Multifunctional visual intelligent pulse cleaning system and method

Abstract

The invention discloses an intelligent cleaning system and method for a boiler cold end heat exchanger, and belongs to the technical field of boiler cleaning and intelligent control. The system comprises a multi-source sensing unit, an intelligent control unit, a pulse generation unit and a compound motion execution unit. The multi-source sensing unit fuses vision, a temperature field and dust deposition thickness information; the intelligent control unit analyzes the sensing information and generates a control instruction when a preset triggering condition is met; the composite motion execution unit is driven by an instruction to enable the cleaning mother pipe to perform rotary and reciprocating composite motion at the same time; the pulse generating unit provides high-energy pulse airflow to be sprayed out from the main pipe nozzle. According to the invention, the fundamental conversion from'fixed period and black sweeping 'to'state driving and intelligent fixed point' is realized, a spatial spiral sweeping track is formed through composite motion, the problem of uneven coverage in the traditional technology is solved, and the robot has the advantages of high sweeping efficiency, good energy-saving effect, high automation degree and the like.

Description

Technical Field

[0001] This invention relates to the field of boiler cleaning, energy saving and intelligent control technology in thermal power plants, specifically to an online cleaning system and method for boiler cold-end heat exchangers that integrates intelligent sensing, decision-making and compound motion execution capabilities. Background Technology

[0002] Air preheaters, (low)-temperature economizers, and other boiler tail-end heat exchangers, collectively known as boiler cold-end heat exchangers, are crucial components of energy recovery in modern thermal power units. By deeply recovering waste heat from flue gas, they significantly reduce exhaust gas temperature, making them core equipment for improving overall plant thermal efficiency and reducing coal consumption. For every certain reduction in exhaust gas temperature, unit coal consumption can be reduced by a specific percentage point, resulting in substantial economic benefits. Low-temperature economizers, in particular, cool the flue gas below the acid dew point and simultaneously remove SO3 and improve dust removal efficiency, making them key environmental protection equipment for achieving "ultra-low emissions." Therefore, ensuring the continuous and efficient operation of these heat exchangers is of paramount importance to national energy strategies (energy conservation and consumption reduction) and environmental regulations (ultra-low emissions).

[0003] However, boiler flue gas contains a large amount of fly ash and acidic condensates, which easily accumulate and scale on the surface of heat exchange elements. The ash layer creates thermal resistance, leading to a sharp decrease in heat exchange efficiency (increased flue gas temperature and coal consumption) and increased flue gas flow resistance (increased induced draft fan power consumption). In severe cases, it can even block the flue, forcing the unit to shut down and causing huge economic losses. Although there are various soot blowing devices on the market today, such as steam soot blowers, sonic soot blowers, and gas shock wave soot blowers, these cleaning and soot blowing devices all have some problems to varying degrees. The most fatal problem is that they all rely on "blind cleaning"—that is, fixed cycles, fixed cleaning trajectories, and fixed cleaning durations. Because the air preheater, low-temperature economizer, low-temperature economizer, and reheater are all cleaned in a closed space during boiler operation, the current cleaning technology is only semi-automatic or automatic. In some cases, the boiler needs to be shut down for manual high-pressure water cleaning when the blockage is severe. This not only fails to meet national requirements, but may also cause uncontrollable accidents due to abnormal boiler shutdown. Summary of the Invention

[0004] The technical problem to be solved by this invention is that traditional steam, sonic, and shock wave soot blowers generally adopt a fixed cycle and fixed trajectory cleaning mode, which cannot be adjusted according to the actual ash accumulation inside the heat exchanger, resulting in insufficient cleaning or energy waste and low level of intelligence. To solve the above problems, a multifunctional visual intelligent pulse cleaning system and method are provided.

[0005] The object of this invention is achieved in the following manner: A multifunctional visual intelligent pulse cleaning system includes: A multi-source sensing unit is used to collect the internal status information of the heat exchanger in real time, and it includes a visual sensing module 8, a temperature field sensing module 9, and a dust accumulation thickness sensing module 10. The intelligent control unit 5 is communicatively connected to the multi-source sensing unit, and is used to receive and analyze the status information, and generate control commands when the status information meets the preset cleaning trigger conditions. Pulse generating unit 4 is used to generate high-energy pulsed airflow; And, composite motion execution unit 6; The composite motion execution unit includes a reciprocating drive module, a rotary drive module, and at least one cleaning main tube; The reciprocating drive module is used to drive the cleaning main pipe to perform linear reciprocating motion along the first direction; The rotation drive module is used to drive the cleaning main pipe to rotate around its own axis; The cleaning main tube is equipped with multiple nozzles that are connected to the pulse generating unit; The intelligent control unit is connected to the reciprocating drive module, the rotary drive module and the pulse generation unit for control purposes. It coordinates and controls the reciprocating motion and rotary motion of the cleaning main pipe and the release of the high-energy pulse airflow according to the control instructions, so as to perform fixed-point or full-coverage cleaning of the target area inside the heat exchanger.

[0006] The preset cleaning trigger condition is at least one of the following: (a) Based on the image information collected by the visual perception module, it is identified that the degree of dust accumulation in a local area exceeds a first threshold; (b) Based on the temperature information collected by the temperature field sensing module, determine that the temperature of a certain area deviates from the reference value by more than a second threshold. (c) Based on the height information collected by the dust accumulation thickness sensing module, it is determined that the dust accumulation height exceeds the third threshold.

[0007] The multifunctional visual intelligent pulse cleaning system according to claim 1 is characterized in that: the rotary drive module includes a rotary drive motor and a dual-output reversing gearbox; The input shaft of the dual-output reversing gearbox is connected to the rotary drive motor, and its two output shafts are respectively connected to two parallel cleaning main pipes through a transmission mechanism to drive the two cleaning main pipes to rotate synchronously.

[0008] The reciprocating drive module includes a reciprocating drive motor and a power output component driven by the motor; The power output component is a gear and rack pair, a lead screw and nut pair, a sprocket and chain pair, or a synchronous belt transmission mechanism.

[0009] It also includes a gas delivery assembly, which includes a rotary air intake manifold; The stationary air inlet of the rotating air inlet manifold is connected to the pulse generating unit 4, and its rotating air outlet is connected to the cleaning main pipe, for continuously delivering the high-energy pulsed airflow when the cleaning main pipe rotates.

[0010] It also includes an energy recovery unit; the energy recovery unit is a flue gas waste heat heater 3 installed in the boiler flue, and its medium flow channel is connected upstream of the air inlet of the pulse generating unit for heating the medium entering the pulse generating unit 4.

[0011] The visual perception module includes a high-temperature resistant industrial endoscope or camera; the temperature field perception module includes multiple distributed temperature sensors; and the dust accumulation thickness perception module includes a capacitive or radio frequency admittance level switch or a light source sensor.

[0012] The pulse generating unit is an air-powered pulse generating device, which converts a continuous compressed air flow into an intermittent high-pressure pulse airflow through a fast valve opening and closing or a variable-capacity chamber structure.

[0013] A cleaning method based on the aforementioned multifunctional visual intelligent pulse cleaning system includes the following steps: The multi-source sensing unit collects multi-dimensional state information inside the heat exchanger in real time. The intelligent control unit analyzes the status information to determine whether the preset cleaning trigger conditions are met; If the conditions are met, the intelligent control unit determines the target cleaning area based on the status information and generates corresponding motion control commands and pulse trigger commands. The composite motion execution unit receives the instruction, and its reciprocating drive module and rotary drive module work together to drive the cleaning main tube to move, so that the blowing trajectory of the nozzle covers the target area. At the same time, the pulse generation unit is activated, so that high-energy pulse airflow is ejected from the nozzle to perform cleaning. After cleaning is completed, the system enters a delayed observation phase, and then returns to the data acquisition step, forming a closed-loop control.

[0014] The step of driving the cleaning header to move includes: The cleaning tube is controlled to rotate around its own axis, and at the same time, the cleaning tube is controlled to move in a straight line in a direction parallel to the axis, so that the blowing trajectory of the nozzle forms a spatial spiral.

[0015] The beneficial effects of this invention are as follows: Through the combined perception of vision, temperature and thickness, the system can accurately identify the location and severity of dust accumulation, completely eliminating the fixed-cycle "blind spot" mode. The cleaning behavior is linked to the actual status of the equipment in real time, which is energy-saving and efficient. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the overall composition and connection relationship of the system described in this invention.

[0017] Figure 2 This is a layout diagram of the temperature field acquisition module and the intelligent high-temperature monitoring acquisition module of the present invention.

[0018] Figure 3 This is a layout diagram of the dust accumulation data acquisition module.

[0019] Figure 4 This is a schematic diagram showing the arrangement of the reciprocating and rotating drive modules inside the drive housing of the composite motion execution unit in an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the external overall structure and interface of the composite motion execution unit according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram showing the arrangement of the cleaning execution components (main tube and nozzle) of the composite motion execution unit in an embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the overall structure of the single-drive dual-rotation cleaning device of the composite motion execution unit of the present invention.

[0023] Among them, 1-boost air compressor, 2-compressed air storage tank, 3-flue gas waste heat heater, 4-pulse generating unit, 5-intelligent control unit, 6-composite motion execution unit, 8-visual perception module, 9-temperature field perception module, 10-ash accumulation thickness perception module; 61-reciprocating drive motor, 62-reducer, 63-rotary drive motor, 64-reciprocating transmission gear, 65-reciprocating transmission rack, 66-high pressure air inlet hose, 67-double-outlet reversing gearbox, 68-upper reversing gearbox, 69-lower reversing gearbox, 610-upper rotary air inlet manifold, 611-lower rotary air inlet manifold, 612-initial position limiting mechanism, 613-end position limiting mechanism, 614-upper air inlet outer pipe, 615-lower... 616 - Upper sealing wall box mechanism, 617 - Lower sealing wall box mechanism, 618 - Upper inner pipe nozzle, 619 - Lower inner pipe nozzle, 620 - Upper cleaning main pipe, 621 - Lower cleaning main pipe, 622 - Drive housing, 623 - Opening, 624 - Flue outer wall, 101-106 - Detection probes 1-6 of the ash thickness sensing module, 81 - Internal upper monitoring instrument of the visual sensing module, 82 - Internal lower monitoring instrument of the visual sensing module, 91 - A temperature field acquisition center of the temperature field sensing module, 92 - B temperature field acquisition center of the temperature field sensing module. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0026] like Figure 1-3 As shown, the present invention provides a multifunctional visual intelligent pulse cleaning system, comprising: A multi-source sensing unit is used to collect the internal status information of the heat exchanger in real time, and it includes a visual sensing module 8, a temperature field sensing module 9, and a dust accumulation thickness sensing module 10. The intelligent control unit 5 is communicatively connected to the multi-source sensing unit, and is used to receive and analyze the status information, and generate control commands when the status information meets the preset cleaning trigger conditions. Pulse generating unit 4 is used to generate high-energy pulsed airflow; And, composite motion execution unit 6; The composite motion execution unit includes a reciprocating drive module, a rotary drive module, and at least one cleaning main tube; The reciprocating drive module is used to drive the cleaning main pipe to perform linear reciprocating motion along the first direction; The rotation drive module is used to drive the cleaning main pipe to rotate around its own axis; The cleaning main tube is equipped with multiple nozzles that are connected to the pulse generating unit; The intelligent control unit is connected to the reciprocating drive module, the rotary drive module and the pulse generation unit for control purposes. It coordinates and controls the reciprocating motion and rotary motion of the cleaning main pipe and the release of the high-energy pulse airflow according to the control instructions, so as to perform fixed-point or full-coverage cleaning of the target area inside the heat exchanger.

[0027] The preset cleaning trigger condition is at least one of the following: (a) Based on the image information collected by the visual perception module, the image processing algorithm (such as image grayscale analysis, texture recognition, and dust accumulation contour extraction) in the intelligent control unit is used to determine that the dust accumulation coverage or dust layer thickness in a certain area exceeds a preset threshold. It is identified that the dust accumulation degree in a local area exceeds the first threshold; furthermore, by installing a light source with a certain height on the bottom surface of the internal flue, when the dust accumulation thickness increases and blocks the light source, the camera feeds back information to the control system, at which point the system issues a cleaning command.

[0028] (b) Based on the temperature information collected by the temperature field sensing module, determine that the temperature of a certain area deviates from the reference value by more than a second threshold. (c) Based on the height information collected by the dust accumulation thickness sensing module, it is determined that the dust accumulation height exceeds the third threshold.

[0029] The rotary drive module includes a rotary drive motor and a dual-output reversing gearbox; The input shaft of the dual-output reversing gearbox is connected to the rotary drive motor, and its two output shafts are respectively connected to two parallel cleaning main pipes through a transmission mechanism to drive the two cleaning main pipes to rotate synchronously.

[0030] The reciprocating drive module includes a reciprocating drive motor and a power output component driven by the motor; The power output component is a gear and rack pair, a lead screw and nut pair, a sprocket and chain pair, or a synchronous belt transmission mechanism.

[0031] It also includes a gas delivery assembly, which includes a rotary air intake manifold; The stationary air inlet of the rotating air inlet manifold is connected to the pulse generating unit 4, and its rotating air outlet is connected to the cleaning main pipe, for continuously delivering the high-energy pulsed airflow when the cleaning main pipe rotates.

[0032] It also includes an energy recovery unit; the energy recovery unit is a flue gas waste heat heater 3 installed in the boiler flue, and its medium flow channel is connected upstream of the air inlet of the pulse generating unit, used to heat the medium entering the pulse generating unit 4. The medium is a stable, high-pressure cleaning medium (compressed air) provided to the system by a booster air compressor 1 and a compressed air storage tank 2.

[0033] The visual perception module includes a high-temperature resistant industrial endoscope or camera; the temperature field perception module includes multiple distributed temperature sensors; and the dust accumulation thickness perception module includes a capacitive or radio frequency admittance level switch or a light source sensor.

[0034] The pulse generating unit is an air-powered pulse generating device, which converts a continuous compressed air flow into an intermittent high-pressure pulse airflow through a fast valve opening and closing or a variable-capacity chamber structure.

[0035] A cleaning method based on the aforementioned multifunctional visual intelligent pulse cleaning system includes the following steps: The multi-source sensing unit collects multi-dimensional state information inside the heat exchanger in real time. The intelligent control unit analyzes the status information to determine whether the preset cleaning trigger conditions are met; If the conditions are met, the intelligent control unit determines the target cleaning area based on the status information and generates corresponding motion control commands and pulse trigger commands. The composite motion execution unit receives the instruction, and its reciprocating drive module and rotary drive module work together to drive the cleaning main tube to move, so that the blowing trajectory of the nozzle covers the target area. At the same time, the pulse generation unit is activated, so that high-energy pulse airflow is ejected from the nozzle to perform cleaning. After cleaning is completed, the system enters a delayed observation phase, and then returns to the data acquisition step, forming a closed-loop control.

[0036] The step of driving the cleaning header to move includes: The cleaning tube is controlled to rotate around its own axis, and at the same time, the cleaning tube is controlled to move in a straight line in a direction parallel to the axis, so that the blowing trajectory of the nozzle forms a spatial spiral.

[0037] Example: See Figures 1 to 7 This embodiment provides an intelligent cleaning system for use in low-temperature economizers of power plant boilers.

[0038] 1. Overall System Structure: like Figure 1 As shown, the system mainly consists of four core units: Multi-source sensing unit: deployed inside the economizer flue.

[0039] Intelligent control unit: installed in the electronic equipment room.

[0040] Pulse generating unit 4 and energy recovery unit: located on the tail platform of the boiler.

[0041] Composite motion actuator 6: Installed on the outer wall of the economizer inlet flue.

[0042] 2. Detailed structure and connection relationships of each unit: Multi-source sensing unit: Visual perception module: Two high-temperature resistant industrial endoscopes with purge protection are used, which are inserted into the observation holes at the top and side of the flue respectively, and their camera angles cover the main heat exchange area.

[0043] Temperature field sensing module: Five armored thermocouples are evenly arranged in each of the upper, middle and lower layers of the economizer flue section, for a total of 15 temperature measuring points, to monitor the flue gas temperature distribution in real time.

[0044] Ash accumulation thickness sensing module: Three radio frequency admittance level switches are installed on the inlet slope of the ash hopper at the bottom of the economizer. The probe tip is set at a height of 150mm from the bottom plate to directly detect the ash accumulation height.

[0045] All sensor signals are connected to the intelligent control unit via high-temperature resistant cables.

[0046] Intelligent control unit: It adopts an architecture that integrates an industrial computer (IPC) and a programmable logic controller (PLC). The IPC has built-in image processing software (for analyzing dust accumulation images), data mining algorithms (for analyzing temperature fields), and a human-machine interface. The PLC is responsible for real-time logic control, motor drive, and communication with field devices.

[0047] Pulse generation unit and energy recovery unit: The pulse generation unit is an air-source pulse generator, whose inlet is connected to the power plant's compressed air pipeline. Upstream of the pulse generator, a flue gas waste heat heater 3 (i.e., an energy recovery unit) is connected in series. This heater has a shell-and-tube structure and is installed in the flue after the economizer. It uses low-temperature flue gas of approximately 90°C to preheat the passing compressed air, raising its temperature by 40-50°C. The preheated compressed air enters the pulse generator, where it is converted into a high-energy pulse airflow with adjustable frequency and pressure via an internal fast-acting valve. A booster air compressor, combined with the power plant's compressed air, provides high-pressure cleaning medium for the entire system. This high-pressure medium flows through a heat exchanger inside the boiler flue to acquire waste heat from the flue gas, and then passes through the air-source pulse generator to form a high-energy pulse cleaning medium.

[0048] Composite motion execution unit 6 (core cleaning mechanism): like Figure 4-7 As shown, the composite motion execution unit 6 includes a fixedly installed drive housing 622, a reciprocating drive module, a rotary drive module, a cleaning execution component, and a gas delivery component; The drive housing is welded from steel plates and is fixedly installed on a special steel frame platform outside the flue. Alternatively, a hoisting device, which is the main load-bearing device, is also mounted on the drive housing. The interior of the housing is divided into two areas, housing the reciprocating drive module and the rotary drive module respectively.

[0049] The reciprocating drive module includes a reciprocating drive motor 61 and a reducer 62 directly connected to it. A reciprocating transmission gear 64 is mounted on the output shaft of the reducer 62, and a reciprocating transmission rack 65 meshes with the reciprocating transmission gear 64. The extension direction of the reciprocating transmission rack 65 is parallel to the axial direction of the flue. When the reciprocating drive motor 61 drives the reciprocating transmission gear 64 to rotate, the reciprocating transmission gear 64 "walks" along the fixed reciprocating transmission rack 65. However, since the drive housing is fixed and the rack 65 is fixed to the drive housing, according to the principle of action and reaction, the gear 64 essentially "pushes" or "pushes" the entire cleaning execution component connected to the reciprocating drive module to perform linear reciprocating motion through the reaction meshing force of the gear 65. In other embodiments, a servo motor driving a ball screw pair or a synchronous belt drive can also be used to achieve reciprocating drive.

[0050] Furthermore, the bottom of the reciprocating drive motor and the reducer are fixed together as a rigid structure by a fixing plate. An upper fixing plate and a lower fixing plate are fixedly connected to the fixing plate respectively. The upper and lower fixing plates are fixedly connected to the cleaning execution component, so that the power output component and the cleaning execution unit are integrated as a whole.

[0051] The rotary drive module includes a rotary drive motor 63 and a dual-output reversing gearbox 67. The output shaft of the rotary drive motor 63 is connected to the dual-output reversing gearbox 67. The two output shafts of the dual-output reversing gearbox 67 are respectively connected to an upper reversing gearbox 68 and a lower reversing gearbox 69 via drive shafts. The output shaft direction of the dual-output reversing gearbox 67 is at a 90-degree angle to its input shaft direction. Each output shaft is connected to an external drive shaft via a coupling. These two drive shafts are then connected to an upper reversing gearbox 68 and a lower reversing gearbox, respectively. The output shaft directions of both the upper reversing gearbox 68 and the lower reversing gearbox 69 are at a 90-degree angle to their input shaft directions. The output shaft of the upper reversing gearbox 68 is connected to the input end of the upper rotary air intake manifold 610 of the cleaning actuator, and the output shaft of the lower reversing gearbox 69 is connected to the input end of the lower rotary air intake manifold 611.

[0052] The cleaning execution assembly includes an upper cleaning component and a lower cleaning component arranged in parallel. Taking the upper cleaning component as an example: the rotating air outlet of the upper rotating air intake manifold 610 is connected to the upper air intake outer pipe 614. The upper air intake outer pipe 614 passes through the upper sealing wall box mechanism 616 fixed to the flue wall and extends into the flue. Its end is welded to the upper cleaning main pipe 620. Six upper inner pipe nozzles 6181-6186 are welded equidistantly along the axial direction on the upper cleaning main pipe 620. These nozzles are arc-shaped nozzles at a specific angle. The structure of the lower cleaning component is mirror-symmetrical to the upper cleaning component, including a lower rotating air intake manifold 611, a lower air intake outer pipe 615, a lower sealing wall box mechanism 617, a lower cleaning main pipe 621, and six lower inner pipe nozzles 6191-6196.

[0053] The gas delivery assembly mainly includes a high-pressure air inlet hose 66, which is connected to the pulse generating unit 4. The end of the hose 66 is connected to the stationary air inlet flanges of both the upper rotating air inlet manifold 10 and the lower rotating air inlet manifold 11 via a three-way pipe, realizing one-way air inlet and two-way distribution.

[0054] The initial position limiting mechanism 612 is fixed at the far end of the drive housing from the cleaning main pipe, serving as the initial position limiter for the reciprocating operation of the entire device; The end position limiting mechanism 613 is fixed to the drive housing near the cleaning main pipe, serving as the end position limiter for the reciprocating operation of the entire device. The initial position limiting mechanism 612 and the end position limiting mechanism 613 can be limit switches or proximity sensors. Their signals are connected to the control system for precise control of the reciprocating stroke of the cleaning actuator.

[0055] 3. System intelligent cleaning workflow: After the system is powered on, it automatically enters the following intelligent closed-loop working cycle: (1) Status perception and data fusion: Visual, temperature and dust accumulation thickness data are continuously collected and uploaded to the intelligent control unit.

[0056] (2) Intelligent analysis and decision-making: - IPC processes images in real time. If the gray value of a certain area remains high and the texture features show that the area covered by the accumulated gray exceeds 30% (first threshold), then condition (a) is triggered.

[0057] - IPC analyzes the temperature field. If the temperature at a certain point is consistently more than 10°C lower than the regional average temperature (second threshold), then condition (b) is triggered.

[0058] - The PLC directly reads the dust accumulation probe signal. If any probe is covered (dust accumulation > 150mm, third threshold), condition (c) is triggered immediately. This condition has the highest priority.

[0059] (3) Motion planning and command issuance: Once any condition is triggered, the IPC queries the preset spatial coordinate mapping database based on the trigger source (such as image coordinates, thermocouple number, probe number) to accurately calculate the three-dimensional position (axial coordinate X, radial angle θ) of the target cleaning area in the flue. Subsequently, the IPC and PLC jointly generate the command set: {reciprocating target position: X; reciprocating speed: V; rotation speed: ω; pulse frequency: f; pulse duration: T}.

[0060] (4) Precise and coordinated execution: The PLC first controls the reciprocating drive motor 61 to move, driving the cleaning execution frame (which drives the two main tubes) to move quickly and smoothly to the axial position X.

[0061] At the same time, the rotary drive motor 63 is started, and through the double-output reversing gearbox and transmission chain, the upper and lower cleaning headers are driven to start rotating synchronously at an angular velocity ω.

[0062] Once the position and rotation speed stabilize, the PLC triggers the pulse generation unit to generate a high-energy pulsed airflow according to parameters (f, T). After being heated and amplified by the pulse, the airflow is continuously delivered to the high-speed rotating cleaning header through a rotary seal, and finally ejected from a row of arc-shaped nozzles.

[0063] During this process, because the main tube is simultaneously rotating and axially positioned (or slowly axially scanned), from the perspective of a single nozzle, its purging trajectory is a spatial spiral; from the perspective of the entire row of nozzles, it forms a spiral cleaning band that precisely covers the target area.

[0064] (5) Effect evaluation and closed-loop feedback: After the set cleaning is completed, all actions stop and the system is left to stand still for 5-10 minutes (delayed observation period). After that, the control unit commands the sensing unit to perform a special inspection of the cleaned area to obtain the cleaning data.

[0065] If the data returns to normal (e.g., image grayscale decreases, temperature rises, dust accumulation height decreases), the cleaning is considered successful, and the execution unit is reset to a safe standby point.

[0066] If the data improvement is not significant, the control unit can automatically adjust the parameters (such as increasing the pulse pressure f or extending the cleaning time T), start a second round of intensive cleaning, and record this case for learning and optimization of future cleaning strategy library.

[0067] This invention provides a revolutionary, efficient, energy-saving, and intelligent online cleaning solution for boiler cold-end heat exchangers through the deep synergy of multi-source sensing, intelligent decision-making, pulse energy, and composite motion. It has extremely high engineering application value and market prospects.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several changes and improvements without departing from the overall concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A multifunctional visual intelligent pulse cleaning system, characterized in that: include: The multi-source sensing unit is used to collect the state information inside the heat exchanger in real time. It includes a visual sensing module (8), a temperature field sensing module (9), and a dust accumulation thickness sensing module (10). The intelligent control unit (5) is communicatively connected to the multi-source sensing unit, and is used to receive and analyze the status information, and generate control commands when the status information meets the preset cleaning trigger conditions; The pulse generation unit (4) is used to generate high-energy pulsed airflow; And, composite motion execution unit (6); The composite motion execution unit includes a reciprocating drive module, a rotary drive module, and at least one cleaning main tube; The reciprocating drive module is used to drive the cleaning main pipe to perform linear reciprocating motion along the first direction; The rotation drive module is used to drive the cleaning main pipe to rotate around its own axis; The cleaning main tube is equipped with multiple nozzles that are connected to the pulse generating unit; The intelligent control unit is connected to the reciprocating drive module, the rotary drive module and the pulse generation unit for control purposes. It coordinates and controls the reciprocating motion and rotary motion of the cleaning main pipe and the release of the high-energy pulse airflow according to the control instructions, so as to perform fixed-point or full-coverage cleaning of the target area inside the heat exchanger.

2. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: The preset cleaning trigger condition is at least one of the following: (a) Based on the image information collected by the visual perception module, it is identified that the degree of dust accumulation in a local area exceeds a first threshold; (b) Based on the temperature information collected by the temperature field sensing module, determine that the temperature of a certain area deviates from the reference value by more than a second threshold. (c) Based on the height information collected by the dust accumulation thickness sensing module, it is determined that the dust accumulation height exceeds the third threshold.

3. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: The rotary drive module includes a rotary drive motor and a dual-output reversing gearbox; The input shaft of the dual-output reversing gearbox is connected to the rotary drive motor, and its two output shafts are respectively connected to two parallel cleaning main pipes through a transmission mechanism to drive the two cleaning main pipes to rotate synchronously.

4. The multifunctional visual intelligent pulse cleaning system according to any one of claims 1 or 3, characterized in that: The reciprocating drive module includes a reciprocating drive motor and a power output component driven by the motor; The power output component is a gear and rack pair, a lead screw and nut pair, a sprocket and chain pair, or a synchronous belt transmission mechanism.

5. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: It also includes a gas delivery assembly, which includes a rotary air intake manifold; The stationary air inlet of the rotating air intake manifold is connected to the pulse generating unit (4), and its rotating air outlet is connected to the cleaning main pipe, for continuously delivering the high-energy pulsed airflow when the cleaning main pipe rotates.

6. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: It also includes an energy recovery unit; the energy recovery unit is a flue gas waste heat heater (3) installed in the boiler flue, and its medium flow channel is connected to the upstream of the air inlet of the pulse generating unit for heating the medium entering the pulse generating unit (4).

7. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: The visual perception module includes a high-temperature resistant industrial endoscope or camera; the temperature field perception module includes multiple distributed temperature sensors; and the dust accumulation thickness perception module includes a capacitive or radio frequency admittance level switch or a light source sensor.

8. The multifunctional visual intelligent pulse cleaning system according to claim 1, characterized in that: The pulse generating unit is an air-powered pulse generating device, which converts a continuous compressed air flow into an intermittent high-pressure pulse airflow through a fast valve opening and closing or a variable-capacity chamber structure.

9. A cleaning method based on the multifunctional visual intelligent pulse cleaning system according to any one of claims 1-8, characterized in that: Includes the following steps: The multi-source sensing unit collects multi-dimensional state information inside the heat exchanger in real time. The intelligent control unit analyzes the status information to determine whether the preset cleaning trigger conditions are met; If the conditions are met, the intelligent control unit determines the target cleaning area based on the status information and generates corresponding motion control commands and pulse trigger commands. The composite motion execution unit receives the instruction, and its reciprocating drive module and rotary drive module work together to drive the cleaning main tube to move, so that the blowing trajectory of the nozzle covers the target area. At the same time, the pulse generation unit is activated, so that high-energy pulse airflow is ejected from the nozzle to perform cleaning. After cleaning is completed, the system enters a delayed observation phase, and then returns to the data acquisition step, forming a closed-loop control.

10. The cleaning method according to claim 9, characterized in that: The step of driving the cleaning header to move includes: The cleaning tube is controlled to rotate around its own axis, and at the same time, the cleaning tube is controlled to move in a straight line in a direction parallel to the axis, so that the blowing trajectory of the nozzle forms a spatial spiral.

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