Dust flushing and removing system and control method thereof

Abstract

The invention belongs to the technical field of industrial automation and environmental governance, and discloses a dust flushing and removing system and a control method thereof. The dust flushing and removing system is provided with a connecting pipe, a first electromagnetic valve and a nozzle which are connected in sequence; a plurality of nozzles with different spatial positions are arranged; the first electromagnetic valve controls the connecting pipe to be selectively communicated with one of the multiple nozzles; the medium supply component comprises a hose, a second electromagnetic valve, an air pipe and a water pipe; the second electromagnetic valve controls the hose to be communicated with the air pipe or the water pipe; the other end of the hose is detachably connected with a connecting pipe of the dust flushing and removing robot; the dust flushing and removing robot is further provided with a control component, and the control component is used for controlling the first electromagnetic valve and the second electromagnetic valve to act. According to the dust flushing and removing robot, the cooperative structure of the dust flushing and removing robot and the medium supply component is arranged, the control logic of selecting one of the first electromagnetic valve and the second electromagnetic valve is combined, automatic switching between the dust flushing mode and the dust removing mode is achieved, and the problems that traditional manual cleaning is low in efficiency and poor in environmental adaptability are solved.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation and environmental governance technology, specifically, it relates to a dust removal system and its control method. Background Technology

[0002] In industrial environments such as coal preparation plants and chemical plants, dust pollution is severe, and traditional dust removal work is highly dependent on manual labor. These working environments are harsh, with high levels of dust and noise, leading to personnel shortages and untimely cleaning, which in turn causes dust accumulation on equipment, safety hazards, and decreased operational reliability.

[0003] Currently, wheeled or rail-mounted inspection robots have been initially applied, but mainly for monitoring and lack the ability to actively and extensively wash and vacuum. Existing technologies, such as fixed spray or dust removal equipment, have limited coverage and cannot flexibly handle complex terrain and unstructured equipment layouts. Although the concept of "lights-out factories" has emerged, there is still a lack of an automated solution for proactive cleaning operations in complex terrain that can move autonomously, intelligently identify features, and combine wet washing and dry vacuuming functions.

[0004] Therefore, there is an urgent need for a dust removal system that can replace manual labor and achieve efficient, intelligent, and comprehensive dust removal operations in complex industrial scenarios.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology of low efficiency and high labor intensity of manual dust removal in factories. The purpose is to provide a dust removal system that can replace manual labor and achieve efficient, intelligent and full-coverage dust removal operations in complex industrial scenarios.

[0007] Another object of the present invention is to provide a control method for the above-mentioned dust removal system.

[0008] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is: a dust removal system applied in dusty factories, comprising:

[0009] A dust removal robot, comprising a connecting pipe, a first solenoid valve, and nozzles connected in sequence; the nozzles are provided with multiple nozzles at different positions and / or orientations; the first solenoid valve controls the connecting pipe to selectively connect to one of the multiple nozzles.

[0010] The medium supply component includes a hose, a second solenoid valve, an air duct, and a water pipe; the second solenoid valve controls the hose to connect to the air duct or the water pipe; the end of the hose away from the second solenoid valve is detachably connected to the connecting pipe of the dust removal robot.

[0011] The dust removal robot also has a control component, which is used to control the operation of the first solenoid valve and the second solenoid valve.

[0012] According to one embodiment of the present invention, the dust removal robot includes: a moving part, the moving part being a quadruped robot platform, and the upper side of the moving part being a supporting surface;

[0013] Functional components;

[0014] The working component includes the connecting pipe, the first solenoid valve, and the nozzle; the working component, the functional component, and the control component are all disposed on the support surface of the moving component.

[0015] According to one embodiment of the present invention, the dust removal robot further includes a cover, which is provided on the supporting surface of the moving component;

[0016] The functional components, working components, and control components are all at least partially disposed within the enclosure.

[0017] According to one embodiment of the present invention, the functional component includes: a navigation module, the navigation module being used to plan the movement path of the dust removal robot;

[0018] An environmental perception module is used to acquire environmental information of the work area; both the environmental perception module and the navigation module are communicatively connected to the control component.

[0019] According to one embodiment of the present invention, the medium supply component further includes a hose reel and a drive motor for driving the hose reel to rotate in the forward or reverse direction.

[0020] The hose is wound around the hose reel;

[0021] The hose reel is a cylindrical structure, and through holes are provided on the peripheral wall of the hose reel;

[0022] The end of the hose near the second solenoid valve extends through the through hole into the inside of the hose reel and at least partially extends out from the inside of the hose reel.

[0023] One end of the hose extends out from the inside of the hose retractor and is connected to the second solenoid valve.

[0024] According to one embodiment of the present invention, the length of the hose is 20-30m.

[0025] According to one embodiment of the present invention, at least two sets of media supply components are provided, and the at least two sets of media supply components are distributed at intervals along the working area;

[0026] The end of the duct furthest from the second solenoid valve is connected to the exhaust fan;

[0027] The end of the water pipe furthest from the second solenoid valve is connected to the municipal water supply main.

[0028] According to one embodiment of the present invention, the dust removal system further includes: an intelligent terminal, which is communicatively connected to the control component;

[0029] The smart terminal stores a factory area information map, which includes information on the division of each work zone and the distribution of equipment within each work zone.

[0030] Operators can send control commands directly to the control unit through the smart terminal to control the actions of the dust removal robot.

[0031] The present invention also provides a control method for a flushing dust removal system, applied to the aforementioned flushing dust removal system, the control method comprising:

[0032] S1: The dust removal robot moves from its stationary position to the starting position of the work area. It obtains environmental information of the work area through the environmental perception module, determines its own position and the operation mode of each work zone within its work range by combining the factory area information map, and plans the initial work path through the navigation module.

[0033] S2: The control unit drives the dust removal robot to move to the vicinity of the media supply unit within the range, so that the connecting pipe and the hose are connected; then the control unit sends a control command to the second solenoid valve to connect the hose with the corresponding media pipeline;

[0034] S3: The control unit controls the first solenoid valve to operate, selects the corresponding nozzle and connects it to the pipe according to the equipment distribution and nozzle orientation requirements of the work area, and controls the dust removal robot to adjust its position and start the media supply to complete the dust removal operation in the current area.

[0035] S4: When the hose reaches its length limit, the control unit drives the dust removal robot to return to the current medium supply unit, disconnects the connecting pipe and the hose, and controls the drive motor to complete the coiling action.

[0036] S5. Plan the movement path again, and move to the next set of media supply components according to the planned path. Repeat steps S2-S4 to achieve continuous operation.

[0037] According to one embodiment of the present invention, when the operating mode is dust flushing mode, water is sprayed out sequentially through a water pipe, a second solenoid valve, a hose, a connecting pipe and a selected nozzle.

[0038] When the operating mode is dust removal mode, the exhaust fan is started to generate negative pressure, and the accumulated dust is sucked out in sequence through the selected nozzle, connecting pipe, hose, second solenoid valve and air duct.

[0039] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0040] 1) Achieve automated operations to replace manual labor:

[0041] By equipping the dust removal robot with control components, navigation modules, and environmental sensing modules, and working in conjunction with the media supply components, automatic dust removal or cleaning operations can be completed, completely eliminating the dependence on manual labor. This effectively solves the problems of harsh factory environments and high labor intensity in dusty operations, and reduces operational safety risks.

[0042] 2) Comprehensive task coverage, adaptable to complex scenarios:

[0043] The dust removal robot adopts a quadruped robot platform, which has good mobility and can adapt to complex terrains such as coal conveying bridges and equipment workshops in coal preparation plants. Multiple nozzles with different positions and / or orientations are connected by a first solenoid valve. Combined with the robot's position and posture adjustment, it can achieve no dead angle coverage of the working area and improve the dust removal effect.

[0044] 3) Dual-mode switching to adapt to different needs:

[0045] The connection between the hose and the air duct or water pipe is controlled by the second solenoid valve, which enables flexible switching between dust removal mode and dust flushing mode. The operating mode can be selected according to environmental information such as dust concentration and equipment type in the work area, taking into account both flushing efficiency and dust removal cleanliness.

[0046] 4) Strong continuous operation capability and wide coverage:

[0047] Multiple media supply components are set up and distributed at intervals along the working area. With the automatic hose reeling and unloading function of the hose reeling frame, the dust removal robot can automatically switch and dock between different media supply components to achieve large-scale continuous operation without manual intervention to change the source, which greatly improves the work efficiency.

[0048] 5) High degree of intelligence and easy operation:

[0049] The system acquires environmental information through an environmental sensing module, and the control components automatically match the operating mode and plan the operating path. It is also equipped with a smart terminal, which allows operators to remotely send control commands and achieve manual intervention, balancing automation and flexibility to adapt to the operating needs of different factory areas.

[0050] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0051] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0052] Figure 1 This is a schematic diagram of the structure of the dust removal robot in an embodiment of the present invention;

[0053] Figure 2 This is a partial structural schematic diagram of the working component in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the structure of the medium supply component in an embodiment of the present invention;

[0055] Figure 4 This is a perspective view of the medium supply component from another angle in an embodiment of the present invention.

[0056] Description of main components in the diagram:

[0057] 1. Dust removal robot;

[0058] 11. Connecting pipe; 12. First solenoid valve; 13. Nozzle; 14. Working part; 15. Moving part;

[0059] 2. Medium supply components;

[0060] 21. Hose; 22. Second solenoid valve; 23. Air duct; 24. Water pipe; 25. Hose retractor.

[0061] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0063] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0064] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0065] like Figures 1 to 4 As shown, the dust removal system of the present invention is applicable to factories with hazardous gas or dust (including but not limited to coal preparation plants, mines, and chemical plants).

[0066] The dust removal system includes:

[0067] A dust removal robot 1 is provided, comprising a connecting pipe 11, a first solenoid valve 12, and a nozzle 13 connected in sequence; the nozzle 13 is provided with multiple nozzles at different positions and / or orientations; the first solenoid valve 12 controls the connecting pipe 11 to selectively connect to one of the multiple nozzles 13.

[0068] The medium supply component 2 includes a hose 21, a second solenoid valve 22, an air duct 23, and a water pipe 24; the second solenoid valve 22 controls the hose 21 to connect with the air duct 23 or with the water pipe 24; one end of the hose 21 away from the second solenoid valve 22 is detachably connected to the connecting pipe 11 of the dust removal robot 1.

[0069] The dust removal robot 1 also has a control component, which is used to control the operation of the first solenoid valve 12 and the second solenoid valve 22.

[0070] This invention creatively combines the flexibility of a mobile platform with the continuous operation capability of a fixed supply network by setting up a collaborative system consisting of a dust removal robot 1, a media supply component 2, and a control component. Specifically, it employs a technical solution where multiple fixed-direction nozzles 13 are selectively controlled by a first solenoid valve 12, and a second solenoid valve 22 controls the switching of the hose 21 between the air duct 23 and the water pipe 24. The core effect is that it enables a single unit to intelligently and rapidly switch between "flushing" and "dry vacuuming" dual operation modes in complex industrial scenarios, seamlessly solving the core pain points of existing technologies, such as the limited functionality of mobile robots, the limited coverage of fixed equipment, and the frequent need for manual intervention.

[0071] In one specific embodiment of this example, the orientation of the nozzle 13 is opposite to the orientation of the opening of the connecting pipe 11.

[0072] The nozzle 13 is provided with four;

[0073] The four nozzles 13 are arranged on different horizontal planes.

[0074] In one specific embodiment of this example, the two middle nozzles 13 of the four nozzles 13 are both horizontally arranged, but at different horizontal heights;

[0075] The uppermost of the four nozzles 13 is inclined, with an angle of 20° to 80° with the horizontal plane, preferably 75°.

[0076] The lowermost of the four nozzles 13 is inclined, with an angle of -20° to -80° with the horizontal plane, preferably -75°.

[0077] The two nozzles 13 on the upper side are symmetrically arranged with the two nozzles 13 on the lower side.

[0078] In this invention, by setting four fixed nozzles 13 with different spatial orientations and selectively connecting them to a connecting pipe 11 via a first solenoid valve 12, precise and efficient operation on targets at different heights can be achieved without relying on complex mechanical rotation mechanisms. This design simplifies the structure, improves the reliability and maintenance convenience of the system in dusty and humid environments, and achieves millisecond-level nozzle 13 orientation changes through electronic control switching, with a response speed far faster than mechanical rotation.

[0079] Please see the appendix Figure 1 and attached Figure 2 In one specific embodiment of this example, the dust removal robot 1 includes: a moving part 15, which is a quadruped robot platform, and the upper side of the moving part 15 is a supporting surface;

[0080] Functional components;

[0081] The working component 14 includes the connecting pipe 11, the first solenoid valve 12, and the nozzle 13; the working component 14, the functional component, and the control component are all disposed on the support surface of the moving component 15.

[0082] In this invention, by using a quadruped robot platform as the moving component 15 and integrating it as the base, modules such as navigation, perception, control, and operation execution (working component 14) are integrated, giving the entire system excellent terrain adaptability and autonomous mobility. The quadruped platform can stably cross obstacles and walk on slippery ground, thus enabling it to operate in areas inaccessible to wheeled or rail-mounted robots, such as coal conveyor bridges and equipment interlayers, greatly expanding the coverage of automated dust removal.

[0083] In one specific embodiment of this example, the functional component or working component 14 is detachably installed (e.g., bolted) on the supporting surface of the moving component 15.

[0084] It should be noted that the moving part 15 mentioned in this application adopts a quadruped robot (also known as a mechanical dog), and its specific structure and control logic are well known in the art. This application does not involve any improvement thereto, and therefore, it will not be described in detail here.

[0085] In one specific embodiment of this example, the control component has the function of controlling the movement of the moving component 15;

[0086] The moving component 15 (quadruped robot) is controlled by the control component to achieve movement.

[0087] In one specific embodiment of this example, the hose 21 of the medium supply component 2 is connected to the connecting pipe 11 of the dust removal robot 1 to form a tight connection.

[0088] The medium supply component 2 is fixed in position, and after its own hose 21 is retracted, the end of the hose 21 connected to the connecting pipe 11 is in a fixed position.

[0089] When the connecting pipe 11 of the dust removal robot 1 is connected to the hose 21 of the media supply component 2, since the position of the pipe head of the connecting pipe 11 is roughly fixed, it is only necessary to align and insert it backward to achieve the connection between the two.

[0090] In one specific embodiment of this invention, the end of the flexible tube 21 that connects to the connecting tube 11 has a larger diameter than the end of the connecting tube 11 that connects to the flexible tube 21. The connecting tube 11 is inserted into the flexible tube 21.

[0091] Alternatively, the end of the connecting tube 11 that is connected to the hose 21 may have a larger diameter than the end of the hose 21 that is connected to the connecting tube 11, and the hose 21 may be inserted into the connecting tube 11.

[0092] To ensure reliable connection, in one specific embodiment of this invention, the connecting pipe 11 and the flexible hose 21 are connected using an automatic quick-connect coupling. Specifically, the quick-connect coupling includes a male connector at the end of the flexible hose 21, a female connector at the end of the connecting pipe 11, and an electromagnetically driven locking mechanism. When the male connector is inserted into the female connector, the control component controls the electromagnetically driven locking mechanism to lock the male connector inside the female connector and press the seal between them. The control component performs subsequent media switching operations only after receiving a locking signal from the connector. It is understood that this quick-connect coupling combined with the electromagnetically driven locking mechanism is a conventionally used technology in this field. Since this application only applies this technology and does not involve any improvement to it, the specific structure and connection relationship of this technology will not be described in detail in this application.

[0093] In one specific embodiment of this invention, the dust removal robot 1 further includes a cover (not shown in the figure), which covers the supporting surface of the moving component 15;

[0094] The functional components, working components 14, and control components are all at least partially disposed within the enclosure.

[0095] In this invention, by setting the cover, a sealed space is formed with the supporting surface of the moving part 15 to cover and seal the corresponding parts. This effectively prevents high-pressure water mist, dust, and moisture in the environment from directly intruding into electrical components and precision sensors during rinsing operations, significantly improving the system's operational stability and service life in high-humidity, dusty industrial environments. It is a key protective design to ensure that the robot can reliably perform tasks for a long time.

[0096] In one specific embodiment of this example, the functional component includes: a navigation module, which is used to plan the movement path of the dust removal robot 1;

[0097] An environmental perception module is used to acquire environmental information of the work area; both the environmental perception module and the navigation module are communicatively connected to the control component.

[0098] In this invention, a navigation module and an environmental perception module are incorporated to give the dust removal robot 1 "eyes" and a "brain." The navigation module enables it to perform global path planning and real-time positioning based on a map; the environmental perception module (such as vision, lidar, and dust sensors) enables it to identify equipment type, dust accumulation level, and obstacles in real time, thereby dynamically generating the optimal operation strategy. This perception-decision closed loop is the foundation for achieving fully automated and intelligent operation, allowing the robot not only to walk along a preset path but also to perform adaptive cleaning based on the actual site conditions.

[0099] In one specific embodiment of this example, the dust removal system further includes a robot charging station, on which the dust removal robot 1 is located when not in operation or when it needs to be charged.

[0100] The dust removal robot 1 has a power supply component, which is disposed on the supporting surface of the dust removal robot 1 and is also sealed inside the cover.

[0101] In one specific embodiment of this invention, the dust removal robot 1 has a built-in battery power monitoring module. When the battery power is lower than a preset value, the control unit will automatically plan a path to return to the nearest charging station for charging, and after charging is completed, it will automatically resume unfinished tasks or wait for new instructions.

[0102] Please see the appendix Figure 3 and attached Figure 4 In one specific embodiment of this example, the medium supply component 2 further includes a hose reel 25 and a drive motor for driving the hose reel 25 to rotate in the forward or reverse direction.

[0103] The hose 21 is wound around the hose reel 25;

[0104] The hose reel 25 is a cylindrical structure, and a through hole is provided on the peripheral wall of the hose reel 25;

[0105] The end of the hose 21 near the second solenoid valve 22 extends through the through hole into the inside of the hose reel 25 and at least partially extends out from the inside of the hose reel 25.

[0106] The end of the hose 21 that extends out from the inside of the hose retractor 25 is connected to the second solenoid valve 22.

[0107] In this invention, the automatic and orderly deployment and retraction of the hose 21 is achieved by setting up a hose reel 25 precisely controlled by a drive motor. This design solves the pipeline management problem when a mobile robot connects to a fixed supply point: during operation, the hose 21 can be released smoothly, avoiding tangling, dragging, or excessive bending; when the task is completed or the supply point is switched, the hose 21 can be quickly and neatly retracted, creating conditions for the robot's free movement. This not only improves operational efficiency but also greatly reduces equipment failures or safety risks caused by poor pipeline management.

[0108] In one specific embodiment of this invention, the drive motor is also controlled by the control component.

[0109] The shaft of the drive motor coincides with the central axis of the hose reel 25;

[0110] The control component controls the drive motor to rotate forward or backward, thereby tightening or loosening the hose 21.

[0111] In one specific embodiment of this example, the length of the flexible hose 21 is 20-30m.

[0112] In one specific embodiment of this example, the hose 21 has a length of 25m.

[0113] It should be noted that hose 21 refers to the hose being able to be wound, but the hose 21 in the wound state will not be squeezed or deformed to cause the diameter to decrease (or will only cause a slight decrease), and will not hinder the normal delivery of the medium;

[0114] In one specific embodiment, the wall of the hose 21 is provided with a mesh-like, cylindrical metal support mesh (the hose 21 is a steel wire mesh skeleton plastic composite pipe).

[0115] In one specific embodiment of this example, at least two sets of the media supply components 2 are provided, and the at least two sets of the media supply components 2 are distributed at intervals along the working area;

[0116] The end of the air duct 23 furthest from the second solenoid valve 22 is connected to the exhaust fan;

[0117] The end of the water pipe 24 furthest from the second solenoid valve 22 is connected to the municipal water supply main.

[0118] In this invention, a modular and networked supply infrastructure is constructed by setting up multiple sets of media supply components 2 spaced apart along the work path. The robot can automatically switch connections between different supply points like a relay race, thus breaking free from the distance constraints of a single energy / media supply and enabling unmanned continuous operation in scenarios such as coal conveyor bridges and large factory buildings spanning hundreds of meters or even longer. This design is key to achieving large-scale, long-distance automated dust removal.

[0119] In one specific embodiment of this example, the length of the factory area is 100m. In terms of the length direction, two or three media supply components 2 are set in the factory area, and the straight-line distance between two adjacent media supply components 2 is 40-60m.

[0120] The dust removal robot 1 first connects to one of its media supply components 2 to complete its maximum range of operations, and then connects to another media supply component 2 to complete another maximum range of operations.

[0121] In one specific embodiment of this example, the dust removal robot 1 is connected to the media supply component 2, and its maximum operating range is a circle with the location of the media supply component 2 as the center and the maximum length of the hose 21 (25m) as the radius.

[0122] The hose 21 is 25m long. To avoid hose 21 getting tangled and to avoid equipment, its operating range is usually smaller than a circle with a radius of 25m.

[0123] In one specific embodiment of this example, multiple media supply components 2 are simultaneously set up in the factory area, and multiple dust removal robots 1 can also be set up (the number of dust removal robots 1 is less than or equal to the number of media supply components 2) to cooperate in realizing the operation.

[0124] When the factory area is large, multiple dust removal robots can be set up. The intelligent terminal allocates work zones through the factory area information map to avoid robot work conflicts. After each robot completes its own zone work, it can work together to complete the filling work in the overlapping areas, further improving work efficiency and coverage.

[0125] In one specific embodiment of this example, the hose 21 is provided with scale markings, and the medium supply component 2 is provided with a scale recognition component to identify the scale markings (for example, a camera is provided to monitor in real time, and this information is fed back to the control component in real time, and the control component in turn feeds back to the smart terminal). The scale recognition component is used to provide real-time feedback on the extension and retraction length of the hose 21. The control component dynamically adjusts the speed of the drive motor and the moving speed of the dust removal robot 1 according to the encoder feedback and robot displacement information to ensure that the hose 21 is always in a taut but not overloaded state.

[0126] In another specific embodiment of this example, the drive motor or shaft of the hose retractor 25 is equipped with a position encoder for real-time detection and feedback of the retracting and extending length of the hose 21.

[0127] The control unit is connected to the position encoder signal and coordinates the operation of the drive motor and the movement of the dust removal robot 1 according to the extension / retraction length information.

[0128] In this invention, a position encoder is used to achieve precise closed-loop control of the extension and retraction length of the flexible hose 21. This system ensures real-time synchronization between the robot's movement and the extension and retraction of the hose 21, effectively preventing the hose 21 from dragging and tangling due to excessively rapid extension, or from detaching or being damaged due to forced dragging because it is extended too slowly. Simultaneously, real-time feedback based on the length enables intelligent early warning of the operating radius, improving the automation, safety, and reliability of the entire system's continuous operation.

[0129] In one specific embodiment of this invention, the dust removal system further includes: a smart terminal, which is communicatively connected to the control component;

[0130] The smart terminal stores a factory area information map, which includes information on the division of each work zone and the distribution of equipment within each work zone.

[0131] Operators can send control commands directly to the control unit through the smart terminal to control the action of the dust removal robot 1.

[0132] In this invention, a centralized monitoring and decision support layer is constructed by setting up an intelligent terminal and a factory area information map that are linked to the robot control components. The factory area information map digitizes the working environment, providing the robot with prior knowledge; the intelligent terminal provides a human-machine interface, allowing managers to assign tasks, monitor status, intervene in emergencies, and analyze operational data. This achieves the integration of on-site automated operation and remote intelligent management, improving the overall system's controllability and operational efficiency.

[0133] In one specific implementation of this embodiment, the smart terminal can receive information such as work progress and equipment status (e.g., battery power, solenoid valve working status, sensor data) transmitted by the control component in real time. The operator can view the real-time work scene (transmitted from the camera component of the environmental perception module to the control component and then to the smart terminal) through the information display component of the smart terminal, and promptly detect and handle work abnormalities.

[0134] In one specific embodiment of this example, the medium supply component 2 further includes an information interaction and execution component, which is communicatively connected to the control component;

[0135] Through the control component, the information interaction and execution component is also controlled by the smart terminal. That is, when the operator controls the dust removal robot 1 through the smart terminal, the control command is sent to the control component, and then the control component specifically controls the corresponding actions of the information interaction and execution component.

[0136] In one specific embodiment of this example, the medium supply component 2 further includes a status monitoring module, which includes a wind pressure sensor, a water pressure sensor, and a water flow sensor, which are respectively installed on the air duct 23, the water pipe 24, and the hose 21, for real-time feedback of the medium supply status and transmission to the control component.

[0137] All are set with preset safety ranges. When abnormal data is detected, the system will be shut down and an alarm message will be sent (to the smart terminal) to remind the operator to intervene.

[0138] For example,

[0139] When the water supply pressure reported by the status monitoring module is lower than the set threshold, the control component immediately executes the following: 1) closing the first solenoid valve 12 and the second solenoid valve 22; 2) stopping the robot's movement; 3) sending a "low water pressure" alarm message and the current coordinates to the intelligent terminal. Operation can only resume after the fault has been resolved and remotely confirmed.

[0140] In this invention, a status monitoring module containing sensors for wind pressure, water pressure, and water flow is installed on the media supply component 2, enabling real-time closed-loop monitoring and safety assurance of the operation process. Sensor data is fed back to the control component in real time, ensuring that the system can immediately alarm and take safety measures in case of insufficient water supply pressure, abnormal dust removal wind pressure, or pipeline leakage, preventing equipment damage or poor cleaning results. This improves the system's intelligence and operational reliability.

[0141] The present invention also provides a control method for the above-mentioned dust removal system, comprising the following steps:

[0142] S1: The dust removal robot moves from its stationary position to the starting position of the work area. It obtains environmental information of the work area through the environmental perception module, determines its own position and the operation mode of each work zone within its work range by combining the factory area information map, and plans the initial work path through the navigation module.

[0143] S2: The control unit drives the dust removal robot to move to the vicinity of the media supply unit within the range, so that the connecting pipe and the hose are connected; then the control unit sends a control command to the second solenoid valve to connect the hose with the corresponding media pipeline;

[0144] S3: The control unit controls the first solenoid valve to operate, selects the corresponding nozzle and connects it to the pipe according to the equipment distribution and nozzle orientation requirements of the work area, and controls the dust removal robot to adjust its position and start the media supply to complete the dust removal operation in the current area.

[0145] S4: When the hose reaches its length limit, the control unit drives the dust removal robot to return to the current medium supply unit, disconnects the connecting pipe and the hose, and controls the drive motor to complete the coiling action.

[0146] S5. Plan the movement path again, and move to the next set of media supply components according to the planned path. Repeat steps S2-S4 to achieve continuous operation.

[0147] In this invention, by employing the aforementioned complete control method encompassing environmental perception, intelligent planning, automatic docking, collaborative operation, and relay transfer, the potential of the hardware system is fully realized. This method transforms the dust removal robot from a simple execution unit into an intelligent agent capable of autonomously completing the entire process from task understanding, planning, execution to area transfer. Ultimately, it achieves the fundamental goal of replacing manual labor in complex industrial environments to perform efficient, high-quality, and highly safe dust removal operations.

[0148] In one specific implementation of this embodiment, the factory area information map includes information on the division of each work zone and the equipment distribution information within each work zone, which means:

[0149] The factory area information map divides the actual factory area into different work zones and records the equipment distribution information within each patent zone.

[0150] In one specific implementation of this embodiment, the operating modes of the devices within the same working partition are the same;

[0151] For example, one partition may be entirely in dust removal mode; another partition may be entirely in flushing mode; yet another partition may be in flushing mode followed by dust removal mode.

[0152] In one specific implementation of this embodiment, the environmental perception module includes a camera component, which captures information about the surroundings of the dust removal robot in real time to determine the location of the dust removal robot in real time.

[0153] In another specific embodiment of this invention, the environmental perception module includes a visual sensor, a lidar, and a dust concentration sensor;

[0154] The visual sensor is used to identify the type of equipment and the dust accumulation on its surface.

[0155] The lidar is used to construct a three-dimensional map of the working environment and to achieve obstacle avoidance;

[0156] The dust concentration sensor is used to monitor the operation effect in real time, and the control component can dynamically adjust the operation time or the autonomous strategy of nozzle selection based on the dust concentration feedback (which may be different from the preset area operation mode).

[0157] In one specific implementation of this embodiment, when the operating mode is dust flushing mode, water flows sequentially through a water pipe, a second solenoid valve, a hose, a connecting pipe, and a selected nozzle.

[0158] When the operating mode is dust removal mode, the exhaust fan is started to generate negative pressure, and the accumulated dust is sucked out in sequence through the selected nozzle, connecting pipe, hose, second solenoid valve and air duct.

[0159] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A dust removal system, applied in dusty industrial plants, characterized in that, The dust removal system includes: A dust removal robot, comprising a connecting pipe, a first solenoid valve, and nozzles connected in sequence; the nozzles are provided with multiple nozzles at different positions and / or orientations; the first solenoid valve controls the connecting pipe to selectively connect to one of the multiple nozzles. The medium supply component includes a hose, a second solenoid valve, an air duct, and a water pipe; the second solenoid valve controls the hose to connect to the air duct or the water pipe; the end of the hose away from the second solenoid valve is detachably connected to the connecting pipe of the dust removal robot. The dust removal robot also has a control component, which is used to control the operation of the first solenoid valve and the second solenoid valve.

2. The dust removal system according to claim 1, characterized in that, The dust removal robot includes: a moving part, which is a quadruped robot platform, and the upper side of the moving part is a supporting surface; Functional components; The working component includes the connecting pipe, the first solenoid valve, and the nozzle; the working component, the functional component, and the control component are all disposed on the support surface of the moving component.

3. The dust removal system according to claim 2, characterized in that, The dust removal robot also includes a cover, which is placed over the supporting surface of the moving part; The functional components, working components, and control components are all at least partially disposed within the enclosure.

4. The dust removal system according to claim 2, characterized in that, The functional components include: a navigation module, which is used to plan the movement path of the dust removal robot; An environmental perception module is used to acquire environmental information of the work area; both the environmental perception module and the navigation module are communicatively connected to the control component.

5. A dust removal system according to claim 1, characterized in that, The medium supply component also includes a hose reel and a drive motor that drives the hose reel to rotate in the forward or reverse direction. The hose is wound around the hose reel; The hose reel is a cylindrical structure, and through holes are provided on the peripheral wall of the hose reel; The end of the hose near the second solenoid valve extends through the through hole into the inside of the hose reel and at least partially extends out from the inside of the hose reel. One end of the hose extends out from the inside of the hose retractor and is connected to the second solenoid valve.

6. A dust removal system according to claim 5, characterized in that, The hose is 20-30m long.

7. A dust removal system according to claim 5, characterized in that, At least two sets of the media supply components are provided, and the at least two sets of the media supply components are distributed at intervals along the working area. The end of the duct furthest from the second solenoid valve is connected to the exhaust fan; The end of the water pipe furthest from the second solenoid valve is connected to the municipal water supply main.

8. A dust removal system according to claim 7, characterized in that, The dust removal system further includes: an intelligent terminal, which is communicatively connected to the control component; The smart terminal stores a factory area information map, which includes information on the division of each work zone and the distribution of equipment within each work zone. Operators can send control commands directly to the control unit through the smart terminal to control the actions of the dust removal robot.

9. A control method for a flushing dust removal system, applied to the flushing dust removal system according to any one of claims 1-8, characterized in that, The control method includes: S1: The dust removal robot moves from its stationary position to the starting position of the work area. It obtains environmental information of the work area through the environmental perception module, determines its own position and the operation mode of each work zone within its work range by combining the factory area information map, and plans the initial work path through the navigation module. S2: The control unit drives the dust removal robot to move to the vicinity of the media supply unit within the range, so that the connecting pipe and the hose are connected; then the control unit sends a control command to the second solenoid valve to connect the hose with the corresponding media pipeline; S3: The control unit controls the first solenoid valve to operate, selects the corresponding nozzle and connects it to the pipe according to the equipment distribution and nozzle orientation requirements of the work area, and controls the dust removal robot to adjust its position and start the media supply to complete the dust removal operation in the current area. S4: When the hose reaches its length limit, the control unit drives the dust removal robot to return to the current medium supply unit, disconnects the connecting pipe and the hose, and controls the drive motor to complete the coiling action. S5. Plan the movement path again, and move to the next set of media supply components according to the planned path. Repeat steps S2-S4 to achieve continuous operation.

10. The control method for a dust removal system according to claim 9, characterized in that, When the operating mode is dust flushing mode, the water flows sequentially through the water pipe, the second solenoid valve, the hose, the connecting pipe and the selected nozzle. When the operating mode is dust removal mode, the exhaust fan is started to generate negative pressure, and the accumulated dust is sucked out in sequence through the selected nozzle, connecting pipe, hose, second solenoid valve and air duct.

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