A position perception system for an air-cooled island cleaning device

Abstract

The present application provides a position sensing system for an air-cooled island cleaning device, including: a control unit, a positioning unit, and a motion unit, where the control unit controls the positioning unit and the motion unit. Among them, the motion unit includes a horizontal motion guide rail and a vertical motion guide rail, and the horizontal motion guide rail is vertically slidably connected to the vertical motion guide rail. The horizontal motion guide rail is provided with a horizontal driving mechanism, and the vertical motion guide rail is provided with a vertical driving mechanism and a spraying module. The vertical motion guide rail moves horizontally through the horizontal driving mechanism, and the spraying module moves vertically through the vertical driving mechanism. The positioning unit includes a first positioning module, a second positioning module, and a third positioning module, which are respectively fixed at both ends of the horizontal motion guide rail and on the spraying module. By placing the horizontal motion guide rail parallel under the air-cooled island, the accurate position of the spraying module can be obtained through the positioning unit, and then the motion unit can be accurately controlled to clean the local position of the condenser tube that needs to be cleaned, having the advantage of high accuracy.

Description

Technical Field

[0001] This application relates to the technical field of air-cooled island cleaning, and particularly to a position sensing system for an air-cooled island cleaning device. Background Art

[0002] An air-cooled island is a power plant air cooling device composed of multiple fans and heat dissipation condensation pipes, and is used to cool down high-temperature steam. The air-cooled island is installed outdoors, so the heat dissipation condensation pipes will be contaminated by sundries such as sand and dust, ash deposits, and poplar catkins. The surface heat transfer coefficient of the contaminated heat dissipation condensation pipes will decrease as the surface dirtiness increases, thereby affecting the heat dissipation effect and increasing the back pressure of the steam turbine.

[0003] In order to ensure the heat dissipation effect of the condensation pipes, a special air-cooled island cleaning device is regularly used to clean the condensation pipes. The air-cooled island cleaning device usually consists of a water pump, a spray assembly, a guide rail, and parts such as water pipes and cables. When performing the cleaning work, the guide rail of the air-cooled island cleaning device is horizontally arranged below the condensation pipes. The air-cooled island cleaning device moves in the guide rail, and at the same time, the spray assembly is used to clean all the condensation pipes.

[0004] However, when some heat dissipation condensation pipes of the air-cooled island have excessive ash deposits, resulting in an abnormal operating state of local overheating, it is necessary to focus on cleaning the overheated area. However, the air-cooled island cleaning device cannot complete local cleaning operations and can only clean all the heat dissipation condensation pipes. Therefore, problems such as waste of water resources and too long cleaning time are caused, resulting in low cleaning efficiency of the air-cooled island cleaning device. Summary of the Invention

[0005] This application provides a position sensing system for an air-cooled island cleaning device to solve the problem of low cleaning efficiency of the air-cooled island cleaning device.

[0006] The present application provides a position sensing system for an air-cooled island cleaning device, including a control unit, a positioning unit, and a motion unit, wherein: The motion unit includes a horizontal motion guide rail and a vertical motion guide rail, and the horizontal motion guide rail is vertically slidably connected to the vertical motion guide rail. The horizontal motion guide rail is provided with a horizontal driving mechanism, and the vertical motion guide rail is provided with a vertical driving mechanism. The horizontal driving mechanism is connected to the vertical motion guide rail, and the vertical motion guide rail moves horizontally through the horizontal driving mechanism. The vertical motion guide rail is provided with a spraying module, and the spraying module includes a high-pressure nozzle. The spraying module is connected to the vertical driving mechanism, and the spraying module moves vertically through the vertical driving mechanism. The positioning unit includes a first positioning module, a second positioning module, and a third positioning module. The first positioning module and the second positioning module are respectively fixed at both ends of the horizontal motion guide rail, and the third positioning module is fixed on the spraying module. The first positioning module, the second positioning module, and the third positioning module are wirelessly connected. The control unit is electrically connected to the horizontal driving mechanism, the vertical driving mechanism, the spraying module, and the positioning unit. The horizontal motion guide rail is placed parallel under the air-cooled island, and the device is controlled by the control unit; the accurate position of the spraying module can be obtained through the positioning unit, and then the spraying module can be accurately controlled to clean the local position of the condenser tube that needs to be cleaned. Using the position sensing system avoids the problem of resource waste caused by cleaning all the condenser tubes and improves the working efficiency of the cleaning device.

[0007] Optionally, the control unit includes a programmable logic controller, a relay, and a contactor. The programmable logic controller is electrically connected to the relay, and the contactor is electrically connected to the relay, the horizontal driving mechanism, and the vertical driving mechanism, so as to facilitate the staff to control the switch of the device during the cleaning process. The staff can directly send a switch signal to the relay through the programmable logic controller, and control the connection of the contactor through the relay, thereby controlling the working states of the horizontal driving mechanism and the vertical driving mechanism.

[0008] Optionally, the control unit further includes limit travel switches, and the limit travel switches are electrically connected to the programmable logic controller. There are multiple limit travel switches, which are respectively fixed at both ends of the horizontal motion guide rail and both ends of the vertical motion guide rail, so as to set the allowable movement range of the cleaning device between the limit travel switches at both ends of the moving guide rail. This avoids the cleaning device exceeding the boundary of the condenser tube, which may cause the device to fall and be damaged.

[0009] Optionally, the control unit further includes an inclination sensor and an inclination switch, both of which are fixed on the vertical motion guide rail. The inclination sensor is electrically connected to the inclination switch, and the inclination sensor and the inclination switch are electrically connected to the programmable logic controller. When the inclination sensor senses that the inclination angle of the cleaning device exceeds the specified range, it can cut off the power supply of the cleaning device in time, thus avoiding the equipment from falling and being damaged.

[0010] Optionally, the control unit further includes a current transmitter, which is electrically connected to the contactor, the horizontal drive mechanism, the vertical drive mechanism, and the programmable logic controller. When the current transmitter senses that the total drive current is greater than the normal range, it can cut off the power supply of the cleaning device in time to avoid damage to the equipment caused by excessive current.

[0011] Optionally, the system further includes an alarm unit, which is electrically connected to the programmable logic controller. When a system fault is sensed, the programmable logic controller controls the alarm unit to give an alarm, so that the staff can check the fault in time when the device fails.

[0012] Optionally, the positioning unit further includes a positioning travel switch, which is fixed on the horizontal motion guide rail and the vertical motion guide rail. According to the collision of the cleaning device against the positioning travel switch during operation, the distance information of the positioning travel switch can be obtained. Combining the distance information of the first positioning module, the second positioning module, and the third positioning module, the obtained motion position can be corrected to make the positioning of the device more accurate.

[0013] Optionally, the control unit further includes a timing module, which is electrically connected to the control unit. The staff can set a certain working time when the device is running, and after reaching the preset time, the device can automatically stop working.

[0014] Optionally, the first positioning module, the second positioning module, and the third positioning module are all provided with suitable waterproof enclosures. This can prevent the first positioning module, the second positioning module, and the third positioning module from being splashed by water droplets during operation and undergoing oxidation, thereby reducing their service life.

[0015] Optionally, the motion unit further includes a horizontal speed reducer and a vertical speed reducer. The horizontal speed reducer is electrically connected to the horizontal drive mechanism and the control unit, and the vertical speed reducer is electrically connected to the vertical drive mechanism and the control unit. The horizontal speed reducer and the vertical speed reducer can adjust the running speeds of the vertical drive mechanism and the horizontal drive mechanism, and by controlling the horizontal speed reducer and the vertical speed reducer through the control unit, the moving speed of the cleaning device can be controlled.

[0016] As can be seen from the above technical solutions, the present application provides a position sensing system for an air-cooled island cleaning device. After the system is powered on and started, the position information of the cleaning device can be accurately obtained through the positioning unit. After obtaining the position information, the cleaning device can be controlled to move through the control unit, so as to clean the key areas. During the operation of the cleaning work, through the limit travel switch, the position fault of the cleaning device can also be sensed and an alarm signal can be issued; through the inclination sensor and the inclination switch, the inclination angle fault of the cleaning device can be sensed and an alarm signal can be issued; through the current transmitter, the driving jamming of the cleaning device can be sensed and an alarm signal can be issued. After receiving the alarm signal, the programmable logic controller in the control unit closes the connection of the contactor through the relay, that is, controls the power on and off of the cleaning device. The power supply of the cleaning device can be cut off in time when a fault is sensed, avoiding the damage of the cleaning device. The position sensing system for an air-cooled island cleaning device provided by the present application can focus on cleaning the dirty areas of the condenser tubes, can sense the fault problems of the cleaning device in time and protect the cleaning device, and has the advantages of high accuracy and strong safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of a position sensing system for an air-cooled island cleaning device in an embodiment of the present application;

[0019] Figure 2 It is a schematic side view of a position sensing system for an air-cooled island cleaning device in an embodiment of the present application;

[0020] Figure 3 It is an operation flow chart of a position sensing system for an air-cooled island cleaning device in an embodiment of the present application;

[0021] Figure 4 It is a system circuit connection diagram of a position sensing system for an air-cooled island cleaning device in an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of a positioning correction structure of a position sensing system for an air-cooled island cleaning device in an embodiment of the present application.

[0023] Illustration:

[0024] Among them, 1 - control unit, 11 - programmable logic controller, 12 - relay, 13 - contactor, 14 - limit travel switch, 15 - inclination sensor, 16 - inclination switch, 17 - current transmitter, 18 - timing module, 2 - positioning unit, 21 - first positioning module, 22 - second positioning module, 23 - third positioning module, 24 - positioning travel switch, 3 - moving unit, 31 - horizontal speed reducer, 32 - vertical speed reducer, 4 - horizontal moving guide rail, 5 - vertical moving guide rail, 6 - horizontal driving mechanism, 7 - vertical driving mechanism, 8 - spraying module, 81 - high-pressure nozzle, 9 - alarm unit. Specific implementation manner

[0025] The air-cooled island is an air-cooling device of a power plant, which is composed of multiple fans and heat dissipation and condensation pipes and is set outdoors. Therefore, the heat dissipation and condensation pipes will be contaminated by sundries such as sand and dust, ash accumulation, and willow catkins. The surface heat transfer coefficient of the contaminated heat dissipation and condensation pipes will decrease as the surface dirtiness increases, thus affecting the heat dissipation effect. Using the air-cooled island cleaning device to clean the surface of the condensation pipes cannot accurately position the device. When there is too much ash accumulation on some heat dissipation and condensation pipes of the air-cooled island, it is impossible to focus on cleaning the overheated areas, resulting in waste of water resources and low cleaning efficiency.

[0026] Moreover, the air-cooled island cleaning device does not have a fault perception and protection function. Due to factors such as dragging of water pipes and cables and accumulation of sand and dust impurities in the outdoor environment, when the air-cooled island cleaning device is operating, it is prone to faults such as movement beyond the boundary, tilting of the cleaning rack, and jamming of the driving mechanism. If the work is not stopped in time when a fault occurs, it will damage the cleaning device and the air-cooled island.

[0027] To solve the above problems, the present application provides a position perception system for an air-cooled island cleaning device, including: a control unit 1, a positioning unit 2, and a moving unit 3. See Figure 3 , the control unit 1 is used to control the positioning unit 2 and the moving unit 3 and process the signals fed back by the positioning unit 2 and the moving unit 3; the positioning unit 2 is used to obtain the position information of the cleaning device during the working process and feed back the position information to the control unit 1; the moving unit 3 is used to perform the cleaning work.

[0028] Among them, the moving unit 3 includes a horizontal moving guide rail 4 and a vertical moving guide rail 5, and the horizontal moving guide rail 4 is vertically slidably connected to the vertical moving guide rail 5. The horizontal moving guide rail 4 and the vertical moving guide rail 5 are made of metal materials with antioxidant properties on the outer surface. For example: ordinary iron material is used, and paint is sprayed on the outer layer to make it waterproof and rust-proof; aluminum material is used, which has waterproof and rust-proof properties and is relatively light; stainless steel material is used, which has waterproof and rust-proof properties and has a weight similar to that of iron material, but no painting treatment is required. See Figure 1, the horizontal motion guide rail 4 is provided with a horizontal driving mechanism 6, and the vertical motion guide rail 5 is provided with a vertical driving mechanism 7. The horizontal driving mechanism 6 is connected to the vertical motion guide rail 5 so that the vertical motion guide rail 5 moves horizontally through the horizontal driving mechanism 6. One way to achieve the horizontal movement of the vertical motion guide rail 5 can be to provide rollers at both ends of the vertical motion guide rail 5, and the rollers are rotatably connected to the vertical motion guide rail 5. The frictional force during the movement can be reduced through the rotatable connection method, thereby reducing the driving force and making the operation process of the device smoother. See Figure 2 , the vertical motion guide rail 5 is provided with a spraying module 8, and the spraying module 8 includes a high-pressure nozzle 81. The high-pressure nozzle 81 can be of various types. For example: a rotary nozzle, which has a strong diffusion ability and the ability to entrain the surrounding medium to participate in the flow; a fluid guiding nozzle, which has a specially designed fluid guide inside, and can reduce the turbulent flow, eddy current loss and secondary circulation loss of the flow. The spraying module 8 is connected to the vertical driving mechanism 7 so that the spraying module 8 moves vertically through the vertical driving mechanism 7. The way to achieve vertical movement can be to use a slideway and a slide block, and slide up and down through chain drive.

[0029] In some embodiments, the horizontal motion guide rail 4 includes an upper guide rail and a lower guide rail. The upper guide rail is parallel to the lower guide rail, and both the upper guide rail and the lower guide rail are provided with a horizontal driving mechanism 6. The control unit 1 controls the horizontal driving mechanism 6 to ensure the synchronous operation of the horizontal driving mechanisms 6 of the upper and lower guide rails, so that the vertical motion guide rail 5 moves smoothly in the horizontal direction.

[0030] In some embodiments, the motion unit 3 further includes a horizontal speed reducer 31 and a vertical speed reducer 32. The horizontal speed reducer 31 is connected to the horizontal driving mechanism 6 and the control unit 1 through cables, and the vertical speed reducer 32 is connected to the vertical driving mechanism 7 and the control unit 1 through cables, so that the control unit 1 can adjust the movement speed of the cleaning device during operation.

[0031] The movement unit 3 is connected to the positioning unit 2 to feed back the position information of the cleaning device during movement to the control unit 1 through the positioning unit 2. The positioning unit 2 includes a first positioning module 21, a second positioning module 22 and a third positioning module 23. The first positioning module 21 and the second positioning module 22 are respectively fixed at both ends of the horizontal movement guide rail 4, and the third positioning module 23 is fixed on the spraying module 8. The first positioning module 21, the second positioning module 22 and the third positioning module 23 are wirelessly connected. To maintain the stability of the positioning unit 2, the positioning unit 2 needs to be independently powered by a DC power supply. Among them, the first positioning module 21, the second positioning module 22 and the third positioning module 23 can adopt ultra-wideband technology modules. Ultra-wideband technology is a wireless carrier communication technology that transmits data using non-sinusoidal narrow pulses in the nanosecond level, and has the advantages of low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low intercept ability, high positioning accuracy, etc. The ranging between two ultra-wideband modules is obtained by measuring and calculating the time of flight. After at least 3 wireless transceiver interactions between two ultra-wideband modules, the distance information is obtained. When the system runs, the ranging function of the positioning unit 2 is started; the distances between the first positioning module 21 and the second positioning module 22, between the first positioning module 21 and the third positioning module 23, and between the second positioning module 22 and the third positioning module 23 are obtained, and are respectively denoted as L1, L2, and L3. Taking the installation position of the first positioning module 21 as the origin, the direction of the horizontal movement guide rail 4 as the X axis, and the direction of the vertical movement guide rail 5 as the Y axis, the coordinate position of the spraying module 8 on the condenser tube plane is calculated as (Ax, Ay), where:

[0032]

[0033]

[0034] According to the coordinate position (Ax, Ay), the accurate position of the spraying module 8 can be determined, and the positioning unit 2 feeds back the coordinate position to the control unit 1. The control unit 1 can accurately control the spraying module 8 to clean the area that needs to be cleaned on the condenser tube through the coordinate position information.

[0035] In some embodiments, during the cleaning process, in order to prevent the positioning unit 2 from being splashed by water droplets and shortening the service life of the equipment, the first positioning module 21, the second positioning module 22 and the third positioning module 23 are all provided with suitable waterproof enclosures. For example: the waterproof enclosure can be made of polycarbonate material, which has good waterproof performance, and has the advantages of excellent electrical properties and strong impact resistance.

[0036] The control unit 1 is connected to the horizontal drive mechanism 6, the vertical drive mechanism 7, the spraying module 8, and the positioning unit 2 through cables. The start and stop states of the cleaning device can be controlled through the control unit 1. The position information fed back by the positioning unit 2 can be received and processed, and the position of the spraying module 8 can be adjusted according to the position information.

[0037] As can be seen from the above technical solutions, for a position sensing system of an air-cooled island cleaning device provided in this application, after the system is started, the positioning unit 2 calculates the position coordinates of the spraying module 8 by respectively obtaining the distances between the first positioning module 21, the second positioning module 22, and the third positioning module 23. The position coordinates are fed back to the control unit 1, and the control unit 1 controls the movement unit 3 to move the position, so as to accurately clean the dirty positions in the condenser tubes. It is possible to control the cleaning device to focus on cleaning the dirty positions in the condenser tubes, avoiding waste of water resources and improving the cleaning efficiency.

[0038] In some embodiments provided in this application, refer to Figure 4 , to improve the safety of the cleaning device during operation, the control unit 1 includes a programmable logic controller 11, a relay 12, a contactor 13, and a current transmitter 17. The programmable logic controller 11 is connected to the coil of the relay 12 through a cable to send a switching signal to the relay 12. The contacts of the relay 12 are connected to the coil of the contactor 13 through a cable. The contactor 13 is connected to the current transmitter 17 through a cable, and the current transmitter 17 is connected to the horizontal drive mechanism 6 and the vertical drive mechanism 7 through a cable. By sending a signal through the discrete output interface of the programmable logic controller 11, the coil of the relay 12 can be turned off and the contacts can be disconnected, thereby disconnecting the coil of the contactor 13. After the contactor 13 is disconnected, the branches in the circuit connected to the horizontal drive mechanism 6 and the vertical drive mechanism 7 are in an open circuit state, thus cutting off the power supply of the horizontal drive mechanism 6 and the vertical drive mechanism 7. Therefore, during the cleaning process, the staff can directly stop the operation state of the cleaning device by controlling the programmable logic controller 11, making the operation of the cleaning device more convenient. And if it is sensed that the cleaning device fails, the staff can stop the operation of the cleaning device in time, thus avoiding damage to the equipment.

[0039] To ensure timely detection of malfunctions in the position of the cleaning device, the control unit 1 is also equipped with limit travel switches 14. The limit travel switches 14 are connected to the programmable logic controller 11 via cables, enabling the programmable logic controller 11 to receive the switching signals of the limit travel switches 14 through the cables. A travel switch is a commonly used master control electrical appliance that uses the collision of moving parts of production machinery to actuate its contacts to connect or disconnect the control circuit, achieving certain control purposes. The limit travel switches 14 are fixed at both ends of the horizontal movement guide rail 4 and both ends of the vertical movement guide rail 5 to limit the movement range of the cleaning device within the range of the limit travel switches 14 at both ends. When the limit travel switches 14 at both ends are collided by the cleaning device, the limit travel switches 14 are triggered and simultaneously feedback an alarm signal to the programmable logic controller 11. After receiving the alarm signal, the programmable logic controller 11 immediately closes the connection of the contactor 13 through the relay 12, stopping the cleaning device from working and preventing the cleaning device from exceeding the working range and causing damage.

[0040] To ensure timely detection of malfunctions in the tilt angle of the cleaning device, the control unit 1 is also equipped with an inclination sensor 15 and an inclination switch 16. An inclination sensor, also known as an inclinometer, clinometer, level meter, or tilt meter, is often used for measuring the change in the horizontal angle of a system, and its theoretical basis is Newton's second law. Inside a system, velocity cannot be measured, but its acceleration can be measured. If the initial velocity is known, the linear velocity can be calculated through integration, and then the linear displacement can be calculated. Therefore, it is actually an acceleration sensor that utilizes the principle of inertia. The inclination sensor 15 and the inclination switch 16 are both fixed on the vertical movement guide rail 5, and the inclination sensor 15 and the inclination switch 16 are connected via a cable. The inclination sensor 15 and the inclination switch 16 are both connected to the programmable logic controller 11 via cables to transmit signals to and from the programmable logic controller 11 through the cables. To ensure the stability of the inclination sensor 15 and the inclination switch 16, the inclination sensor 15 and the inclination switch 16 are powered by separate DC power supplies. During the cleaning process, the real-time tilt angle data of the cleaning device can be obtained through the inclination sensor 15. When the tilt angle exceeds the specified range, the inclination switch 16 is triggered, and the inclination switch 16 immediately feedbacks an alarm signal to the programmable logic controller 11. After receiving the alarm signal, the programmable logic controller 11 immediately closes the connection of the contactor 13 through the relay 12, stopping the cleaning device from working and preventing the cleaning device from tilting and causing damage.

[0041] To ensure that the jamming of the driving mechanism of the cleaning device can be detected in a timely manner, the control unit 1 also performs current detection on the current transmitter 17. The current of the current transmitter 17 is collected. When the total working current value of the current transmitter 17 is detected to exceed the limit, continuous detection and timing are carried out. If the overcurrent protection time is reached and the detected current always exceeds the normal working current range, the current transmitter 17 immediately feeds back an alarm signal to the programmable logic controller 11. After receiving the alarm signal, the programmable logic controller 11 immediately closes the connection of the contactor 13 through the relay 12, so that the cleaning device stops working, preventing the cleaning device from jamming and causing damage.

[0042] In some embodiments, to ensure that the staff can be reminded in a timely manner to troubleshoot the faults after the cleaning device fails, the system further includes an alarm unit 9. The alarm unit 9 is connected to the programmable logic controller 11 through a cable. After receiving the alarm signal, the programmable logic controller 11 simultaneously sends a start instruction to the alarm unit 9. After receiving the start instruction, the alarm unit 9 starts to give an alarm reminder. The alarm unit 9 can use a variety of ways to give an alarm reminder to the staff, for example: using a warning light, a speaker or a buzzer, etc.

[0043] As can be seen from the above technical solutions, a position sensing system for an air-cooled island cleaning device provided by the present application senses the faults of the cleaning device through the limit travel switch 14, the tilt sensor 15, the tilt switch 16 and the current transmitter 17, and immediately stops and cuts off the power supply of the cleaning device in a timely manner to protect the safety of the equipment. The movement range, tilt angle and driving current of the cleaning device are monitored through the travel switch 14, the tilt sensor 15 and the current transmitter 17. After the programmable logic controller 11 receives the alarm signals sent by the travel switch 14, the tilt switch 16 and the current transmitter 17, it can immediately close the connection of the contactor 13 through the relay 12. Thus, it is ensured that in the case of a failure of the cleaning device, the power supply of the cleaning device can be cut off in a timely manner to protect the safety of the equipment.

[0044] In some embodiments provided by the present application, to improve the positioning accuracy of the cleaning device, the positioning unit 2 further includes a positioning travel switch 24. Refer to Figure 5 , the positioning travel switch 24 is fixed on the horizontal movement guide rail 4 and the vertical movement guide rail 5. Let the travel switches 24 on the horizontal movement guide rail 4 be marked as H1, H2,... H m , and the distances from the first positioning module 21 are L1, L2,... L m ; the travel switches 24 on the vertical movement guide rail 5 are marked as V1, V2,... V n , and the vertical distances from the horizontal movement guide rail 4 are S1, S2,... S n. Taking the position point of the first positioning module 21 as the origin, a two-dimensional coordinate system is established on the plane of the condenser tube. Then the coordinates of the first positioning module 21 are P1=(0,0); the coordinates of the second positioning module 22 are P2=(L U ,0); the coordinates of the third positioning module 23 are P3=(x w (t),y w (t)). During the cleaning process, the abscissa value x w (t) and the ordinate value y w (t) of the third positioning module 23 change as the cleaning device moves, and the positioning travel switch 24 is continuously triggered. After the positioning travel switch 24 is triggered, the control unit 1 can obtain the information of the triggered positioning travel switch 24. By the ratio of the actual distance between the first positioning module 21 and the second positioning module 23 to the measured distance, the coordinate information of the finally obtained third positioning module 23 can be corrected to improve the accuracy of the positioning unit 2.

[0045] For example: at time t after the system starts, when only the positioning travel switch 24 on the horizontal motion guide 4 is triggered, let the triggered travel switch of the horizontal motion guide 4 be H i . During the installation of the position perception system, the distances between the positioning modules and the positioning travel switch 24 have been stored. Obtain the ranging result d 13 (t) between the first positioning module 21 and the third positioning module 23, the ranging result d 23 (t) between the second positioning module 22 and the third positioning module 23, and the ranging result d 12 (t) between the first positioning module 21 and the second positioning module 22;

[0046] Calculate the ranging correction coefficient k(t)

[0047]

[0048] Correct the ranging results to obtain the ranging correction result d1′3(t) between the first positioning module 21 and the third positioning module 23 and the ranging correction result d2′3(t) between the second positioning module 22 and the third positioning module 23.

[0049] d1′3(t)=d 13 (t)×k(t)

[0050] d2′3(t)=d 23 (t)×k(t)

[0051] Calculate the preliminary numerical value of the coordinates of the third positioning module 23 And

[0052] Define the process parameter p(t)

[0053]

[0054] Calculated

[0055]

[0056]

[0057] Calculate the coordinate result value x of the third positioning module 23 w (t) and y w (t)

[0058] x w (t) = L i

[0059]

[0060] Based on the finally obtained result value x w (t) and y w (t), correct the coordinate information according to the result value.

[0061] In some embodiments provided by the present application, the control unit 1 further includes a timing module 18, and the timing module 18 is connected to the control unit 1 through a cable. Staff can set the working time in advance through the timing module 18. After reaching the preset working time, the timing module 18 sends a signal to the control unit 1. After receiving the signal, the control unit 1 can immediately cut off the power supply and automatically stop the running state of the cleaning device, thereby improving the automation performance of the cleaning device.

[0062] As can be seen from the above technical solutions, a position sensing system of an air-cooled island cleaning device provided by the present application can accurately position the cleaning device through the positioning unit 2 after connecting the power supply to start the system. After obtaining the positioning information, the position of the cleaning device can be adjusted through the control unit 1, so as to clean the key areas. During the operation of the cleaning work, through the limit travel switch 14, the position fault of the cleaning device can be sensed and an alarm signal can be sent; through the inclination sensor 15 and the inclination switch 16, the inclination angle fault of the cleaning device can be sensed and an alarm signal can be sent; through the current transmitter 17, the driving jamming of the cleaning device can be sensed and an alarm signal can be sent. After receiving the alarm signal, the programmable logic controller 11 in the control unit 1 closes the connection of the contactor 13 through the relay 12, thereby timely cutting off the power supply of the cleaning device and avoiding the damage of the cleaning device. A position sensing system of an air-cooled island cleaning device provided by the present application can solve the problem that the air-cooled island cleaning device cannot perform local area cleaning, and can sense the fault problem of the cleaning device in real time and protect the cleaning device, and has the advantages of high accuracy and strong safety.

[0063] For the similar parts between the embodiments provided in this application, reference can be made to each other. The specific embodiments provided above are only several examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other embodiments extended based on the solution of this application without creative efforts fall within the protection scope of this application.

Claims

1. A position sensing system for an air-cooled island cleaning device, characterized in that, Comprising: A control unit (1), a positioning unit (2) and a motion unit (3), wherein: The motion unit (3) includes a horizontal motion guide rail (4) and a vertical motion guide rail (5), and the horizontal motion guide rail (4) is vertically slidably connected to the vertical motion guide rail (5); a horizontal driving mechanism (6) is provided on the horizontal motion guide rail (4), and a vertical driving mechanism (7) is provided on the vertical motion guide rail (5); the horizontal driving mechanism (6) is connected to the vertical motion guide rail (5) so that the vertical motion guide rail (5) moves horizontally through the horizontal driving mechanism (6); a spraying module (8) is provided on the vertical motion guide rail (5), the spraying module (8) includes a high-pressure nozzle (81), and the spraying module (8) is connected to the vertical driving mechanism (7) so that the spraying module (8) moves vertically through the vertical driving mechanism (7); The positioning unit (2) includes a first positioning module (21), a second positioning module (22) and a third positioning module (23), the first positioning module (21) and the second positioning module (22) are respectively fixed at both ends of the horizontal motion guide rail (4), the third positioning module (23) is fixed on the spraying module (8), and the first positioning module (21), the second positioning module (22) and the third positioning module (23) are wirelessly connected; The positioning unit (2) further includes a positioning travel switch (24), and the positioning travel switch (24) is fixed on the horizontal motion guide rail (4) and the vertical motion guide rail (5); The control unit (1) is electrically connected to the horizontal driving mechanism (6), the vertical driving mechanism (7), the spraying module (8) and the positioning unit (2); The control unit (1) includes a programmable logic controller (11), a relay (12) and a contactor (13), the programmable logic controller (11) is electrically connected to the relay (12), and the contactor (13) is electrically connected to the relay (12), the horizontal driving mechanism (6) and the vertical driving mechanism (7); The control unit (1) further includes an inclination sensor (15) and an inclination switch (16), the inclination sensor (15) and the inclination switch (16) are both fixed on the vertical motion guide rail (5), the inclination sensor (15) is electrically connected to the inclination switch (16), and the inclination sensor (15) and the inclination switch (16) are electrically connected to the programmable logic controller (11); Specific control steps include: Obtaining the distances between the first positioning module and the second positioning module, between the first positioning module and the third positioning module, and between the second positioning module and the third positioning module; Calculating the coordinate position of the spraying module on the condenser tube plane; The positioning unit feeds the coordinate position back to the control unit; Correcting the coordinate information of the finally obtained third positioning module by the ratio of the actual distance between the first positioning module and the second positioning module to the measured distance; Calculating a ranging correction coefficient; Correcting the ranging result; Calculating the preliminary numerical value of the coordinates of the third positioning module; Calculate the coordinate result value of the third positioning module; Correct the coordinate information according to the result value.

2. The position sensing system of the air-cooled island cleaning device according to claim 1, wherein The control unit (1) further includes limit travel switches (14), and the limit travel switches (14) are electrically connected to the programmable logic controller (11); there are multiple limit travel switches (14), which are respectively fixed at both ends of the horizontal motion guide rail (4) and both ends of the vertical motion guide rail (5).

3. The position sensing system of the air-cooled island cleaning device according to claim 1, characterized in that, The control unit (1) further includes a current transmitter (17), and the current transmitter (17) is electrically connected to the contactor (13), the horizontal drive mechanism (6), the vertical drive mechanism (7), and the programmable logic controller (11).

4. The position sensing system of the air-cooled island cleaning device according to any one of claims 1-3, characterized in that, The system further includes an alarm unit (9), and the alarm unit (9) is electrically connected to the programmable logic controller (11).

5. The position sensing system of the air-cooled island cleaning device according to claim 1, characterized in that, The control unit (1) further includes a timing module (18), and the timing module (18) is electrically connected to the control unit (1).

6. The position sensing system of the air-cooled island cleaning device according to claim 1, characterized in that The first positioning module (21), the second positioning module (22), and the third positioning module (23) are all provided with suitable waterproof enclosures.

7. The position sensing system of the air-cooled island cleaning device according to claim 1, characterized in that The motion unit (3) further includes a horizontal speed reducer (31) and a vertical speed reducer (32). The horizontal speed reducer (31) is electrically connected to the horizontal drive mechanism (6) and the control unit (1), and the vertical speed reducer (32) is electrically connected to the vertical drive mechanism (7) and the control unit (1).

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