A dust removal method for PLC control cabinet

Abstract

The present invention relates to a PLC control cabinet dust removal method, which obtains the characteristic position of components in the control cabinet by acquiring the internal image information of the control cabinet, determines the dust removal path according to the internal image information, and determines the distance between the dust removal position and the blowing device and the distance between the dust removal position and the suction device according to the change of the dust removal position on the dust removal path, thereby setting the parameters of the blowing device and the parameters of the suction device; and when the dust removal position of the dust removal path moves to the characteristic position of the component, in order to reduce the influence of dust on the component characteristics, the component characteristics are covered by a dust removal cover. The above scheme is used to process the dust in the control cabinet, the dust removal efficiency is high, and the components are not easily affected by dust during the dust removal process.

Description

Technical Field

[0001] The invention relates to the field of control cabinets, and in particular to a dust removal method for a PLC control cabinet. Background Art

[0002] Electrical control cabinets are equipped with integrated circuit boards, relays, switches, transformers, fuses and other electrical components to control, protect and monitor electrical equipment.

[0003] Since the components of the control cabinet will generate heat and static electricity when working, and easily absorb dust impurities in the air, a lot of dust will be generated in the control cabinet after a period of use. In the prior art, since the electrical control cabinet does not need to be frequently set up after installation, and the electrical control cabinet is a live device, it is dangerous, so the electrical control cabinet is usually set up in a remote corner, and the staff manages it less frequently, so that a lot of dust is usually accumulated in the electrical control cabinet, which seriously affects the heat dissipation and working ability of the control cabinet, and needs to be improved. Summary of the invention

[0004] In order to process the dust in the electrical control cabinet to reduce the influence of the dust on the heat dissipation and working ability of the control cabinet, the present invention provides a dust removal method for a PLC control cabinet.

[0005] The present invention provides a PLC control cabinet dust removal method, which adopts the following technical solution:

[0006] A method for removing dust from a PLC control cabinet comprises a blowing device disposed at the bottom of the control cabinet and used to introduce wind into the control cabinet, and an air suction device disposed at the top of the control cabinet and used to discharge wind and dust in the control cabinet, and further comprises:

[0007] Acquire internal image information of the control cabinet, the internal image information including images of the inner surface and components of the control cabinet;

[0008] Component features and component feature positions are obtained by matching the internal image information with the preset component database;

[0009] According to the preset installation structure, the component feature position is divided into a number of covering areas from bottom to top, and the covering area is the position where the component feature needs to be covered by the preset dust cover during dust removal;

[0010] Determine the internal layout of the control cabinet according to the internal image information, and determine the dust removal path according to the internal layout, and the dust removal path is an S-shaped curve path from bottom to top;

[0011] Calculate the blowing distance between the dust removal position on the dust removal path and the preset blowing device at the bottom of the control cabinet, and determine the blowing force according to the blowing distance. The blowing force varies with the dust removal path;

[0012] Calculate the suction distance between the dust removal position on the dust removal path and the preset suction device located on the top of the control cabinet, and determine the suction force according to the suction distance. The suction force varies with the dust removal path;

[0013] Controlling the blowing device to blow air to the dust removal position according to the dust removal path and the blowing force, controlling the suction device to suck air to the dust removal position according to the dust removal path and the suction force, and judging whether the dust removal position falls into the covering area;

[0014] When and only when it falls in, the preset dust cover is controlled to cover the component features in the covering area;

[0015] The dust thickness distribution information is obtained by analyzing the internal image information of the control cabinet and a preset color depth database, wherein the color depth database is a database including color images of dust of different thicknesses;

[0016] Determine dust thickness information at a dust removal position according to dust thickness distribution information and a dust removal path;

[0017] When the dust thickness information at the dust removal position is not greater than the preset reference thickness information, the parameter remains unchanged;

[0018] When the dust thickness information at the dust removal position is greater than the reference thickness information, parameter correction is performed;

[0019] Based on parameter correction, the adjustment parameters are determined according to the dust thickness information at the dust removal position and the reference thickness information;

[0020] Determine the dust removal displacement speed according to the adjustment parameters, the dust removal displacement speed is the moving speed of the dust removal position when the air blowing device blows air along the dust removal path;

[0021] The preset initial displacement speed is replaced according to the dust removal displacement speed, and the air blowing device is controlled to blow air to the dust removal position according to the dust removal displacement speed;

[0022] The dust removal method of the component features includes:

[0023] Obtaining feature gaps between adjacent component features, where the feature gap is the distance between component features;

[0024] Determining to merge two component features into one component feature according to a comparison relationship between the feature gap and a preset gap width;

[0025] Determine component range information of the component feature according to the internal image information of the control cabinet and the component feature, where the component range information is the area range occupied by the component feature when it is installed in the control cabinet;

[0026] Determine the size of the dust hood cavity that covers the component feature according to the component range information, and match the corresponding preset dust hood specification information according to the cavity size, wherein the specification information includes the model of the dust hood cavity;

[0027] Determine the dust blowing power according to the specifications of the dust hood;

[0028] Determine all component features corresponding to the specification information of the dust hood according to the internal image information of the control cabinet, and connect the component features in series using a preset path planning method to obtain a moving path of the dust hood, wherein the path planning method is a method of connecting multiple points in series to form a path that passes through all the points;

[0029] According to the component feature position and specification information, the dust hood is controlled to cover the component feature, the air inlet of the dust hood is opened and the component feature is blown with a dust blowing power, and after a preset dust raising time, the dust outlet of the dust hood is opened to allow dust to enter a preset dust collecting bag;

[0030] The dust hood is controlled according to the moving path to remove dust from the component features one by one, and after the dust removal is completed, the dust hood is controlled to stop at the suction port of the suction device.

[0031] By adopting the above technical solution, the air blowing device is used to blow air upwards from the bottom along the dust removal path into the control cabinet, and the air suction device is used to suck air into the control cabinet from the top along the dust removal path. The parameters of the air blowing device and the air suction device can be changed according to the change of the dust removal position, so that the dust removal efficiency in the control cabinet is high. When blowing air to the dust removal position, the dust cover is used to cover the component features, thereby preventing the component features at the dust removal position from being affected by dust.

[0032] Optionally, the dust cover is also controlled, and the control method of the dust cover includes:

[0033] Get real-time images of dust removal progress in the control cabinet;

[0034] Determine the dust removal boundary position according to the dust removal progress image and the color depth database;

[0035] Determine the boundary moving speed of the dust removal boundary position according to the dust removal displacement speed;

[0036] Calculate the distance between the bottom of the coverage area and the dust removal boundary, which is defined as the dust removal distance;

[0037] When the dust removal distance is less than the preset reference distance, the dust cover is controlled to cover the component features, and the dust cover is controlled to move upward synchronously at the boundary moving speed.

[0038] By adopting the above technical solution, during the dust removal process, the dust cover can move synchronously with the dust removal position, so that the component features at the dust removal position are not easily affected by dust, and the component features above it can also be protected as the dust cover moves upward.

[0039] Optionally, the method for removing dust from the inner wall of the dust hood includes:

[0040] According to the comparison relationship between the internal image information of the control cabinet and the preset component feature database, it is determined that the dust removal has been completed at the component feature position;

[0041] Based on the completion of dust removal, the opening of the dust hood is controlled to be closed, and air is blown into the dust hood at a preset maximum dust blowing power, and after a preset cleaning time, the opening of the dust hood is opened and image information of the inner wall of the dust hood is obtained;

[0042] Determine whether there are metal debris on the inner wall of the dust hood according to the comparison between the inner wall image information and the preset metal debris database;

[0043] If present, control the preset anti-static device to touch the dust hood, and after the preset anti-static time, control the suction device to suck air into the dust hood with a preset maximum suction force, and control the dust hood to blow out the dust in the dust bag.

[0044] By adopting the above technical solution, after the dust hood removes dust from the component features, the dust hood can cooperate with the suction device to clean itself, and can automatically send the dust in the dust bag into the suction device, so that the dust hood always remains clean.

[0045] Optionally, the analysis and treatment methods of the causes of the metal debris include:

[0046] According to the internal image information of the control cabinet, the abnormality type is determined by matching with the preset abnormality database, and the abnormality type includes the peeling of the inner wall of the control cabinet;

[0047] Based on the peeling of the inner wall of the control cabinet, the internal image information of the control cabinet is matched with the preset control cabinet inner wall database to determine the peeling feature position;

[0048] Acquire a circumferential lift image at the peeling feature location;

[0049] Determine the skin warping range by matching the circumferential warping image with a preset warping database;

[0050] Control the preset scraper to shovel within the raised range of the surface of the peeling characteristic position, and control the preset dust receiving plate to move below the peeling characteristic position to receive the scraped metal debris;

[0051] Determine the spraying area according to the range of skin warping;

[0052] Determine the corresponding spraying amount according to the spraying area;

[0053] The preset spraying device is controlled according to the spraying amount to spray the oxidation paint on the peeling characteristic position.

[0054] By adopting the above technical solution, the system can determine the location where the surface of the inner wall of the control cabinet is peeling, and by scraping off the characteristic peeling locations and then spraying anti-oxidation paint, the inner wall of the control cabinet is not easy to continue to oxidize and produce metal debris. When the control cabinet is dusted, the dust can be removed only by blowing and sucking, thereby improving the dust removal efficiency.

[0055] In summary, the present application includes at least one of the following beneficial technical effects:

[0056] 1. The inner wall of the control cabinet is dusted by the blowing device and the suction device. The parameters of the blowing device and the suction device can be changed according to the change of the dust removal position, so that the dust removal efficiency in the control cabinet is higher. And when blowing air to the dust removal position, the dust cover is used to cover the component features, so as to prevent the component features at the dust removal position from being affected by dust;

[0057] 2. When the air vent is open, the hot air in the installation chamber can enter the middle chamber and dissipate heat through the outer box wall of the middle chamber, thereby improving the heat dissipation efficiency. When the temperature difference between the inside and outside of the control cabinet changes and dew is generated on the inner wall of the control cabinet, the dew can slide along the guide cover into the middle chamber. After the dew enters the middle chamber, it can penetrate into the filter cotton of the lower chamber through the through hole, making the filter cotton moist, thereby improving the filtering capacity and making the air temperature obtained by the blowing device from the air inlet window lower;

[0058] 3. When the filter cotton absorbs more water, by closing the suction device of the upper chamber, the blowing device can suck air from the lower chamber and send it into the installation chamber. Since the installation chamber is connected to the middle chamber by air pressure, when the middle chamber is larger than the lower chamber, the chamber partition can move downward, the sealing plate can cover the air inlet window, and the chamber partition can squeeze the filter cotton, thereby squeezing out the water in the filter cotton. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a schematic diagram of the overall structure of a control cabinet according to an embodiment of the present invention;

[0060] Figure 2 This is a method flow chart of a PLC control cabinet dust removal method according to an embodiment of the present invention;

[0061] Figure 3 is a method flow chart of a parameter correction method of an air blowing device according to an embodiment of the present invention;

[0062] Figure 4 is a method flow chart of a method for controlling a dust cover according to an embodiment of the present invention;

[0063] Figure 5 is a method flow chart of a dust removal method of a component feature of an embodiment of the present invention;

[0064] Figure 6 is a method flow chart of a method for removing dust from the inner wall of a dust hood according to an embodiment of the present invention;

[0065] Figure 7 It is a flow chart of a method for analyzing the causes of metal scraps and a method for treating the same according to an embodiment of the present invention.

[0066] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Cabinet; 11. Inner box; 12. Outer box; 2. Installation chamber; 3. Upper chamber; 31. Air outlet window; 32. Deformable top cover; 33. Air suction device; 4. Middle chamber; 41. Air vent; 42. Guide cover; 5. Lower chamber; 51. Air inlet window; 52. Filter cotton; 53. Blowing device; 54. Water outlet; 6. Chamber partition; 61. Through hole; 62. Sealing plate. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0068] An embodiment of the present application discloses a control cabinet.

[0069] Reference Figure 1 A control cabinet includes a cabinet body 1, which is a double-layer structure, and has an inner box 11 and an outer box 12, and the inner box 11 is located inside the outer box 12. An installation chamber 2 is provided inside the inner box 11, and the installation chamber 2 is used for installing gas components. There is a cavity between the inner box 11 and the outer box 12, and the cavity is a three-layer structure, including an upper chamber 3, a middle chamber 4 and a lower chamber 5. Chamber partitions 6 are arranged between adjacent cavities so that the chambers are independent of each other. Among them, the lower chamber 5 is used for air intake, and its height is greater than the distance between the bottom surface of the inner box 11 and the bottom surface of the outer box 12. The middle chamber 4 is used for liquid collection, and its height is less than the height of the inner box 11. The upper chamber 3 is used for air outlet, and its height is the distance between the top of the inner box 11 and the top of the outer box 12.

[0070] In order to allow the control cabinet to dissipate heat, the lower chamber 5 is provided with an air inlet window 51 on the side wall of the outer box 12, and the lower chamber 5 is provided with filter cotton 52 at the air inlet window 51, and the lower chamber 5 is provided with a blowing device at the bottom of the inner box 11. When the blowing device is in operation, air can be sucked from the outside through the air inlet window 51, and the air is filtered by the filter cotton 52 and then blown into the installation chamber 2 by the blowing device 53 at the bottom of the inner box 11, thereby blowing the hot air in the installation chamber 2 to the top of the installation chamber 2.

[0071] The upper chamber 3 is provided with an air outlet window 31 at the top of the outer box 12, and a deformable top cover 32 is provided at the air outlet window 31. When the pressure in the upper chamber 3 is greater than the external pressure, the deformable top cover 32 is deformed and lifted upward, so that the air in the upper chamber 3 is discharged from the air outlet window 31. The upper chamber 3 is provided with an air suction device 33 at the top of the inner box 11. When hot air gathers at the top of the installation chamber 2, the air suction device 33 can suck the hot air at the top of the installation chamber 2 into the upper chamber 3 and discharge it from the air outlet window 31 to the control cabinet.

[0072] The middle chamber 4 has air holes 41 formed inside and outside the side wall of the inner box 11. The air holes 41 are rectangular holes and are arranged at intervals along the height direction of the inner box 11. A guide cover plate 42 is rotatably arranged in the air holes 41. The guide cover plate 42 can cover the air holes 41 and can be rotated toward the direction close to the outer box 12 under the drive of the motor, so that the guide cover plate 42 is tilted downward toward the direction close to the outer box 12.

[0073] Since the air holes 41 are not directly formed on the outer box 12, dust is not easy to directly enter the installation chamber 2 through the outer box 12. The hot air in the installation chamber 2 can enter the middle chamber 4 through the air holes 41 and dissipate heat through the outer box 12. When dew forms on the inner wall of the control box due to the temperature difference between the inside and the outside, the dew can slide down along the guide cover plate 42 and fall into the middle chamber 4.

[0074] The chamber partition 6 between the middle chamber 4 and the lower chamber 5 slides vertically in the cavity, and the cross section of the chamber partition 6 is L-shaped, and has a vertically arranged sealing plate 62. When the chamber partition 6 descends in the cavity, the sealing plate 62 can cover the air inlet window 51.

[0075] A through hole 61 is vertically penetrated through the chamber partition 6, and the through hole 61 is a unidirectional conductive setting. When the dew accumulated in the middle chamber 4 reaches a certain amount, the dew can pass through the through hole 61 from top to bottom into the lower chamber 5 and be absorbed by the filter cotton 52, while the water and air in the lower chamber 5 are not easy to pass through the through hole 61 from bottom to top into the middle chamber 4.

[0076] When the filter cotton 52 absorbs a lot of water, by closing the air suction device 33 of the upper chamber 3, the air blowing device 53 can suck air from the lower chamber 5 and send it into the installation chamber 2. Since the installation chamber 2 is connected to the middle chamber 4 by air pressure, when the middle chamber 4 is larger than the lower chamber 5, the chamber partition 6 can move downward, the sealing plate 62 can cover the air inlet window 51, and the chamber partition 6 can squeeze the filter cotton 52, thereby squeezing out the water in the filter cotton 52. When the air suction device 33 of the upper chamber 3 is opened, the air pressure inside and outside the control cabinet is balanced, and the filter cotton 52 and the chamber partition 6 are reset.

[0077] A water outlet hole 54 is provided at the bottom of the lower chamber 5, and the water outlet hole 54 is unidirectional. When the water in the filter cotton 52 is squeezed into the lower chamber 5, the water in the lower chamber 5 can be discharged from the control cabinet from the inside to the outside through the water outlet hole 54, while the outside air is not easy to enter the lower chamber 5 from the outside to the inside through the water outlet hole 54.

[0078] In this embodiment, when the control cabinet is dusted, the guide cover plate 42 is first controlled to cover the air vent 41, and then the blowing device 53 and the suction device 33 are turned on.

[0079] Based on the same inventive concept, an embodiment of the present invention provides a PLC control cabinet dust removal method, which is used to remove dust from an installation chamber 2 of the control cabinet.

[0080] Reference Figure 2 , a PLC control cabinet dust removal method, comprising the following steps:

[0081] Step S100: Acquire internal image information of the control cabinet.

[0082] The internal image information is an image of the interior of the control cabinet installation chamber 2 acquired by a camera disposed in the control cabinet. The internal image information includes images of the inner surface and components of the control cabinet.

[0083] Step S101: matching the internal image information with a preset component database to obtain component features and component feature positions.

[0084] The component database is a standard database of electrical components, which includes images of various electrical components inside the control cabinet. The component database is easily accessible to those skilled in the art and will not be described in detail here.

[0085] By matching the internal image information with the component database, component features matching the components in the component database can be obtained from the internal image information, and the component features are components installed in the control cabinet. After the component features are obtained, the component features can also be obtained in the internal image information.

[0086] Step S102: Divide the characteristic position of the component into a plurality of covering areas from bottom to top according to the preset installation structure.

[0087] The component features in the control cabinet usually have multiple rows and are usually installed at intervals along the height direction of the control cabinet, and each row is provided with multiple component features.

[0088] When dust is removed in the control cabinet, the dust raised at the position directly facing the blowing device 53 is relatively large. In order to prevent dust from entering the components, when blowing air at the component position, the component features need to be covered first, and the covering is done by covering with a dustproof cover.

[0089] The component features at the position where the blowing device 53 is blowing need to be covered, while the parts below and above the blowing position do not need to be covered because the dust below the blowing position has been blown to the top of the installation chamber 2 by the blowing device 53, and the dust above the blowing position is not blown directly by the blowing device 53, so the dust raised is not large and there is an air suction device 33 for suction, so it does not need to be covered.

[0090] The preset installation structure is the installation form of the components of the control cabinet itself, which will not be described in detail here. The covered area is the position of the component features that need to be covered by the dust cover during dust removal.

[0091] Step S103: determining the dust removal path according to the internal image information.

[0092] The dust removal path is the position path of the air blowing device 53 when the dust is removed inside the control cabinet. After determining the overall shape of the interior of the control cabinet through the internal image information, the dust removal path is determined according to the internal layout. The dust removal path is an S-shaped curve path from bottom to top to ensure that the interior of the control cabinet can be blown by the air blowing device 53.

[0093] Step S104: Calculate the blowing distance between the dust removal position on the dust removal path and the preset blowing device 53 located at the bottom of the control cabinet, and determine the blowing force according to the blowing distance. The blowing force varies with the dust removal path.

[0094] The dust removal position is a position point on the dust removal path, and the dust removal path is formed by connecting the dust removal positions one by one.

[0095] When the blowing device 53 is blowing, the wind force of the blowing device 53 at the dust removal position will change with the change of distance. In order to ensure that the wind force at the dust removal position can always meet the benchmark requirements so that the dust is removed, the blowing force of the blowing device 53 needs to be adjusted.

[0096] The blowing distance is the distance between the dust removal position and the blowing device 53. When the dust removal position moves along the dust removal path, the greater the blowing distance, the greater the blowing force required by the blowing device 53, and the blowing force can be determined according to the blowing distance.

[0097] During dust removal, as the dust removal position gradually moves upward, the blowing force of the blowing device 53 gradually increases.

[0098] Step S105: Calculate the suction distance between the dust removal position on the dust removal path and the preset suction device 33 located on the top of the control cabinet, and determine the suction force according to the suction distance. The suction force varies with the dust removal path.

[0099] The suction distance is the distance between the dust removal position and the suction device 33. The suction force of the suction device 33 at the dust removal position will change with the change of the distance. In order to ensure that the suction device 33 can suck away the dust raised at the dust removal position, the suction device 33 needs to meet the benchmark requirements. The greater the suction distance, the greater the suction force, and the suction force can be determined according to the suction distance.

[0100] During dust removal, as the dust removal position gradually moves upward, the suction force of the suction device 33 gradually decreases.

[0101] Step S106: Control the blowing device 53 to blow air to the dust removal position according to the dust removal path and the blowing force, control the suction device 33 to suck air to the dust removal position according to the dust removal path and the suction force, and determine whether the dust removal position falls into the covering range.

[0102] After determining the blowing force of the blowing device 53 and the suction force of the suction device 33, and before starting dust removal, it is necessary to first determine whether the dust removal position on the dust removal path is moved to the covering range of the component feature. If the dust removal position is within the covering range, in order to prevent the raised dust from affecting the component feature, the component feature needs to be processed.

[0103] Step S107: When and only when the component falls into the region, control the preset dust cover to cover the component features in the covering area.

[0104] When the dust removal position falls within the covering range, the dust cover is controlled to cover the component features within the covering range, and the air blowing device 53 mainly processes the dust between the component features and the dust on the inner wall of the control cabinet. When the dust removal position gradually moves upward and leaves the covering range, the dust cover covering the covering range is removed, and the dust cover is controlled to move upward to cover the upper adjacent covering range.

[0105] The dust cover is arranged in the control cabinet, and is controlled by a robot to cover the component features.

[0106] Reference Figure 3Since the amount of dust in different locations in the control cabinet is different, the dust removal effect of the blowing device 53 is different when the same parameters are used to blow dust of different thicknesses. In order to remove the dust, the parameters of the blowing device 53 need to be corrected. The parameter correction method of the blowing device 53 includes the following steps:

[0107] Step S200: Analyze the internal image information of the control cabinet and a preset color depth database to obtain dust thickness distribution information.

[0108] The color depth database is an artificially set database, including color images of dust of different thicknesses. The thicker the dust, the darker the color, which will not be elaborated here.

[0109] The dust thickness distribution information refers to a collection of distribution conditions of dust thickness at various points inside the control cabinet.

[0110] Based on the analysis of internal image information and color depth database, the dust thickness distribution information is determined through color changes.

[0111] Step S201: determining dust thickness information at a dust removal position according to dust thickness distribution information and a dust removal path.

[0112] After the dust thickness distribution information of each point in the control cabinet is determined, the dust thickness distribution information is matched with the dust removal path, so that the dust thickness information of each dust removal position on the dust removal path can be obtained.

[0113] Step S202: determining whether to perform parameter correction or keep the parameters unchanged based on the comparison between the dust thickness information at the dust removal position and the preset reference thickness information.

[0114] The reference thickness information is a standard value set artificially, and is used to measure whether the blowing device 53 needs to adjust parameters when the blowing device blows air to the dust removal position, and will not be elaborated here.

[0115] If the dust thickness information at the dust removal position is not greater than the reference thickness information, it means that the dust at the dust removal position is less, and the air blowing device 53 can use the initial air blowing time for air blowing, and the parameters of the air blowing device 53 do not need to be changed. If the dust thickness information at the dust removal position is greater than the reference thickness information, it means that the dust at the dust removal position is more, and the parameters of the air blowing device 53 need to be corrected to increase the air blowing time of the air blowing device 53 at the dust removal position.

[0116] Step S203: Based on parameter correction, the adjustment parameters are determined according to the dust thickness information at the dust removal position and the reference thickness information.

[0117] The adjustment parameter is an intermediate variable required for correcting the parameters of the air blowing device 53. The adjustment parameter can be obtained by calculating the difference between the dust thickness information at the dust removal position and the reference thickness information.

[0118] Step S204: determining the dust removal displacement speed according to the adjustment parameters.

[0119] The dust removal displacement speed refers to the moving speed of the dust removal position when the air blowing device 53 blows along the dust removal path. According to the different dust thicknesses at the dust removal position, in order to ensure that the dust at the dust removal position can be removed, the longer the stay time of the air blowing device 53 at the dust removal position is. Therefore, the adjustment parameter is inversely proportional to the dust removal displacement speed. The larger the adjustment parameter, the more dust there is, and the longer the air blowing device 53 needs to blow at the dust removal position, so the dust removal displacement speed at the dust removal position is slower. The dust removal displacement speed can be determined by adjusting the parameters.

[0120] Step S205: replacing the preset initial displacement speed according to the dust removal displacement speed, and controlling the blowing device 53 to blow air to the dust removal position according to the dust removal displacement speed.

[0121] The initial displacement speed of the air blowing device 53 during air blowing is corrected, and the initial displacement speed is replaced according to the dust removal displacement speed, so that the dust at the dust removal position on the dust removal path can be blown up and removed.

[0122] Reference Figure 4 The blowing position of the blowing device 53 will change along the dust removal path as the dust removal position changes, and the dust cover also needs to change the covering position of the component features according to the change of the dust removal position. The control method of the dust cover includes the following steps:

[0123] Step S300: obtaining a dust removal progress image in the control cabinet in real time.

[0124] The dust removal progress image is an image of the inside of the control cabinet obtained by the camera. The dust removal progress image includes the area in the control cabinet where dust removal has been completed and the area to be dusted, and there is a clear boundary between the two areas. The dust removal progress image can reflect the completion progress of the dust removal of the control cabinet.

[0125] Step S301: determining the dust removal boundary position according to the dust removal progress image and the color depth database.

[0126] The color of the area in the control cabinet that has been dusted is the color of the control cabinet itself, while the area to be dusted is covered with dust and has a darker color with gray. There is a clear boundary between the two. The dust removal boundary position can be obtained by analyzing the dust removal progress image and the color depth database. The dust removal boundary position is the position of the boundary between the area that has been dusted and the area to be dusted.

[0127] Step S302: determining the boundary moving speed of the dust removal boundary position according to the dust removal displacement speed.

[0128] During dust removal, as the dust removal position changes, the dust removal boundary position will also change. The boundary moving speed of the dust removal boundary position is the same as the dust removal displacement speed, so the boundary moving speed can be determined by the dust removal displacement speed.

[0129] Step S303: Calculate the distance between the bottom of the covering range and the dust removal boundary position, and define it as the dust removal distance.

[0130] In steps S106 and S107, it is only explained that when the dust removal position falls into the covering position, the component features need to be covered by the dust cover. In this embodiment, it is further expanded.

[0131] The distance between the bottom of the covering range and the dust removal boundary position will gradually decrease as the dust removal position moves. When the dust removal distance is reduced to a certain extent, the component features need to be covered by a dust cover, so the dust removal distance needs to be calculated first.

[0132] In this embodiment, the dust removal position is an area.

[0133] Step S304: When the dust removal distance is less than the preset reference distance, the dust cover is controlled to cover the component features, and the dust cover is controlled to move upward synchronously at the boundary moving speed.

[0134] The reference distance is a reference value set manually, and is used to determine whether the component features need to be covered. It will not be described in detail here. When the dust removal distance is not less than the reference distance, the dust removal position has not yet entered the covering position. At this time, the air blowing device 53 is not blowing directly on the component features, so there is no need to cover the component features. Since the dust removal position is an area, when the dust removal distance is less than the reference distance, a part of the dust removal position falls into the covering range. Therefore, in order to ensure that dust is not easy to enter the component features, the component features need to be covered by a dust cover.

[0135] When the dust removal position moves upward, the dust cover needs to move upward synchronously with the dust removal position so that the dust cover covers and protects the current component features. When the dust removal position moves to the adjacent covering range above the current covering range, the dust cover can cover the component features in the upper covering range.

[0136] In this embodiment, the dust cover is a square box body, and when it is covered at the component feature position, both upper and lower end surfaces of the dust cover have openings for the component feature to enter and exit. The lower opening is rotatably provided with a rotating plate to prevent the blowing device 53 from blowing dust into the dust cover, and when the component feature passes through the lower opening, the rotating plate can be opened. Since the dust in the upper opening is sucked away by the suction device 33, dust is not easy to enter the dust cover from the upper opening, so there is no need to provide a rotating plate.

[0137] Reference Figure 5 After the dust on the inner wall of the control cabinet is removed, the dust on the component features is cleaned. The dust removal method for component features includes the following steps:

[0138] Step S400: Acquire feature gaps between adjacent component features.

[0139] Feature clearance refers to the distance between components. When component features are installed in a control cabinet, there may be gaps between components.

[0140] Step S401: determining to merge two component features into one component feature according to a comparison relationship between a feature gap and a preset gap width.

[0141] The gap width is a manually set reference value used to measure whether two component features are close to each other, and will not be described in detail here. When the feature gap between two component features is smaller than the gap width, it means that the two component features are close to each other. Here, the two component features are merged into one component feature for processing. In the subsequent dust removal process, the two component features are dusted together without the need for two dust removals.

[0142] When the feature gap between two component features is not less than the gap width, it means that the distance between the two component features is far. At this time, the two component features need to be processed separately during dust removal.

[0143] Step S402: Determine component range information of component features according to the internal image information of the control cabinet and the component features.

[0144] Component range information refers to the area occupied by a component feature when it is installed in a control cabinet. Component range information is used to measure the volume of a component feature. The component range information of a component feature can be determined through the internal image information of the control cabinet and the component feature.

[0145] Step S403: matching the corresponding preset dust hood specification information according to the component range information.

[0146] In this embodiment, the dust removal method for the component features is: using a dust hood to remove dust from the component features. The dust hood has a cavity for accommodating the component features, and the dust hood also has an air inlet and a dust outlet, and the dust outlet is connected to a dust bag. When removing dust from the component features, the dust hood covers the component features so that the component features are located in the cavity, and then blows air to the component features through the air inlet, and dust can enter the dust bag from the dust outlet.

[0147] Since the volume of component features is different, the control cabinet is equipped with dust hoods of various specifications. When removing dust from component features, the dust hood can be selected according to the actual situation of the component features. Therefore, when selecting the dust hood, the specification information of the dust hood can be matched according to the component range information.

[0148] Step S404: determining the dust blowing power according to the specification information of the dust hood.

[0149] The specification information of the dust hood includes the capacity of the dust hood. The size of the capacity of the dust hood is different, and the blowing power when blowing dust to the component characteristics is also different. The larger the capacity, the greater the blowing power. The blowing power can be determined by the specification information of the dust hood.

[0150] Step S405: determining all component features corresponding to the specification information of the dust hood according to the internal image information of the control cabinet, and connecting the component features in series using a preset path planning method to obtain a moving path of the dust hood.

[0151] Based on the internal image information of the control cabinet, all component features in the control cabinet can be obtained, and then the component features are classified. The component features with component range information are classified into one category, and the component features with the same component range information are vacuumed using the same dust hood. Therefore, when there are multiple component features with the same component range information, it is necessary to plan the moving path of the dust hood according to the position layout of the component features, so that the dust collection efficiency of the dust hood is higher. The path planning method is an artificially set method, which is used to connect multiple points in series to form a path that passes through all points, and will not be elaborated here.

[0152] Step S406: Control the dust hood to cover the component features according to the component feature position and specification information, open the air inlet of the dust hood and blow air to the component features with a dust blowing power, and after a preset dust raising time, open the dust outlet of the dust hood to allow dust to enter a preset dust collecting bag.

[0153] The preset dust raising time is a manually set reference value. When the dust hood covers the component feature and blows air into the dust hood, it is assumed that after the dust raising time, the dust on the surface of the component feature can be fully raised and sucked by the dust hood, which will not be elaborated here.

[0154] When removing dust from component features, cover the component features with a dust hood. At this time, open the air inlet first and close the dust outlet, and then blow air into the dust hood. Since the air cannot escape from the dust outlet, dust and air swirl in the dust hood and the air pressure increases. After the dusting time, open the dust outlet. At this time, due to the high air pressure in the dust hood, the air and dust in the dust hood can quickly flow out into the dust bag. The above method can make the component features in the dust hood dust removal cleaner, and the high-pressure airflow can quickly take away the dust on the surface of the component features when it flows out.

[0155] Step S407: the dust hood is controlled to remove dust from the component features one by one according to the moving path, and the dust hood is controlled to stop at the air inlet of the air suction device 33 after the dust removal is completed.

[0156] When the dust hood completes the dust removal steps for all component features, the dust hood is moved to the suction port of the suction device 33. Since the suction device 33 is always in the suction state, even if the control cabinet is not in the dust removal work, the suction device 33 can process the dust in the dust hood, and the specific processing process is introduced in the subsequent steps.

[0157] Reference Figure 6 The method for removing dust from the inner wall of the dust hood comprises the following steps:

[0158] Step S500: Determine that dust removal has been completed at the component feature position based on a comparison relationship between the internal image information of the control cabinet and a preset component feature database.

[0159] The component feature database is a feature database of components without dust on the surface, which will not be described here. According to the comparison between the internal image information of the control cabinet and the component feature database, it can be determined whether the component features in the control cabinet have been dusted. When the component features have been dusted, the dust hood needs to be dusted to dispose of the dust collected in the dust hood.

[0160] Step S501: Based on the completion of dust removal, the opening of the dust hood is controlled to be closed, and air is blown into the dust hood at a preset maximum dust blowing power. After a preset cleaning time, the opening of the dust hood is opened and the inner wall image information of the dust hood is obtained.

[0161] After the dust hood has completed the dust removal step, dust may be adsorbed on the inner surface of its cavity. By closing the opening for the dust hood's component features to enter, the hood's cavity is now closed, and by blowing air into the cavity, the dust in the cavity can further enter the dust bag. At this time, the dust on the component features and the dust on the inner wall of the dust hood are basically located in the dust bag. Due to static electricity, the inner wall of the dust hood may magnetically attract some metal debris and dust, which is firmly adsorbed and needs to be removed by other means.

[0162] Step S502: Determine whether there are metal debris on the inner wall of the dust hood based on the comparison between the inner wall image information and a preset metal debris database.

[0163] The metal debris database is a manually set database, which includes images of metal debris, and will not be described in detail here. By comparing the inner wall image information with the metal debris database, if there is metal debris, the metal debris features can be matched, thereby determining whether there is metal debris on the inner wall of the dust hood.

[0164] Step S503: If present, control the preset anti-static device to touch the dust hood, and after the preset anti-static time, control the suction device 33 to suction the dust hood with a preset maximum suction force, and control the dust hood to blow out the dust in the dust bag.

[0165] When there are metal debris, it is necessary to use a destaticizing method to first remove the static electricity carried on the surface of the dust hood. When there is no static electricity, the metal debris can fall off from the inner wall of the dust hood.

[0166] The control cabinet is equipped with an anti-static device. When it is determined that there are metal debris in the dust hood, the robot controls the anti-static device to touch the dust hood. The anti-static time is a manually set reference value. After the anti-static device touches the dust hood and the anti-static time has passed, it is assumed that the dust hood has completed the anti-static.

[0167] After the dust hood is freed of static electricity, the suction force of the suction device 33 is adjusted to the maximum suction force, and then the dust collected in the dust bag of the dust hood is released. At this time, both metal debris and dust can be sucked away by the suction device 33, thereby completing the dust removal of the dust hood.

[0168] Reference Figure 7 The analysis and treatment of the causes of metal debris include the following steps:

[0169] Step S600: Determine the abnormality type by matching the internal image information of the control cabinet with a preset abnormality database, where the abnormality type includes peeling of the inner wall of the control cabinet.

[0170] The abnormal database is a database obtained by machine learning, which contains images of various abnormal conditions in the control cabinet. In this embodiment, it contains images of oxidative peeling of the epidermis of the inner wall of the control cabinet, which will not be described in detail here.

[0171] The internal image information of the control cabinet is compared with the abnormal database. If there is an image matching the abnormal database in the internal image information, it means that the control cabinet has the inner wall skin peeling off. The metal debris is obtained by crushing the peeling skin of the inner wall of the control cabinet.

[0172] Step S601: Based on the peeling of the inner wall of the control cabinet, the internal image information of the control cabinet is matched with a preset control cabinet inner wall database to determine the peeling feature position.

[0173] The control cabinet inner wall database is an artificially set control cabinet surface database, including a complete image of the control cabinet inner wall, which will not be described in detail here.

[0174] The internal image information is compared with the control cabinet inner wall database. The difference between the two is where the inner wall surface of the control cabinet is peeling, which is the peeling feature position.

[0175] Step S602: Acquire a circumferential warping image at the peeling feature position.

[0176] There may be phenomena such as warping or bulging of the epidermis around the peeling characteristic position, which indicates that the epidermis at that position is about to fall off. When repairing the peeling characteristic position, it is necessary to first treat the warped or bulged epidermis around it.

[0177] The circumferential warping image is an image of the epidermis around the peeling feature position, which is obtained by a camera in the control cabinet.

[0178] Step S603: Determine the skin warping range by matching the circumferential warping image with a preset warping database.

[0179] The warping database is a database obtained by machine learning, including images of warped or bulged surfaces on the inner wall of the control cabinet, which will not be described in detail here.

[0180] The circumferential warping image and the warping database are matched to determine the skin warping range, which refers to the area range of the skin that is still warped around the peeling feature position.

[0181] Step S604: Control the preset scraper to shovel within the raised range of the surface of the peeling characteristic position, and control the preset dust receiving plate to move below the peeling characteristic position to receive the scraped metal debris.

[0182] After the skin warping range is determined, the skin within the skin warping range is scraped up by a scraper, so that the remaining control cabinet inner wall skin at the peeling characteristic position is in an intact state. When the skin within the skin warping range is scraped up, a dust collecting plate is required below the peeling characteristic position to receive the metal debris, so that the metal debris falls on the dust collecting plate. After the scraping step is completed, the suction device 33 sucks away the metal debris on the dust collecting plate.

[0183] Step S605: Determine the spraying area according to the skin lifting range.

[0184] After the peeling characteristic position and the circumference of the surface are scraped off, it is necessary to spray anti-oxidation paint on it to prevent further oxidation and peeling of the inner wall of the control cabinet. The spraying area is the area where the peeling characteristic position needs to be sprayed with anti-oxidation paint.

[0185] Step S606: Determine the corresponding spraying amount according to the spraying area.

[0186] The spraying amount is the total amount of anti-oxidation paint that needs to be sprayed at the characteristic location of peeling. The larger the spraying area, the greater the spraying amount, and the spraying amount can be determined by the spraying area.

[0187] Step S607: controlling a preset spraying device to spray oxidation paint on the peeling characteristic position according to the spraying amount.

[0188] After determining the spraying amount and locating the peeling feature position, the manipulator can control the spraying device to spray the anti-oxidation paint in the skin warping range of the peeling feature position. The spraying is carried out through a spiral path.

[0189] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for removing dust from a PLC control cabinet, comprising a blowing device (53) arranged at the bottom of the control cabinet and used to introduce wind into the control cabinet, and an air suction device (33) arranged at the top of the control cabinet and used to discharge wind and dust in the control cabinet, characterized in that: Also includes: Acquire internal image information of the control cabinet, the internal image information including images of the inner surface and components of the control cabinet; Component features and component feature positions are obtained by matching the internal image information with a preset component database, the component database includes images of various electrical components inside the control cabinet, and the component features are components installed in the control cabinet; According to the preset installation structure, the component feature position is divided into a number of covering areas from bottom to top, and the covering area is the position where the component feature needs to be covered by the preset dust cover during dust removal; Determine the internal layout of the control cabinet according to the internal image information, and determine the dust removal path according to the internal layout, and the dust removal path is an S-shaped curve path from bottom to top; Calculating the blowing distance between the dust removal position on the dust removal path and a preset blowing device (53) located at the bottom of the control cabinet, and determining the blowing force according to the blowing distance, wherein the blowing force varies with the dust removal path; Calculating the suction distance between the dust removal position on the dust removal path and the preset suction device (33) located on the top of the control cabinet, and determining the suction force according to the suction distance, the suction force changing with the dust removal path; Controlling the blowing device (53) to blow air at the dust removal position according to the dust removal path and the blowing force, controlling the suction device (33) to suck air at the dust removal position according to the dust removal path and the suction force, and determining whether the dust removal position falls into the covered area; When and only when it falls in, the preset dust cover is controlled to cover the component features in the covering area; The dust thickness distribution information is obtained by analyzing the internal image information of the control cabinet and a preset color depth database, wherein the color depth database is a database including color images of dust of different thicknesses; Determine dust thickness information at the dust removal position according to dust thickness distribution information and dust removal path; According to the comparison between the dust thickness information at the dust removal position and the preset reference thickness information, it is determined whether to perform parameter correction or keep the parameters unchanged; When the dust thickness information at the dust removal position is not greater than the preset reference thickness information, the parameter remains unchanged; When the dust thickness information at the dust removal position is greater than the reference thickness information, parameter correction is performed; Based on parameter correction, the adjustment parameters are determined according to the dust thickness information at the dust removal position and the reference thickness information; Determining a dust removal displacement speed according to an adjustment parameter, the dust removal displacement speed being a moving speed of the dust removal position when the air blowing device (53) blows air along the dust removal path, and the adjustment parameter is inversely proportional to the dust removal displacement speed; Replacing a preset initial displacement speed according to the dust removal displacement speed, and controlling the blowing device (53) to blow air to the dust removal position according to the dust removal displacement speed; The component features are also dusted. The dusting methods for component features include: Obtaining feature gaps between adjacent component features, where the feature gap is the distance between component features; Determining to merge two component features into one component feature according to a comparison relationship between the feature gap and a preset gap width; Determine component range information of the component feature according to the internal image information of the control cabinet and the component feature, where the component range information is the area range occupied by the component feature when it is installed in the control cabinet; Matching the preset specification information of the dust collection hood corresponding to the component range information; Determining dust blowing power according to specification information of the dust hood, wherein the specification information of the dust hood includes the size of the cavity of the dust hood; All component features corresponding to the specification information of the dust hood are determined according to the internal image information of the control cabinet, and the component features are connected in series by a preset path planning method to obtain a moving path of the dust hood. The path planning method is to classify the component features and use the same dust hood to vacuum the component features with the same component range information; According to the component feature position and specification information, the dust hood is controlled to cover the component feature, the air inlet of the dust hood is opened and the component feature is blown with a dust blowing power, and after a preset dust raising time, the dust outlet of the dust hood is opened to allow dust to enter a preset dust collecting bag; The dust hood is controlled according to the moving path to remove dust from the component features one by one, and after the dust removal is completed, the dust hood is controlled to stop at the suction port of the suction device (33).

2. A PLC control cabinet dust removal method according to claim 1, characterized in that: The dust cover is also controlled, and the control method of the dust cover includes: Get real-time images of dust removal progress in the control cabinet; Determine the dust removal boundary position according to the dust removal progress image and the color depth database; Determine the boundary moving speed of the dust removal boundary position according to the dust removal displacement speed; Calculate the distance between the bottom of the coverage area and the dust removal boundary, which is defined as the dust removal distance; When the dust removal distance is less than the preset reference distance, the dust cover is controlled to cover the component features, and the dust cover is controlled to move upward synchronously at the boundary moving speed.

3. A PLC control cabinet dust removal method according to claim 1, characterized in that: The dust on the inner wall of the dust hood is also removed. The method for removing the dust on the inner wall of the dust hood includes: According to the comparison relationship between the internal image information of the control cabinet and the preset component feature database, it is determined that the dust removal has been completed at the component feature position; Based on the completion of dust removal, the opening of the dust hood is controlled to be closed, and air is blown into the dust hood at a preset maximum dust blowing power, and after a preset cleaning time, the opening of the dust hood is opened and image information of the inner wall of the dust hood is obtained; Determine whether there are metal debris on the inner wall of the dust hood according to the comparison between the inner wall image information and the preset metal debris database; If present, the preset anti-static device is controlled to touch the dust hood, and after a preset anti-static time, the suction device (33) is controlled to suction the dust hood with a preset maximum suction force, and the dust hood is controlled to blow out the dust in the dust bag.

4. A PLC control cabinet dust removal method according to claim 3, characterized in that: The causes of metal debris are also analyzed. The analysis and treatment methods of the causes of metal debris include: According to the internal image information of the control cabinet, the abnormality type is determined by matching with the preset abnormality database, and the abnormality type includes the peeling of the inner wall of the control cabinet; Based on the peeling of the inner wall of the control cabinet, the internal image information of the control cabinet is matched with the preset control cabinet inner wall database to determine the peeling feature position; Acquire a circumferential lift image at the peeling feature location; Determine the skin warping range by matching the circumferential warping image with a preset warping database; Control the preset scraper to shovel within the raised range of the surface of the peeling characteristic position, and control the preset dust receiving plate to move below the peeling characteristic position to receive the scraped metal debris; Determine the spraying area according to the range of skin warping; Determine the corresponding spraying amount according to the spraying area; The preset spraying device is controlled according to the spraying amount to spray the oxidation paint on the peeling characteristic position.

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