Method, device and electronic equipment for cleaning a chiller

Abstract

The application is suitable for the field of power equipment maintenance, and provides a cleaning method and device of a cooler and electronic equipment, which comprises the following steps: in the case that a mobile device is firmly adsorbed to a vertical wall surface of the cooler in a manner that a magnetic steel assembly arranged on the mobile device is attracted to a carbon steel back plate of the cooler, a driving motor of the mobile device is controlled to rotate in a first direction, the driving motor rotating in the first direction pushes the mobile device to move upward relative to the vertical wall surface of the cooler through torque acting on a driving wheel of the mobile device, and a nozzle arranged above the mobile device sprays cleaning liquid toward cooling fins of the cooler. Through the above method, the cleaning of the cooling fins of the cooler can be quickly and safely realized.

Description

Technical Field

[0001] This application belongs to the field of power equipment maintenance technology, and in particular relates to methods, apparatus, electronic equipment, computer-readable storage media and computer program products for cleaning coolers. Background Technology

[0002] The main transformer in a nuclear power plant is responsible for stepping up the electrical energy output from the generator to ultra-high voltage before sending it to the power grid. During the energy conversion process, the transformer itself generates a large amount of heat due to losses, so a large-scale cooling system is necessary. A single heat sink can be 3 to 5 meters high and several meters wide, and a main transformer typically has dozens of such heat sinks. When these heat sinks are arranged together, they resemble a huge metal wall, occupying an area of ​​tens to hundreds of square meters.

[0003] The sheer size and dense arrangement of the heat sinks present significant challenges for cleaning the back of the fins. Currently, two main methods are used on-site: one is to manually erect scaffolding or use aerial work platforms to rinse the fins at close range with high-pressure water guns; the other is to use track-mounted or wheeled robots for automated rinsing. However, both solutions have obvious limitations—manual methods are labor-intensive and pose high safety risks; robots, on the other hand, have complex structures, requiring pre-installation of dedicated tracks or relying on cumbersome negative pressure adsorption systems, making on-site deployment extremely inconvenient.

[0004] Therefore, a new cleaning method is needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] This application provides a method, apparatus, and electronic equipment for cleaning coolers, which can solve the problems of high safety risks or cumbersome on-site deployment when cleaning coolers using existing cleaning methods.

[0006] In a first aspect, embodiments of this application provide a method for cleaning a cooler, the cooler having a carbon steel back plate, the cleaning method comprising: When the mobile device is firmly attached to the vertical wall of the cooler by attracting the carbon steel back plate of the cooler through its magnetic steel assembly, the drive motor of the mobile device is controlled to rotate in a first direction. The drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque, pushing the mobile device to move upward relative to the vertical wall of the cooler. Cleaning liquid is sprayed onto the heat sink of the cooler through nozzles mounted on the mobile device.

[0007] The beneficial effects of the embodiments in this application compared with the prior art are: In this embodiment, with the mobile device firmly attached to the vertical wall of the cooler, the drive motor of the mobile device is controlled to rotate in a first direction. This rotation of the drive motor, through torque applied to the drive wheel of the mobile device, propels the mobile device upwards relative to the vertical wall of the cooler, and sprays cleaning liquid onto the heat sink fins of the cooler through nozzles mounted on the mobile device. Since the mobile device is firmly attached to the vertical wall of the cooler by its magnetic assembly attracting the carbon steel back plate of the cooler, cleaning the heat sink fins using the nozzles on the mobile device eliminates the need for manual scaffolding and the installation of dedicated tracks, thus saving time associated with scaffolding erection and track installation, and avoiding the safety risks associated with manual cleaning. In short, this method facilitates the rapid and safe cleaning of the heat sink fins of the cooler.

[0008] Secondly, embodiments of this application provide a cleaning device for a cooler, the cooler having a carbon steel back plate, the cleaning device for the cooler comprising: The drive motor control module is used to control the drive motor of the mobile device to rotate in a first direction when the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly thereon attracting the carbon steel back plate of the cooler. The drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque to push the mobile device to move upward relative to the vertical wall of the cooler. A nozzle control module is used to spray cleaning liquid onto the heat sink of the cooler through nozzles disposed on the moving device.

[0009] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0010] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0011] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect.

[0012] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0014] Figure 1 This is a schematic flowchart of a method for cleaning a cooler provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of another mobile device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a cleaning device for a cooler provided in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0015] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0016] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0017] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0018] Furthermore, in the description of this application and the appended claims, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0019] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0020] Transformers in nuclear power plants are typically equipped with large coolers to dissipate the heat generated during operation. Over time, dust and other contaminants gradually accumulate on the surface of the heat sink fins; therefore, if not cleaned regularly, this will severely affect the heat dissipation efficiency.

[0021] Currently, there are two main methods for cleaning heat sinks: one is to manually erect scaffolding and clean them manually, which is not only labor-intensive but also poses a high safety risk to the workers; the other is to use track-mounted or wheeled robots for automatic cleaning, but this method is complicated to deploy in the early stages.

[0022] To enable rapid and safe cleaning of the heat sink fins of a cooler, this application provides a method for cleaning a cooler. This method includes a moving device comprising a magnetic assembly, a drive motor, a torque converter, a drive wheel, and a nozzle. The moving device is attached to the carbon steel backplate of the cooler by the magnetic assembly, and its movement on the carbon steel backplate is achieved by the drive motor, torque converter, and drive wheel. Cleaning liquid is sprayed onto the heat sink fins through the nozzle, thereby achieving rapid and safe cleaning of the cooler.

[0023] The cleaning method for the cooler provided in the embodiments of this application is described below with reference to the accompanying drawings.

[0024] Figure 1 The diagram illustrates a process flow chart of a cleaning method for a cooler according to an embodiment of this application. The cooler has a carbon steel back plate. The cleaning method for the cooler provided in this embodiment can be applied to electronic devices that establish a communication connection with mobile devices. The electronic device can be built into the mobile device or stand independently outside the mobile device, as detailed below: S11, when the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly thereon attracting the carbon steel back plate of the cooler, the drive motor of the mobile device is controlled to rotate in a first direction, and the drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque to push the mobile device to move upward relative to the vertical wall of the cooler.

[0025] In this embodiment, the core magnet in the magnet assembly uses neodymium iron boron (NdFeB) permanent magnet material. This material is currently the most powerful commercially available permanent magnet, possessing extremely high maximum energy product and coercivity, ensuring the output of a strong magnetic field force within a small volume.

[0026] Optionally, to prevent the neodymium iron boron material from brittle breakage due to impact and to avoid irreversible demagnetization (demagnetization) under strong impact or vibration, the entire magnet assembly is encapsulated with epoxy resin. This effectively resists collisions that may occur during operation, providing robust physical protection. It also protects the magnet, inhibiting irreversible changes in its internal magnetic domain structure under reverse magnetic field or severe mechanical stress, thus maintaining its magnetic properties stably over a long period.

[0027] Optionally, the aforementioned magnetic steel assembly is a regular cuboid structure with a length of 210 mm, a width of 50 mm, and a height of 65 mm. With this structure, when the distance between the magnetic steel assembly and the carbon steel backplate is 5 mm (nominal working gap), it can provide a rated adsorption force of approximately 1000 N; at a working gap of 10 mm, it can still maintain an adsorption force of approximately 700 N. Since the magnetic force-distance curve exhibits typical nonlinear decay characteristics, the magnetic force decay rate increases sharply when the gap is greater than 10 mm. This characteristic is the theoretical basis for realizing the release and retrieval function of the rapid-movement device (adsorption onto and removal from the vertical wall of the cooler).

[0028] In this embodiment of the application, in order to make the mobile device firmly attached to the vertical wall of the cooler, the surface of the magnetic steel assembly of the mobile device can be aligned with the carbon steel back plate of the cooler, and then the distance between the magnetic steel assembly and the carbon steel back plate can be adjusted until the mobile device is firmly attached to the vertical wall of the cooler.

[0029] Specifically, the mobile device can be lifted and placed as a whole by an operator, with its back side (i.e., the side containing the magnet assembly) roughly parallel to and close to, but not touching, the back side of the cooler's carbon steel. (e.g., a distance of 100 mm). In practice, electronic equipment can also communicate with the robotic arm to control it to place the side of the mobile device containing the magnet assembly parallel to the carbon steel back plate of the cooler; this is not a limitation here.

[0030] In this embodiment, to increase the probability that the surface of the placed magnet assembly is parallel to the carbon steel back plate of the cooler, at least three distance sensors can be installed on the back of the mobile device. Each distance sensor is positioned differently and is not collinear. The electronic device determines whether the distances collected by the at least three distance sensors are equal (or whether the difference is less than a preset difference threshold). This is used to determine whether the surface of the magnet assembly is parallel to the carbon steel back plate of the cooler. If they are not parallel, an adjustment prompt is issued. For example, suppose a first distance sensor, a second distance sensor, and a third distance sensor are arranged in a triangle on the back of the moving device. If the distance values ​​measured by the three distance sensors are d1, d2, and d3 respectively, and |d1 - d2| < d3, then... 、| d1-d3|< |d2-d3|< If the surface of the magnet assembly is parallel to the carbon steel back plate of the cooler, subsequent cleaning operations are permitted; if the distance measured by the first distance sensor is significantly greater than the distance measured by the other two sensors (the difference exceeds...), then... If the device is found to be warped on the side of the back of the mobile device closest to the first distance sensor, indicating an excessive gap between the magnet assembly and the carbon steel back plate on that side, an adjustment prompt will be issued. The operator will be instructed to press or move the side of the mobile device closest to the first distance sensor towards the carbon steel back plate until the distance difference measured by all three distance sensors is less than [a certain value]. .

[0031] After ensuring the magnet assembly and carbon steel backplate are parallel to each other, the mobile device can be firmly attached by gradually shortening the distance between them and checking its adhesion. For example, while gradually shortening the distance, it is checked whether the mobile device is firmly attached to the vertical wall of the cooler. If it is detected that the mobile device is firmly attached to the vertical wall of the cooler, the shortening of the distance between the magnet assembly and the carbon steel backplate is stopped. Of course, in practice, the distance between the magnet assembly and the carbon steel backplate when the mobile device is firmly attached to the vertical wall of the cooler can be predetermined (assuming this distance is a first preset value). When the surface of the magnet assembly is parallel to the carbon steel backplate, the distance between the magnet assembly and the carbon steel backplate can be directly adjusted to the first preset value. At this time, it is determined that the mobile device is firmly attached.

[0032] In this embodiment of the application, the first preset value can be determined in the following way: The minimum total magnetic force is determined based on the weight of the aforementioned mobile device, the static friction coefficient between the aforementioned drive wheel and the aforementioned carbon steel back plate, and the preset safety factor. The target magnetic force is determined based on the aforementioned minimum total magnetic force, and the aforementioned target magnetic force is greater than the aforementioned minimum total magnetic force. The first preset value is determined based on the target magnetic force and the overlap area between the magnetic steel assembly and the carbon steel back plate of the cooler.

[0033] In this embodiment, the static friction force is obtained by multiplying the weight of the mobile device by a preset safety factor. The minimum total magnetic force is obtained by dividing this static friction force by the static friction coefficient. A force greater than this minimum total magnetic force is selected as the target magnetic force. Based on the correspondence between overlapping area, distance, and magnetic force, the distance corresponding to the overlapping area of ​​the target magnetic force, the carbon steel back plate, and the magnetic steel assembly is determined. This distance is the aforementioned first preset value. Assuming the target magnetic force is 2000N, the weight of the mobile device is 373N, and the static friction coefficient between the drive wheel and the carbon steel back plate is 0.4, then the maximum static friction force that the mobile device can provide is 0.4. 2000 = 800N. Assuming an empirical safety factor of 1.5, the safety factor obtained using the above method is: 800 / 373. 2.14, and 2.14>1.5, therefore, it can be determined that a suction force of 2000N is sufficient to make the mobile device firmly adhere to the carbon steel back plate of the cooler.

[0034] Once the first preset value is determined, the distance between the magnet assembly and the carbon steel back plate can be directly adjusted to this first preset value, thereby shortening the time required to adjust the distance.

[0035] In this embodiment, the distance between the magnet assembly and the carbon steel backplate can be adjusted manually. For example, an adjusting screw is provided at both the top and bottom ends along the length of the magnet assembly, and the operator can adjust the distance between the magnet assembly and the carbon steel backplate by screwing in or out the adjusting screw.

[0036] In some embodiments, the distance between the magnet assembly and the carbon steel backplate can also be adjusted automatically. For example, a miniature stepper motor (or servo motor) is fixed on the frame of the moving device, a lead screw is connected to the output shaft of the motor, and a lead screw nut is connected to the mounting bracket of the magnet assembly. When the stepper motor rotates forward or reverse, it drives the lead screw to rotate, and the lead screw nut moves linearly along the lead screw axis, thereby moving the mounting bracket and the magnet assembly closer to or away from the carbon steel backplate, achieving precise adjustment of the distance between them.

[0037] In this embodiment, considering the inherent vertical channel steel (or similar raised guide rail structure) on the inner side of the carbon steel back plate of the cooler, wheels (or positioning wheels) can be provided on the moving device. The size and number of wheels (e.g., 7) can be determined according to the inner structure and dimensions of the carbon steel back plate of the cooler.

[0038] The aforementioned wheels can rotate freely. Once the moving device is firmly attached to the vertical wall of the cooler, the wheels are pressed together by a preset clamping force, ensuring that their treads remain in contact with the side of the inherent vertical channel steel (or a similar raised guide rail structure) on the inner side of the cooler's carbon steel back plate. When the moving device slightly shifts laterally due to installation errors or uneven wall surfaces, the side of the channel steel exerts a lateral restraint reaction force on the wheel on the shifted side, forcing the moving device back to the central track. This constraint mechanism enables high straightness of the moving device during long-stroke (e.g., 3.5-3.8 meters) movements, with repeatability controlled within ±2mm.

[0039] Optionally, the aforementioned wheels employ a modular structure: the wheel frame is precision-machined from aluminum alloy, ensuring both lightweight and high strength; the tread is made of polyurethane material, which has a coefficient of friction of approximately 0.4 with the wall surface. This high coefficient of friction provides ample traction for the drive, effectively preventing slippage and ensuring transmission reliability. This polyurethane material also possesses excellent cushioning, shock absorption, and oil resistance, protecting the equipment during operation.

[0040] In this embodiment of the application, when the mobile device is firmly attached to the vertical wall of the cooler and the tread of the wheels of the mobile device is always in contact with the side of the vertical channel steel inside the carbon steel back plate of the cooler, controlling the drive motor of the mobile device to rotate in the first direction helps to reduce the probability of the mobile device yawing during movement.

[0041] In this embodiment, the electronic device sends pulse commands to the drive motor, causing the drive motor to rotate at a speed corresponding to the pulse frequency. The torque output by the drive motor is amplified by a reducer and transmitted to the drive wheel. Under the immense normal pressure provided by magnetic adsorption, the drive wheel makes close contact with the wall surface, thus converting the motor torque into a tangential force at the edge of the drive wheel. Since this tangential force is less than the maximum static friction between the drive wheel and the wall surface, the drive wheel will not slip; instead, the static friction propels the entire moving device along the wall surface. It should be noted that whether the moving device moves upwards or downwards relative to the wall surface depends on the rotation direction of the drive motor. That is, in this application, the movement speed of the moving device is related to the rotation speed of the drive motor: when the moving device moves at the same speed on the cooler, it is only necessary to control the drive motor to rotate at a speed corresponding to that speed; however, when the moving device moves at different speeds on the cooler, the rotation speed of the drive motor needs to be adjusted.

[0042] In some embodiments, controlling the drive motor to rotate along the first direction includes: The movement speed of the moving device on the vertical wall is determined based on the cleanliness of the heat sink area of ​​the cooler to be cleaned, wherein the cleanliness is positively correlated with the movement speed. The rotational speed of the drive motor is determined based on the aforementioned motion speed; Control the drive motor to rotate in the first direction at the aforementioned rotational speed.

[0043] The above-mentioned positive correlation between cleanliness and movement speed means that the higher the cleanliness, the higher the movement speed, and vice versa.

[0044] In this embodiment, a pre-defined relationship is established between the cleanliness of the heat sink area (the same cooler may include one or more heat sink areas) and the movement speed. When the moving device moves on the cooler, the electronic device determines the movement speed of the moving device on the vertical wall based on the cleanliness of the heat sink area of ​​the cooler to be cleaned, and determines the rotation speed of the drive motor based on the movement speed. For example, the rotation speed of the drive motor can be determined according to the following formula: .in, The rotational speed of the drive motor, For the speed of the moving device, This is the reduction ratio corresponding to the reducer. This refers to the radius of the drive wheel. After determining the rotational speed of the drive motor, the drive motor is then controlled accordingly based on this speed. Since a higher level of cleanliness in the heat sink area indicates a lower level of dirt in that area, controlling the moving device to move quickly can improve cleaning efficiency; conversely, since a lower level of cleanliness in the heat sink area indicates a higher level of dirt in that area, controlling the moving device to move at a low speed can improve the cleaning effect.

[0045] S12, cleaning liquid is sprayed onto the heat sink of the cooler through a nozzle provided on the aforementioned moving device.

[0046] In this embodiment, the nozzle is connected to the pump outlet via a pipe, and the pump inlet is connected to a water tank via a pipe. An electronic device sends control commands to the pump driver (e.g., a frequency converter) to adjust the flow rate of the cleaning liquid sprayed from the nozzle by regulating the pump's rotational speed. Optionally, the cleaning liquid may include water, or cleaning agents, etc., without limitation. Optionally, when cleaning is performed using at least a pair of symmetrically arranged moving devices, the nozzle can be positioned between the symmetrically arranged moving devices, and the nozzle can move back and forth between the symmetrically arranged moving devices to increase the cleaning area.

[0047] In this embodiment, the nozzle can begin spraying cleaning liquid immediately after the moving device adheres to the wall of the cooler; alternatively, the nozzle can begin spraying cleaning liquid after the moving device has moved to the target cleaning position. In this case, spraying cleaning liquid onto the heat sink of the cooler through the nozzle mounted on the moving device includes: Detect whether the current movement position of the aforementioned mobile device is the target cleaning position; When the current position of the aforementioned mobile device is the target cleaning position, cleaning liquid is sprayed onto the heat sink of the cooler through a nozzle provided on the aforementioned mobile device.

[0048] In this embodiment, an incremental rotary encoder can be installed on the drive wheel or the drive motor shaft. Before the cleaning operation begins, the electronic device controls the moving device to move to a preset starting position in the vertical direction (such as the bottom of the heat sink), and the coordinates are zeroed by triggering the limit switch; then, the electronic device determines the number of rotations of the drive wheel according to the incremental rotary encoder, and calculates the displacement of the moving device in the vertical direction in combination with the radius of the drive wheel, thereby determining the current movement position.

[0049] Of course, in addition to this, cameras or laser rangefinders can be installed on mobile devices to help determine the position of movement, which is not limited here.

[0050] In this embodiment, multiple target cleaning positions can be defined according to the movement path of the mobile device and the spray range of the nozzle. Optionally, to improve the cleaning effect, an overlapping area can be set between two target cleaning positions to create an uncleaned blind spot between adjacent cleaning areas, and to compensate for the incomplete cleaning caused by positioning errors of the mobile device or pressure attenuation at the edge of the nozzle spray range, thereby ensuring that the surface of the heat sink is thoroughly and uniformly cleaned.

[0051] In this embodiment, with the mobile device firmly attached to the vertical wall of the cooler, the drive motor of the mobile device is controlled to rotate in a first direction. This rotation of the drive motor, through torque applied to the drive wheel of the mobile device, propels the mobile device upwards relative to the vertical wall of the cooler, and sprays cleaning liquid onto the heat sink fins of the cooler through nozzles mounted on the mobile device. Since the mobile device is firmly attached to the vertical wall of the cooler by its magnetic assembly attracting the carbon steel back plate of the cooler, cleaning the heat sink fins using the nozzles on the mobile device eliminates the need for manual scaffolding and the installation of dedicated tracks, thus saving time associated with scaffolding erection and track installation, and avoiding the safety risks associated with manual cleaning. In short, this method facilitates the rapid and safe cleaning of the heat sink fins of the cooler.

[0052] In some embodiments, considering the limited height of the cooler, i.e., the limited cleaning height required for the cooler, the moving device can stop its upward movement after reaching a preset cleaning height of the cooler and instead be controlled to move downward. That is, after the drive motor controlling the moving device to rotate in the first direction is described above, the method further includes: Detect whether the current movement position of the aforementioned mobile device has reached the position corresponding to the preset cleaning height; When the current position of the aforementioned mobile device reaches the position corresponding to the preset cleaning height, the aforementioned drive motor is controlled to rotate in the second direction. The drive motor rotating in the second direction acts on the drive wheel of the aforementioned mobile device through torque, pushing the aforementioned mobile device to move downward relative to the vertical wall of the aforementioned cooler until it reaches the initial position of upward movement.

[0053] The preset cleaning height can be the maximum height corresponding to the heat sink of the cooler, or it can be set to a height lower than the maximum height. The specific setting can be determined according to actual needs.

[0054] The aforementioned initial position for upward movement refers to the initial position at which the drive motor is first controlled to rotate in the first direction after the moving device is firmly attached to the wall of the cooler.

[0055] In this embodiment, an encoder can be installed on the top of the mobile device (such as a speed-measuring wheel that is in direct contact with the wall). When the mobile device moves vertically, the speed-measuring wheel rotates passively. The encoder directly calculates the actual displacement of the mobile device based on the number of pulses. This actual displacement is not affected by slippage of the drive wheel. When the cumulative displacement fed back by the encoder is equal to the preset cleaning height, it is determined that the current movement position of the mobile device has reached the position corresponding to the preset cleaning height. Otherwise, it is determined that the current movement position of the mobile device has not reached the position corresponding to the preset cleaning height, and the mobile device continues to be controlled to move upward.

[0056] In this embodiment, when the electronic device determines that the mobile device has reached the preset cleaning height, it stops sending pulses to the drive motor, causing the mobile device to decelerate and stop at that cleaning height. Optionally, if the drive motor has a built-in power-off holding brake type electromagnetic brake, the electromagnetic brake is activated immediately upon or immediately after stopping pulse sending to overcome gravity and lock the mobile device at the current height position, preventing it from sliding down the wall.

[0057] While the mobile device remains stably at the cleaning height, the electronic device controls the nozzles to spray cleaning liquid toward the heat sink area corresponding to that height, completing the cleaning operation at the current position.

[0058] When it is necessary to leave the current cleaning height (for example, after cleaning is completed and it is necessary to return downwards), the electronic device first releases the electromagnetic brake, and then sends a pulse command to the drive motor to control the drive motor to rotate in a second direction (such as the downward direction opposite to the upward direction), thereby driving the moving device to move downwards relative to the vertical wall of the cooler.

[0059] Since reaching the cleaning height indicates that the mobile device has completed cleaning, controlling the mobile device to move downwards until it reaches the initial position for upward movement facilitates the operator's operation of the mobile device, such as removing the mobile device from its position adsorbed on the cooler.

[0060] In some embodiments, considering that the attractive force on the moving device remains constant when the distance between the magnet assembly of the moving device and the carbon steel back plate of the cooler remains constant, in order to reduce the attractive force on the moving device, after reaching the initial upward position, the following steps are further included: Adjust the distance between the aforementioned magnetic steel assembly and the aforementioned carbon steel back plate so that the aforementioned moving device is no longer firmly attached to the vertical wall of the aforementioned cooler.

[0061] In this embodiment, by increasing the distance between the magnet assembly and the carbon steel back plate, the pressure on the moving device is reduced, thereby preventing the moving device from being firmly attached to the vertical wall of the cooler, making it easier for the operator to remove the moving device attached to the cooler with less force.

[0062] Optionally, the distance between the magnet assembly and the carbon steel back plate when the moving device is no longer firmly attached to the vertical wall of the cooler can be predetermined (assuming this distance is a second preset value). Once the second preset value is determined, if it is necessary to prevent the moving device from being firmly attached to the vertical wall of the cooler, the distance between the magnet assembly and the carbon steel back plate can be directly adjusted to the second preset value, thereby shortening the time required for adjusting the distance.

[0063] In this embodiment, the distance between the magnet assembly and the carbon steel backplate can be adjusted manually or automatically, which will not be elaborated here.

[0064] To more clearly describe the cooler cleaning method provided in the embodiments of this application, the following is combined with... Figure 2 and Figure 3 The mobile device shown will be described.

[0065] In this embodiment, the mobile device is attracted to the carbon steel backplate of the nuclear power plant cooler by the strong magnetic force generated by the magnet assembly, achieving stable attachment to the vertical wall surface. A motor bracket is fixed to the frame of the mobile device for mounting two drive motors, one above the other. The output torque of the drive motors is transmitted to the polyurethane wheel (i.e., the aforementioned drive wheel, whose tread is constructed of polyurethane material) via a transmission mechanism, driving the polyurethane wheel to roll on the backplate surface, thereby causing the entire mobile device to rise or fall vertically along the wall surface.

[0066] The magnet assembly is mounted on the frame of the mobile device via two adjusting screws. By rotating these screws, the gap between the magnet assembly and the carbon steel back plate can be changed, thereby adjusting the magnitude of the magnetic attraction force. This ensures that the mobile device can firmly adhere to the wall surface while avoiding increased running resistance due to excessive attraction. A limiting block is located beside the magnet assembly to limit the minimum gap between the magnet assembly and the back plate, preventing the magnet assembly from directly impacting the back plate surface.

[0067] In addition, the mobile device is equipped with a positioning bracket, on which positioning wheels are mounted. These positioning wheels contact the surface of the backplate, helping to maintain a stable distance and parallel posture between the mobile device and the backplate, preventing the mobile device from tilting or shaking during operation. The electrical wiring of the drive motor and sensors is connected to an external control system via line ports for power supply and signal transmission.

[0068] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0069] Corresponding to the cleaning method of the cooler described in the above embodiments, Figure 4 This diagram illustrates a structural block diagram of a cleaning device for a cooler according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown.

[0070] Reference Figure 4 The cleaning device 4 of the cooler is used in electronic equipment. The cooler has a carbon steel back plate. The cleaning device 4 includes a drive motor control module 41 and a nozzle control module 42. Wherein: The drive motor control module 41 is used to control the drive motor of the mobile device to rotate in a first direction when the mobile device is firmly attached to the vertical wall of the cooler by the magnetic steel assembly thereon. The drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque to push the mobile device to move upward relative to the vertical wall of the cooler. The nozzle control module 42 is used to spray cleaning liquid onto the heat sink of the cooler through a nozzle disposed on the moving device.

[0071] In this embodiment, with the mobile device firmly attached to the vertical wall of the cooler, the drive motor of the mobile device is controlled to rotate in a first direction. This rotation of the drive motor, through torque applied to the drive wheel of the mobile device, propels the mobile device upwards relative to the vertical wall of the cooler, and sprays cleaning liquid onto the heat sink fins of the cooler through nozzles mounted on the mobile device. Since the mobile device is firmly attached to the vertical wall of the cooler by its magnetic assembly attracting the carbon steel back plate of the cooler, cleaning the heat sink fins using the nozzles on the mobile device eliminates the need for manual scaffolding and the installation of dedicated tracks, thus saving time associated with scaffolding erection and track installation, and avoiding the safety risks associated with manual cleaning. In short, this method facilitates the rapid and safe cleaning of the heat sink fins of the cooler.

[0072] Optionally, the cleaning device 4 for the cooler provided in this embodiment further includes: The minimum total magnetic force determination module is used to determine the minimum total magnetic force based on the weight of the mobile device, the static friction coefficient between the drive wheel and the carbon steel back plate, and a preset safety factor before the drive motor controlling the mobile device rotates in the first direction. The target magnetic force determination module is used to determine the target magnetic force based on the aforementioned minimum total magnetic force, wherein the target magnetic force is greater than the aforementioned minimum total magnetic force; The first preset value determination module is used to determine the first preset value based on the target magnetic force and the overlap area between the magnetic steel assembly and the carbon steel back plate of the cooler. Correspondingly, the aforementioned drive motor control module 41 is specifically used for: When the distance between the aforementioned magnet assembly and the aforementioned carbon steel back plate is the aforementioned first preset value, the drive motor of the aforementioned moving device is controlled to rotate in the first direction, wherein when the distance between the aforementioned magnet assembly and the aforementioned carbon steel back plate is the aforementioned first preset value, the aforementioned moving device is firmly adsorbed onto the vertical wall of the aforementioned cooler.

[0073] Optionally, the aforementioned drive motor control module 41 is specifically used for: The motion speed determination unit is used to determine the motion speed of the moving device on the vertical wall based on the cleanliness of the heat sink area of ​​the cooler to be cleaned, wherein the cleanliness is positively correlated with the motion speed. A rotational speed determination unit is used to determine the rotational speed of the drive motor based on the aforementioned motion speed. A drive motor rotation unit is used to control the drive motor to rotate in the first direction at the aforementioned rotational speed.

[0074] Optionally, the nozzle control module 42 described above is specifically used for: Detect whether the current movement position of the aforementioned mobile device is the target cleaning position; When the current position of the aforementioned mobile device is the target cleaning position, cleaning liquid is sprayed onto the heat sink of the cooler through a nozzle provided on the aforementioned mobile device.

[0075] Optionally, the cleaning device 4 for the cooler provided in this embodiment further includes: The motion position detection module is used to detect whether the current motion position of the moving device has reached the position corresponding to the preset cleaning height after the drive motor of the moving device is rotated in the first direction. The downward movement control module is used to control the drive motor to rotate in the second direction when the current movement position of the moving device reaches the position corresponding to the preset cleaning height. The drive motor rotating in the second direction acts on the drive wheel of the moving device with torque to push the moving device to move downward relative to the vertical wall of the cooler until it reaches the initial position of upward movement.

[0076] Optionally, the cleaning device 4 for the cooler provided in this embodiment further includes: The distance adjustment module is used to adjust the distance between the magnetic steel assembly and the carbon steel back plate after reaching the initial position of upward movement, so that the moving device is no longer firmly attached to the vertical wall of the cooler.

[0077] Optionally, the inner side of the carbon steel back plate of the cooler is provided with vertical channel steel, and the moving device also includes wheels; The aforementioned drive motor control module 41 is specifically used for: When the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly it is provided with, and the tread of the wheel is always in contact with the side of the vertical channel steel, the drive motor of the mobile device is controlled to rotate in the first direction.

[0078] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0079] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4As shown, the electronic device 4 of this embodiment includes: at least one processor 40 ( Figure 4 The diagram shows only one processor, a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, which, when executing the computer program 42, performs the steps in any of the above method embodiments.

[0080] The electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0081] The processor 40 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0082] In some embodiments, the memory 41 may be an internal storage unit of the electronic device 4, such as a hard disk or memory of the electronic device 4. In other embodiments, the memory 41 may be an external storage device of the electronic device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 4. Furthermore, the memory 41 may include both internal and external storage units of the electronic device 4. The memory 41 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0083] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0084] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0085] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0086] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0087] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0088] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0089] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0090] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0092] It should be noted that the information collection process (such as the facial image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is carried out with the user's knowledge and permission. That is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

Claims

1. A method for cleaning a cooler, characterized in that, The cooler has a carbon steel back plate, and the cleaning method for the cooler includes: When the mobile device is firmly attached to the vertical wall of the cooler by attracting the carbon steel back plate of the cooler through its magnetic steel assembly, the drive motor of the mobile device is controlled to rotate in a first direction. The drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque, pushing the mobile device to move upward relative to the vertical wall of the cooler. Cleaning liquid is sprayed onto the heat sink of the cooler through nozzles mounted on the mobile device.

2. The cleaning method for the cooler as described in claim 1, characterized in that, Before the drive motor controlling the moving device rotates in the first direction, the following is also included: The minimum total magnetic force is determined based on the weight of the mobile device, the static friction coefficient between the drive wheel and the carbon steel back plate, and a preset safety factor. The target magnetic force is determined based on the minimum total magnetic force, wherein the target magnetic force is greater than the minimum total magnetic force; A first preset value is determined based on the target magnetic force and the overlap area between the magnet assembly and the carbon steel back plate of the cooler; The control of the drive motor of the mobile device to rotate in a first direction includes: When the distance between the magnet assembly and the carbon steel back plate is the first preset value, the drive motor of the moving device is controlled to rotate in the first direction. When the distance between the magnet assembly and the carbon steel back plate is the first preset value, the moving device is firmly attached to the vertical wall of the cooler.

3. The cleaning method for the cooler as described in claim 1, characterized in that, The control of the drive motor of the mobile device to rotate in a first direction includes: The movement speed of the moving device on the vertical wall is determined based on the cleanliness of the heat sink area of ​​the cooler to be cleaned, wherein the cleanliness is positively correlated with the movement speed. The rotational speed of the drive motor is determined based on the speed of motion; The drive motor is controlled to rotate in the first direction at the specified rotational speed.

4. The cleaning method for the cooler as described in claim 1, characterized in that, The process of spraying cleaning liquid onto the heat sink of the cooler through nozzles disposed on the moving device includes: Detect whether the current movement position of the mobile device is the target cleaning position; When the current movement position of the mobile device is the target cleaning position, cleaning liquid is sprayed onto the heat sink of the cooler through nozzles provided on the mobile device.

5. The method for cleaning the cooler as described in claim 1, characterized in that, After the drive motor controlling the moving device rotates in the first direction, the following is also included: Detect whether the current movement position of the mobile device has reached the position corresponding to the preset cleaning height; When the current movement position of the mobile device reaches the position corresponding to the preset cleaning height, the drive motor is controlled to rotate in the second direction. The drive motor rotating in the second direction acts on the drive wheel of the mobile device with torque, pushing the mobile device to move downward relative to the vertical wall of the cooler until it reaches the initial position of upward movement.

6. The method for cleaning a cooler as described in claim 5, characterized in that, After reaching the initial position of upward movement, the process further includes: Adjust the distance between the magnet assembly and the carbon steel back plate so that the moving device is no longer firmly attached to the vertical wall of the cooler.

7. The method for cleaning a cooler as described in any one of claims 1 to 6, characterized in that, The inner side of the carbon steel back plate of the cooler is provided with vertical channel steel, and the moving device also includes wheels; When the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly thereon attracting the carbon steel back plate of the cooler, controlling the drive motor of the mobile device to rotate in the first direction includes: When the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly it is provided with, and the tread of the wheel is always in contact with the side of the vertical channel steel, the drive motor of the mobile device is controlled to rotate in the first direction.

8. A cleaning device for a cooler, characterized in that, The cooler has a carbon steel back plate, and the cleaning device for the cooler includes: The drive motor control module is used to control the drive motor of the mobile device to rotate in a first direction when the mobile device is firmly attached to the vertical wall of the cooler by means of the magnetic steel assembly thereon attracting the carbon steel back plate of the cooler. The drive motor rotating in the first direction acts on the drive wheel of the mobile device with torque to push the mobile device to move upward relative to the vertical wall of the cooler. A nozzle control module is used to spray cleaning liquid onto the heat sink of the cooler through nozzles disposed on the moving device.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, Includes a computer program, which, when run, causes the electronic device to perform the method according to any one of claims 1 to 7.

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