembly includes a food-grade elastic sealing gasket disposed on the adsorption edges of the first and second adsorption plates, and a waterproof sealing structure disposed at the electrical connection points of the pressure acquisition assembly, the negative pressure drive assembly, and the control unit. The pressure acquisition component includes a first pressure acquisition channel connected to a first adsorption plate and a second pressure acquisition channel connected to a second adsorption plate. The negative pressure drive component is a waterproof vacuum pump that can change its rotation speed according to the rotation speed control command.

[0006] Preferably, the control unit includes a parameter calibration module, which is used to perform a calibration process after initial use, replacement of the adsorption plate, or replacement of the sealing gasket. The calibration process includes: Collect the no-load current of the cleaning brush and determine the no-load brushing current when the cleaning tool is not in contact with the inner wall of the liquid tank. When the adsorption plate is attached to the standard test surface and the negative pressure drive component is running at multiple calibrated speeds, the negative pressure response data is recorded and the prediction model parameters are determined. While the cleaning brush is running with at least two known contact loads, record the changes in brushing current and determine the calibration coefficient between the brushing current and the brushing reaction force. Determine the effective adsorption area based on the specifications of the adsorption plate; The no-load brushing current, calibration coefficient, effective adsorption area, and prediction model parameters are stored in the control unit.

[0007] Preferably, the control unit includes a leakage trend identification module, which is used to perform median filtering and low-pass filtering on the negative pressure data collected by the pressure acquisition component, and calculate the first... The first adsorption disk in the... Pressure attenuation coefficient at each sampling time : in, For the first The first adsorption disk in the... Pressure attenuation coefficient at each sampling time For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, This refers to the number of sampling intervals within the detection window. The sampling period; The sampling period The number of sampling intervals within the detection window is 50ms to 100ms. The range is 3 to 10.

[0008] Preferably, the control unit includes an adsorption response recognition module, which is used to calculate the adsorption response recognition module. Negative pressure response gain of each adsorption disk The negative pressure difference between the two adsorption disks : in, For the first Negative pressure response gain of each adsorption disk For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first Rotation speed of the negative pressure drive component at each sampling time. For the first Rotation speed of the negative pressure drive component at each sampling time. To prevent tiny constants with a denominator of zero, The negative pressure difference between the two adsorption disks. This represents the negative pressure amplitude of the first adsorption plate. This represents the negative pressure amplitude of the second adsorption disk; when Exceeding the pressure difference threshold At that time, the control unit and The adsorption disk corresponding to the smaller one is controlled as the weaker adsorption disk.

[0009] Preferably, the control unit includes a target negative pressure generation module, which is used to generate a target negative pressure. : in, For the first The adsorption holding force required to maintain stable adsorption of the cleaning tool at each sampling time. For the equivalent quality of cleaning tools, It is the acceleration due to gravity. For the attitude angle of the cleaning tool, The acceleration of the cleaning tool as it moves tangentially along the inner wall of the liquid tank. This is an estimate of the reaction force from the scrubbing action. To pre-set additional disturbance holding force, This is the calibration coefficient between the scrubbing current and the scrubbing reaction force. For cleaning brush drive current, This is the no-load brushing current. For the first The adhesion efficiency coefficient of each adsorption plate. To meet the lower limit of efficiency, To predict the length of time, To achieve negative pressure, For safety margin coefficient, For the first The effective adsorption area of ​​each adsorption plate. Minimum allowable negative pressure, For the maximum permissible negative pressure, This indicates that the calculated value is restricted to... to between.

[0010] Preferably, the control unit includes a pump speed search control module, which is used to search for the pump speed based on the current rotational speed. and rotational speed search step size Construct a candidate speed set : And calculate the predicted negative pressure corresponding to the candidate rotational speed based on the discrete prediction model: in, For the first The set of candidate rotational speeds at each sampling time. The search step size for rotational speed. The predicted negative pressure at the next sampling time is... , and These are the parameters of the prediction model obtained through calibration. The weak-side reference negative pressure, For candidate rotational speeds, The comprehensive pressure attenuation coefficient used for weak-side control. The pressure attenuation coefficient of the first adsorption disk. is the pressure attenuation coefficient of the second adsorption disk.

[0011] Preferably, the pump speed search control module is used to calculate the control cost corresponding to each candidate rotational speed. and will control the cost The smallest candidate speed is taken as the target speed: in, In order to control costs, The predicted negative pressure at the next sampling time is... To achieve negative pressure, This is the speed smoothing coefficient. For candidate rotational speeds, For the first Rotation speed of the negative pressure drive component at each sampling moment; Candidate speeds satisfy ,in, Minimum permissible speed, This is the maximum permissible speed.

[0012] Preferably, the control unit includes a motion coordination and re-adsorption module, which is used to calculate the adsorption margin. And generate the target speed for cleaning tools. : in, As an adsorption margin, To achieve the target speed for cleaning tools, For normal cleaning speed, This is the first margin threshold. This is the second margin threshold; when No more than 1 second to 3 seconds Or the weak-side reference negative pressure is lower than 1s to 3s continuously. At this time, the motion coordination and re-adsorption module controls the cleaning tool to pause its movement, maintains or increases the speed of the negative pressure drive component, controls the cleaning tool to move back 10mm to 50mm along the original movement path, and re-detects the weak side reference negative pressure. If the weak-side baseline negative pressure remains below [a certain value] after 2 to 3 consecutive re-adsorption cycles... If the cleaning brush stops moving and the cleaning tool stops moving, an alarm signal will be output.

[0013] By adopting the above technical solution, this invention, while retaining the basic hardware such as the mounting base, dual adsorption plate assembly, sealing and protection assembly, pressure acquisition assembly, and negative pressure drive assembly, enables the device to adaptively adjust the speed of the negative pressure drive assembly based on the actual adhesion state of the dual adsorption plates and the workload of the cleaning tool through parameter calibration, pressure attenuation identification, negative pressure response identification, weak-side adsorption plate control, target negative pressure generation, candidate speed search, motion coordination, and retraction re-adsorption control by the control unit. When the adsorption margin is insufficient, it can automatically reduce the speed of the cleaning tool, pause movement, retract for re-adsorption, or alarm and shut down. Therefore, it can improve the adsorption stability under conditions of wet liquid tanks, liquid splashing, arc transitions, and localized residue adhesion, and reduce the risk of cleaning tool slippage, detachment, and pressure damage to the tank surface. Attached Figure Description

[0014] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the scope of this disclosure. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein: Figure 1 This is a schematic diagram of the control unit module in an embodiment of the present invention. Detailed Implementation

[0015] 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.

[0016] This invention provides an automatic adsorption device for cleaning the inner wall of a tobacco liquid tank, comprising a mounting base, a dual adsorption plate assembly, a sealing and protection assembly, a pressure acquisition assembly, a negative pressure drive assembly, and a control unit. The mounting base is used to connect to the main body of the cleaning tool. The dual adsorption plate assembly is located on the side of the mounting base facing the inner wall of the liquid tank. The sealing and protection assembly is located at the adsorption edge of the dual adsorption plate assembly and at each electrical connection point. The pressure acquisition assembly is used to collect negative pressure data from the two adsorption plates respectively. The negative pressure drive assembly is used to extract air between the adsorption plates and the inner wall of the liquid tank and create negative pressure. The control unit is used to coordinately control the negative pressure drive assembly and the main body of the cleaning tool based on the negative pressure data, the operating data of the negative pressure drive assembly, the movement data of the cleaning tool, and the brushing load data.

[0017] In this embodiment, the mounting base is made of corrosion-resistant metal and is connected to the main frame of the cleaning tool via snap-fit, plug-in, screw-in, or other detachable connection methods. The dual adsorption plate assembly includes a first adsorption plate and a second adsorption plate, which are spaced apart on the mounting base. Both the first and second adsorption plates have food-grade elastic sealing gaskets at their adsorption edges, made of food-grade silicone rubber or food-grade fluororubber. A connection structure allowing for fine-tuning of the angle is provided between the first and second adsorption plates and the mounting base. This connection structure can be a universal ball joint, a flexible connecting seat, or an elastic hinge structure, allowing the adsorption plates to adjust their contact angle according to changes in the curvature of the inner wall of the liquid tank.

[0018] The pressure acquisition component includes a first pressure acquisition channel and a second pressure acquisition channel. The first pressure acquisition channel is connected to the negative pressure chamber of the first adsorption plate, and the second pressure acquisition channel is connected to the negative pressure chamber of the second adsorption plate. Waterproof pressure sensors are installed in both the first and second pressure acquisition channels. The negative pressure drive component uses a waterproof vacuum pump. The inlet of the waterproof vacuum pump is connected to both the first and second adsorption plates. The waterproof vacuum pump is driven by a brushless DC motor, and its speed is changed according to the speed control command output by the control unit.

[0019] In this embodiment, the first and second adsorption disks share a single negative pressure drive component. The control unit does not independently adjust the pressure of the two adsorption disks. Instead, it determines the weak-side control benchmark based on the negative pressure state and leakage trend of the two adsorption disks, and uses the negative pressure amplitude and pressure attenuation coefficient corresponding to the weak-side control benchmark as the basis for overall pump speed control, cleaning tool speed limit, and re-adsorption control.

[0020] Reference Figure 1 The control unit includes a parameter calibration module, a leakage trend identification module, an adsorption response identification module, a target negative pressure generation module, a pump speed search control module, and a motion coordination and re-adsorption module. These modules are executed sequentially by the same processor according to a preset program, or by multiple functional tasks working together. The control unit also includes a memory for storing calibration parameters, control thresholds, control programs, and cleaning process data.

[0021] The parameter calibration module is used to perform parameter calibration procedures after the automatic adsorption device is used for the first time, after replacing the adsorption plate, replacing the food-grade elastic sealing gasket, or replacing the negative pressure drive assembly. The input data for the parameter calibration module includes the cleaning brush drive current, adsorption plate specifications, negative pressure drive assembly speed, adsorption plate negative pressure data, and known brush contact load; the output data includes the no-load brush washing current. Calibration coefficient between brushing current and brushing reaction force The effective adsorption area of ​​the first adsorption plate The effective adsorption area of ​​the second adsorption disk and prediction model parameters , and .

[0022] During the no-load brushing current calibration process, the parameter calibration module controls the cleaning brush to run continuously at a preset cleaning speed for 5 to 20 seconds without contacting the inner wall of the liquid tank, and collects the cleaning brush drive current during the stable operation phase. The parameter calibration module determines the average value of the cleaning brush drive current during the stable operation phase as the no-load brushing current. .

[0023] During the brushing reaction force calibration process, the parameter calibration module operates the cleaning brush under at least two known contact loads, obtains the cleaning brush drive current corresponding to each known contact load, and determines the calibration coefficient between the brushing current and the brushing reaction force according to the following formula. : in, This is the calibration coefficient between the scrubbing current and the scrubbing reaction force. and These are two known brushing reaction forces. and These are the cleaning brush drive currents corresponding to two known brushing reaction forces, and... and different.

[0024] The parameter calibration module determines the effective adsorption area based on the effective sealing areas of the first and second adsorption disks. and When the adsorption disk is circular, the effective adsorption area can be determined based on the effective sealing diameter; when the adsorption disk uses a non-circular sealing boundary, the effective adsorption area can be the factory measured value or the corresponding value in the adsorption disk specification table.

[0025] During the calibration of the prediction model parameters, the first and second adsorption disks were attached to a flat standard stainless steel test surface, and the negative pressure drive component was controlled to operate at multiple calibration speeds. There were no fewer than five calibration speeds, covering 20% ​​to 80% of the rated speed range of the negative pressure drive component. Each calibration speed was maintained for 1 to 3 seconds. The parameter calibration module recorded the weak-side reference negative pressure, the speed of the negative pressure drive component, and the comprehensive pressure attenuation coefficient, and obtained the prediction model parameters using a least-squares fitting method. , and After calibration, the parameter calibration module will... , , , , , and Write it to memory for use in subsequent control processes.

[0026] In this embodiment, the parameter calibration module is also used to set initial control parameters. Sampling period The preferred sampling interval is 50ms to 100ms, which is the number of sampling intervals within the detection window. Preferably 3 to 10, minimum permissible negative pressure The preferred pressure is 0.02 MPa, and the maximum permissible negative pressure is... The preferred pressure is 0.05 MPa, which is the lower limit of bonding efficiency. Preferably, the prediction time length is 0.4 to 0.7. The preferred time is 0.5s to 3s, with a safety margin factor. The preferred value is 1.2 to 1.8. In pressure calculations involving force and area, Pa is used as the unit of calculation; however, it can be converted to MPa when displaying, comparing, or writing to operation records.

[0027] The leakage trend identification module is used to acquire negative pressure data collected by the first and second pressure acquisition channels, perform median filtering and low-pass filtering on the negative pressure data, and output the pressure attenuation coefficients of the first and second adsorption plates. and The negative gauge pressure output from the pressure sensor is converted and expressed as a positive value to represent the negative pressure amplitude. The filtered value is then... The first adsorption disk in the... The negative pressure amplitude at each sampling time is denoted as ,in, Indicates the first adsorption disk. This indicates the second adsorption disk.

[0028] The leakage trend identification module first takes the median of the most recent 3 to 5 raw negative pressure samples in each sampling period, and then performs low-pass filtering on the median filtering result to suppress spike interference caused by liquid splashing, hose vibration, electrical noise, and instantaneous impact of the adsorption plate. The negative pressure amplitude obtained after filtering is used as the unified input data for subsequent modules.

[0029] The leakage trend identification module calculates the first according to the following formula. The first adsorption disk in the... Pressure attenuation coefficient at each sampling time : in, For the first The first adsorption disk in the... Pressure attenuation coefficient at each sampling time For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, This refers to the number of sampling intervals within the detection window. The sampling period.

[0030] when An increase in pressure indicates a faster rate of negative pressure drop at the corresponding adsorption plate, potentially indicating residual liquid adhering to the sealing gasket, localized warping of the adsorption plate, abrupt changes in the curvature of the tank inner wall, or leakage in the negative pressure pathway. The leakage trend identification module will... and The output is sent to the adsorption response recognition module, the target negative pressure generation module, the pump speed search control module, and the motion coordination and re-adsorption module.

[0031] The adsorption response identification module is used to obtain the output of the leakage trend identification module. , , and And obtain the rotational speed of the negative pressure drive component. The adsorption response identification module is used to calculate the negative pressure response gain of the first and second adsorption disks, as well as the negative pressure difference between the two adsorption disks, and to determine the weak-side control benchmark accordingly.

[0032] The adsorption response recognition module calculates the first according to the following formula. Negative pressure response gain of each adsorption disk : in, For the first The first adsorption disk in the... Negative pressure response gain at each sampling time For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first Rotation speed of the negative pressure drive component at each sampling time. For the first Rotation speed of the negative pressure drive component at each sampling time. To prevent tiny constants with a denominator of zero.

[0033] when When the change in rotational speed is less than the preset minimum, the adsorption response identification module does not update the current negative pressure response gain, but retains the most recently calculated negative pressure response gain. The preset minimum rotational speed change can be set as the rotational speed search step size. 20% to 50%.

[0034] The adsorption response recognition module calculates the negative pressure difference between the two adsorption disks according to the following formula. : in, The negative pressure difference between the first and second adsorption disks. For the first adsorption disk in the first The negative pressure amplitude at each sampling time, For the second adsorption disk in the first The negative pressure amplitude at each sampling time.

[0035] In this embodiment, the pressure difference threshold Set to 0.003MPa to 0.008MPa. When Greater than When the adsorption response recognition module identifies the adsorption disk with the smaller negative pressure amplitude as the weak-side control benchmark; when Not greater than ,but When the pressure difference exceeds the preset leakage difference threshold, the adsorption response identification module determines the adsorption plate with the larger pressure attenuation coefficient as the weak-side control benchmark; when neither of the above two conditions is met, the adsorption response identification module still uses the adsorption plate with the smaller negative pressure amplitude as the weak-side control benchmark.

[0036] The adsorption response identification module outputs the negative pressure amplitude corresponding to the weak-side control benchmark. Comprehensive pressure attenuation coefficient and weak-side negative pressure response gain Among them, the weak-side reference negative pressure and comprehensive pressure attenuation coefficient Determine them according to the following formulas respectively: in, The weak-side reference negative pressure, The overall pressure attenuation coefficient, The pressure attenuation coefficient of the first adsorption disk. The pressure attenuation coefficient of the second adsorption disk. Weak-side negative pressure response gain. This is the negative pressure response gain corresponding to the weak-side control reference. The adsorption response identification module will... , and The output is sent to the pump speed search control module and the motion coordination and re-adsorption module.

[0037] The target negative pressure generation module is used to obtain the equivalent mass of cleaning tools. Cleaning tool posture angle The acceleration of the cleaning tool moving tangentially along the inner wall of the liquid tank Cleaning brush drive current No-load brushing current Calibration coefficient Preset additional disturbance holding force The effective adsorption area of ​​the first adsorption plate The effective adsorption area of ​​the second adsorption disk Pressure attenuation coefficient and and output the target negative pressure. .

[0038] Cleaning tool posture angle The tangential acceleration of the cleaning tool can be acquired by an inertial measurement unit or calculated based on the current position of the cleaning tool and the preset geometric model of the liquid tank. It can be provided by a motion controller, encoder, or inertial measurement unit. Preset additional disturbance holding force. Used to characterize the additional loads generated by cable traction, hose dragging, and disturbances in moving mechanisms. When the device is equipped with a cable tension sensor... It can be determined by the value collected by the cable tension sensor; when no cable tension sensor is configured, A preset safety constant is used.

[0039] The target negative pressure generation module calculates the adsorption holding force required to maintain stable adsorption of the cleaning tool according to the following formula. : in, For the first The adsorption holding force required to maintain stable adsorption of the cleaning tool at each sampling time. For the equivalent quality of cleaning tools, It is the acceleration due to gravity. For the attitude angle of the cleaning tool, The acceleration of the cleaning tool as it moves tangentially along the inner wall of the liquid tank. This is an estimate of the reaction force from the scrubbing action. Additional disturbance holding force is preset.

[0040] The target negative pressure generation module calculates the estimated value of the scrubbing reaction force according to the following formula. : in, For the first Estimates of the scrubbing reaction force at each sampling time. This is the calibration coefficient between the scrubbing current and the scrubbing reaction force. For the first Cleaning brush drive current at each sampling time This is the no-load brushing current. When Less than or equal to At that time, the estimated value of the brushing reaction force Take 0; when Greater than At that time, the estimated value of the brushing reaction force is calculated according to the increment of the cleaning brush driving current.

[0041] The target negative pressure generation module calculates the first according to the following formula. Adhesion efficiency coefficient of each adsorption plate : in, For the first The first adsorption disk in the... The fitting efficiency coefficient at each sampling time. To meet the lower limit of efficiency, For the first Pressure attenuation coefficient of each adsorption plate This is to predict the duration of the process. A higher pressure attenuation coefficient indicates a lower adhesion efficiency coefficient, meaning a poorer effective adhesion between the adsorption plate and the inner wall of the liquid tank.

[0042] The target negative pressure generation module generates the target negative pressure according to the following formula. : in, For the first The target negative pressure at each sampling time For safety margin coefficient, For adsorption and retention force, For the first The effective adsorption area of ​​each adsorption plate. For the first The adhesion efficiency coefficient of each adsorption plate. Minimum allowable negative pressure, For the maximum permissible negative pressure, This indicates that the calculation results will be restricted to... to between.

[0043] The target negative pressure generation module will generate the target negative pressure. The output is sent to the pump speed search control module, and the adsorption retention force is... Output to the motion coordination and re-adsorption module.

[0044] The pump speed search control module is used to obtain the current rotational speed of the negative pressure drive component. Rotation speed of the negative pressure drive component at the previous sampling time Weak side reference negative pressure Comprehensive pressure attenuation coefficient Target negative pressure and prediction model parameters , and It outputs the target speed of the negative pressure drive component.

[0045] The pump speed search control module searches based on the current rotational speed. and rotational speed search step size Construct a candidate speed set : in, For the first The set of candidate rotational speeds at each sampling time. This represents the current rotational speed of the negative pressure drive component. This is the search step size for rotational speed. The preferred speed is between 50 r / min and 300 r / min. Candidate speeds are below the minimum permissible speed. or higher than the maximum permissible speed When this happens, the pump speed search control module will either eliminate the candidate speed or limit it to a specific speed. to Within the range.

[0046] The pump speed search control module targets each candidate speed. The weak-side reference negative pressure at the next sampling time is predicted according to the following formula: in, To predict the weak-side reference negative pressure at the next sampling time, , and These are the prediction model parameters obtained through the parameter calibration module. The current weak-side baseline negative pressure, For candidate rotational speeds, This represents the current overall pressure attenuation coefficient.

[0047] The pump speed search control module calculates the control cost corresponding to each candidate speed according to the following formula. : in, In order to control costs, To predict the weak-side reference negative pressure at the next sampling time, To achieve negative pressure, This is the speed smoothing coefficient. For candidate rotational speeds, This represents the rotational speed of the negative pressure drive component at the previous sampling time. (Speed ​​smoothing coefficient) The preferred value is 0.001 to 0.1.

[0048] The pump speed search control module starts from satisfying the speed constraint. And the predicted negative pressure meets Among the candidate speeds, select the one with control cost The smallest candidate speed is taken as the target speed. If no candidate speed simultaneously satisfies the above constraints, then... Below Then it will not exceed The highest candidate speed is determined as the target speed; if Higher than Then it will be no less than The lowest candidate rotational speed is determined as the target rotational speed. The pump speed search control module outputs the target rotational speed to the negative pressure drive component, and simultaneously outputs the target rotational speed to the motion coordination and re-adsorption module.

[0049] The motion coordination and re-adsorption module is used to obtain the negative pressure amplitude of the first adsorption disk. The negative pressure amplitude of the second adsorption plate The effective adsorption area of ​​the first adsorption plate The effective adsorption area of ​​the second adsorption disk First adsorption plate bonding efficiency coefficient The second adsorption plate bonding efficiency coefficient Adsorption and retention force Weak side reference negative pressure Weak-side negative pressure response gain The pump speed search control module outputs the target rotation speed, and outputs the cleaning tool target speed, pause command, retraction and re-absorption command, or alarm shutdown command.

[0050] The motion coordination and re-adsorption module calculates the adsorption margin according to the following formula. : in, For the first Adsorption margin at each sampling time For the first The negative pressure amplitude of each adsorption plate For the first The effective adsorption area of ​​each adsorption plate. For the first The adhesion efficiency coefficient of each adsorption plate. This refers to the adsorption and retention force.

[0051] The motion coordination and re-adsorption module generates the target speed of the cleaning tool according to the following formula. : in, To achieve the target speed for cleaning tools, For normal cleaning speed, This is the first margin threshold. This is the second margin threshold, and Greater than In this embodiment, Set as to , Set as to .

[0052] when Not less than At the same time, the motion coordination and re-adsorption module outputs the normal cleaning speed to the motion controller of the cleaning tool body. ;when Greater than and less than At that time, the motion coordination and re-adsorption module outputs the target speed after deceleration to the motion controller. ;when Not greater than At that time, the motion coordination and re-adsorption module outputs a pause movement command to the motion controller.

[0053] The motion coordination and re-adsorption module is also used to identify compensable leakage conditions, insufficient adhesion conditions, and adsorption failure risk conditions. The leakage trend identification module obtains the average normal pressure decay coefficient in stable adsorption tests. and standard deviation The motion coordination and re-adsorption module will Determined as the leakage early warning threshold and will Determined as the leakage threshold Negative pressure response gain threshold The value is determined based on the average negative pressure response gain obtained during the parameter calibration phase, and is preferably set to 20% to 50% of the average negative pressure response gain during the stable bonding state.

[0054] When the pressure attenuation coefficient of any adsorption disk is greater than Furthermore, the negative pressure response gain of the adsorption disk is not less than At this point, the motion coordination and re-adsorption module determines that the leakage is compensable. In this compensable leakage state, the motion coordination and re-adsorption module controls the negative pressure drive component to increase to the target rotational speed output by the pump speed search control module, and limits the target speed of the cleaning tool to the normal cleaning speed. 50% to 80%.

[0055] When the weak side reference pressure is negative Below the minimum permissible negative pressure Or the comprehensive pressure attenuation coefficient Greater than And the negative pressure response gain on the weak side continuous Each sampling period is less than At that time, the motion coordination and re-adsorption module determined that the adhesion was insufficient. Preferably, the value is 3 to 10. In cases of insufficient adhesion, the motion coordination and re-adsorption module first controls the cleaning tool to pause movement and maintains the negative pressure drive component operating at the current target speed, or increases the speed of the negative pressure drive component to no more than [a certain value]. The safe operating speed.

[0056] If the insufficient fit persists for 1 to 3 seconds without recovery, or if the weak side reference negative pressure is applied... The temperature remains below the safe threshold for 1 to 3 seconds. At this point, the motion coordination and re-adsorption module determines the state to be at risk of adsorption failure. Safety threshold. Below The pressure is preferably between 0.012 MPa and 0.018 MPa. After entering the adsorption failure risk state, the motion coordination and re-adsorption module executes the re-adsorption process.

[0057] The retraction and re-adsorption process includes: controlling the cleaning tool to pause movement; maintaining or increasing the rotation speed of the negative pressure drive component; controlling the cleaning tool to retract 10mm to 50mm in the opposite direction of the current movement path; maintaining the negative pressure drive component for 1s to 3s after retraction; and reacquiring the weak-side reference negative pressure. Comprehensive pressure attenuation coefficient and weak-side negative pressure response gain Determine whether the weak-side baseline negative pressure has recovered to above.

[0058] After the reabsorption process, the weak-side reference negative pressure returns to normal. When the above conditions are met and the cleaning speed remains stable for 3 to 10 sampling cycles, the motion coordination and re-adsorption module controls the cleaning tool to operate at a speed no higher than the normal cleaning speed. The cleaning tool restarts at 50% speed; after running at low speed for 2 to 5 seconds, when the weak-side reference negative pressure, comprehensive pressure attenuation coefficient, and adsorption margin all meet the preset conditions, the motion coordination and re-adsorption module gradually restores the cleaning tool speed to the normal cleaning speed. .

[0059] After two to three consecutive reabsorption cycles, the baseline negative pressure on the weak side remains lower than... Or the overall pressure attenuation coefficient is still greater than The motion coordination and re-adsorption module outputs an alarm shutdown command to the main body of the cleaning tool. The alarm shutdown command includes stopping the cleaning brush action, stopping the movement of the cleaning tool, maintaining the negative pressure drive component at a safe speed, or shutting down the negative pressure drive component in a preset sequence, and outputting audible, visual, or communication alarm information.

[0060] In one specific embodiment, the diameters of both the first and second adsorption disks are 6.5 cm, and the permissible rotational speed range of the negative pressure drive assembly is 0 r / min to 3000 r / min. Set to 0.02MPa. Set to 0.05MPa. Set to 100ms Set to 5. Set to 0.5. Set to 1 second. Set to 1.5. Set to 0.005MPa. Set to 100 r / min, Set to 0.02, back-off distance to 30mm, single re-adsorption holding time to 2s, and allowable re-adsorption count to 3 times.

[0061] When the automatic adsorption device is running, the parameter calibration module first calls the stored calibration parameters; the leakage trend identification module collects and filters the negative pressure data of the first and second adsorption disks and calculates the pressure attenuation coefficient; the adsorption response identification module calculates the negative pressure response gain and the negative pressure difference between the two adsorption disks to determine the weak side control benchmark; the target negative pressure generation module generates the target negative pressure based on the cleaning tool's posture, motion state, brushing load, and adhesion efficiency; the pump speed search control module selects the target speed from the candidate speed set based on the weak side benchmark negative pressure and the comprehensive pressure attenuation coefficient; the motion coordination and re-adsorption module generates the target speed of the cleaning tool based on the adsorption margin, and when the adsorption margin is insufficient or there is a risk of adsorption failure in the weak side control benchmark, it sequentially performs deceleration, pause, retraction and re-adsorption, and alarm shutdown operations.

[0062] In this invention, the parameter calibration module, leakage trend identification module, adsorption response identification module, target negative pressure generation module, pump speed search control module, and motion coordination and re-adsorption module can all be implemented as program instructions stored in a computer-readable storage medium. When the program instructions are executed by the processor in the control unit, the processor completes parameter calibration, adsorption state identification, target negative pressure generation, candidate speed search, motion coordination control, and retraction re-adsorption control, thereby realizing automatic adsorption and safety protection during the cleaning process of the inner wall of the liquid tank in the tobacco industry.

[0063] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0064] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0065] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic adsorption device for cleaning the inner wall of a liquid tank in the tobacco industry, characterized in that, Includes a mounting base, a dual adsorption plate assembly, a sealing and protection assembly, a pressure acquisition assembly, a negative pressure drive assembly, and a control unit; The dual adsorption plate assembly is mounted on the mounting base and is used to form a negative pressure adsorption with the inner wall of the liquid tank; The pressure acquisition component is used to collect negative pressure data from the two adsorption plates respectively; The negative pressure drive component is used to provide negative pressure to the dual adsorption disk assembly; The control unit is used to acquire negative pressure data, negative pressure drive component operation data, cleaning tool movement data, and brushing load data. It uses the suction plate with low negative pressure or a large leakage trend as the control reference to generate target negative pressure and target speed. When the suction margin is insufficient, it outputs cleaning tool deceleration, pause, retraction for re-suction, or alarm shutdown commands.

2. The automatic adsorption device according to claim 1, characterized in that, The dual adsorption plate assembly includes a first adsorption plate and a second adsorption plate. Both the first and second adsorption plates are mounted on the mounting base through a connection structure that allows for fine-tuning of the angle. The sealing and protection assembly includes a food-grade elastic sealing gasket disposed on the adsorption edges of the first and second adsorption plates, and a waterproof sealing structure disposed at the electrical connection points of the pressure acquisition assembly, the negative pressure drive assembly, and the control unit. The pressure acquisition component includes a first pressure acquisition channel connected to a first adsorption plate and a second pressure acquisition channel connected to a second adsorption plate. The negative pressure drive component is a waterproof vacuum pump that can change its rotation speed according to the rotation speed control command.

3. The automatic adsorption device according to claim 1, characterized in that, The control unit includes a parameter calibration module, which is used to perform a calibration process after initial use, replacement of the adsorption plate, or replacement of the sealing gasket. The calibration process includes: Collect the no-load current of the cleaning brush and determine the no-load brushing current when the cleaning tool is not in contact with the inner wall of the liquid tank. When the adsorption plate is attached to the standard test surface and the negative pressure drive component is running at multiple calibrated speeds, the negative pressure response data is recorded and the prediction model parameters are determined. While the cleaning brush is running with at least two known contact loads, record the changes in brushing current and determine the calibration coefficient between the brushing current and the brushing reaction force. Determine the effective adsorption area based on the specifications of the adsorption plate; The no-load brushing current, calibration coefficient, effective adsorption area, and prediction model parameters are stored in the control unit.

4. The automatic adsorption device according to claim 1, characterized in that, The control unit includes a leakage trend identification module, which is used to perform median filtering and low-pass filtering on the negative pressure data collected by the pressure acquisition component, and calculate the first... The first adsorption disk in the... Pressure attenuation coefficient at each sampling time : in, For the first The first adsorption disk in the... Pressure attenuation coefficient at each sampling time For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, This refers to the number of sampling intervals within the detection window. The sampling period; The sampling period The number of sampling intervals within the detection window is 50ms to 100ms. The range is 3 to 10.

5. The automatic adsorption device according to claim 4, characterized in that, The control unit includes an adsorption response recognition module, which is used to calculate the first adsorption response. Negative pressure response gain of each adsorption disk The negative pressure difference between the two adsorption disks : in, For the first Negative pressure response gain of each adsorption disk For the first The first adsorption disk in the... The negative pressure amplitude at each sampling time, For the first Rotation speed of the negative pressure drive component at each sampling time. For the first Rotation speed of the negative pressure drive component at each sampling time. To prevent tiny constants with a denominator of zero, The negative pressure difference between the two adsorption disks. This represents the negative pressure amplitude of the first adsorption plate. This represents the negative pressure amplitude of the second adsorption disk; when Exceeding the pressure difference threshold At that time, the control unit and The adsorption disk corresponding to the smaller one is controlled as the weaker adsorption disk.

6. The automatic adsorption device according to claim 5, characterized in that, The control unit includes a target negative pressure generation module, which is used to generate a target negative pressure. : in, For the first The adsorption holding force required to maintain stable adsorption of the cleaning tool at each sampling time. For the equivalent quality of cleaning tools, It is the acceleration due to gravity. For the attitude angle of the cleaning tool, The acceleration of the cleaning tool as it moves tangentially along the inner wall of the liquid tank. This is an estimate of the reaction force from the scrubbing action. To pre-set additional disturbance holding force, This is the calibration coefficient between the brushing current and the brushing reaction force. For cleaning brush drive current, This is the no-load brushing current. For the first The adhesion efficiency coefficient of each adsorption plate. To meet the lower limit of efficiency, To predict the length of time, To achieve negative pressure, For safety margin coefficient, For the first The effective adsorption area of ​​each adsorption plate. Minimum allowable negative pressure, For the maximum permissible negative pressure, This indicates that the calculated value is restricted to... to between.

7. The automatic adsorption device according to claim 6, characterized in that, The control unit includes a pump speed search control module, which is used to search for the pump speed based on the current rotational speed. and rotational speed search step size Construct a candidate speed set : And calculate the predicted negative pressure corresponding to the candidate rotational speed based on the discrete prediction model: in, For the first The set of candidate rotational speeds at each sampling time. The search step size for rotational speed. The predicted negative pressure at the next sampling time is... , and These are the parameters of the prediction model obtained through calibration. The weak-side reference negative pressure, For candidate rotational speeds, The comprehensive pressure attenuation coefficient used for weak-side control. The pressure attenuation coefficient of the first adsorption disk. is the pressure attenuation coefficient of the second adsorption disk.

8. The automatic adsorption device according to claim 7, characterized in that, The pump speed search control module is used to calculate the control cost corresponding to each candidate speed. and will control the cost The smallest candidate speed is taken as the target speed: in, In order to control costs, The predicted negative pressure at the next sampling time is... To achieve negative pressure, This is the speed smoothing coefficient. For candidate rotational speeds, For the first Rotation speed of the negative pressure drive component at each sampling moment; Candidate speeds satisfy ,in, Minimum permissible speed, This is the maximum permissible speed.

9. The automatic adsorption device according to claim 6, characterized in that, The control unit includes a motion coordination and re-adsorption module, which is used to calculate the adsorption margin. And generate the target speed for cleaning tools. : in, As an adsorption margin, To achieve the target speed for cleaning tools, For normal cleaning speed, This is the first margin threshold. This is the second margin threshold; when No more than 1 second to 3 seconds Or the weak-side reference negative pressure is lower than 1s to 3s continuously. At this time, the motion coordination and re-adsorption module controls the cleaning tool to pause its movement, maintains or increases the speed of the negative pressure drive component, controls the cleaning tool to move back 10mm to 50mm along the original movement path, and re-detects the weak side reference negative pressure. If the weak-side baseline negative pressure remains below [a certain value] after 2 to 3 consecutive re-adsorption cycles... If the cleaning brush stops moving and the cleaning tool stops moving, an alarm signal will be output.

Images