Control system and method for a rail-mounted indirect cooling tower cleaning robot

Abstract

The application discloses a kind of control system and method of rail type intercooling tower cleaning robot, belong to cleaning robot motion control field, system includes: robot motion control module, for completing the motion control of cleaning robot;Wireless energy and medium management module, for management energy supply and cleaning medium supply;Environment perception module, for obtaining robot operating environment information, and provide environmental data;Cleaning execution control module, for controlling robot to complete cleaning job;Intelligent decision module, for managing robot operation task, energy supply task, cleaning task and safety protection task;Remote centralized control management module, for completing centralized management, remote monitoring, operation data storage, equipment state diagnosis and maintenance management.The application uses the above control system and method, improves intercooling tower high-altitude cleaning job safety and track robot operating stability, realizes cleaning working condition self-adaptive regulation and control, energy and cleaning medium unmanned supply.

Description

Technical Field

[0001] This invention relates to the field of motion control technology for cleaning robots, and in particular to a control system and method for a track-mounted indirect cooling tower cleaning robot. Background Technology

[0002] Indirect air-cooled towers are crucial heat exchange equipment in thermal power plants, waste-to-energy incineration plants, and large-scale industrial circulating cooling systems. Their heat dissipation performance directly impacts unit operating efficiency and energy utilization. During long-term operation, pollutants such as dust, willow catkins, insect residue, and salt spray in the air easily adhere to the surface of the heat exchange fins, causing fin blockage and reduced heat exchange capacity. In severe cases, this can lead to increased back pressure, higher energy consumption, and even compromised safe operation. Therefore, regular cleaning and maintenance of the indirect air-cooled tower heat exchangers are necessary to ensure optimal heat exchange performance.

[0003] Currently, indirect cooling tower cleaning is mainly carried out using manual high-altitude cleaning or track-mounted cleaning robots. Among them, track-mounted cleaning robots can reduce the labor intensity of manual labor and improve operational efficiency, and are gradually becoming the development direction of intelligent operation and maintenance of indirect cooling towers. However, existing track-mounted cleaning robots generally use a cable chain to simultaneously transport power cables and high-pressure water hoses. During the robot's operation, the cables and water pipes need to be dragged over long distances, which not only increases the robot's running resistance, but also easily leads to problems such as cable entanglement, hose wear, cable chain fatigue, and high maintenance costs. When the robot travels a long distance or the track is subject to thermal expansion and contraction, the stress on the cable chain increases further, which can easily affect the robot's motion stability. Summary of the Invention

[0004] The purpose of this invention is to provide a control system and method for a track-mounted indirect cooling tower cleaning robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a control system for a track-mounted indirect cooling tower cleaning robot, including a robot motion control module, an environmental perception module, a wireless energy and media management module, a cleaning execution control module, an intelligent decision-making module, and a remote centralized control management module. The robot motion control module is used to control the motion of the track-mounted indirect cooling tower cleaning robot. The wireless power and media management module is used to uniformly manage the power supply and cleaning media supply during robot operation; The environmental perception module is used to acquire information about the robot's operating environment in real time and provide environmental data to the robot's motion control module and intelligent decision-making module. The cleaning execution control module is used to control the robot to complete the cleaning operation on the surface of the intercooling tower heat exchanger; The intelligent decision-making module is used to uniformly manage the robot's operation tasks, energy supply tasks, cleaning tasks, and safety protection tasks, and coordinate the various functional modules to complete autonomous operations in a predetermined order. The remote centralized control and management module is used to complete centralized management, remote monitoring, operation data storage, equipment status diagnosis and maintenance management.

[0006] Preferably, the robot motion control module includes an upper drive synchronization control unit, a lower drive synchronization control unit, a flexible track compensation unit, an attitude coordination unit, and a speed planning unit; The upper drive synchronization control unit is used to control the movement of the robot's top drive mechanism along the upper track; The lower drive synchronization control unit is used to control the movement of the robot's bottom drive mechanism along the lower track; Flexible track compensation unit is used to compensate for track positional deviations caused by temperature changes. The attitude coordination unit is used to coordinate the synchronous operation of the upper and lower drive mechanisms; The velocity planning unit is used to generate a velocity planning curve based on the robot's current position, target position, and trajectory status. The upper drive synchronization control unit includes a drive controller, a servo driver, an absolute encoder, and a drive status acquisition circuit. After the robot starts running, the drive controller first receives the target speed and target position sent by the central controller. The servo driver drives the upper drive motor to run at the target speed. The absolute encoder detects the position of the upper drive mechanism in real time and feeds back the current position to the drive controller. The drive controller compares the current position with the target position. When there is a deviation between the two, the drive controller recalculates the output frequency and adjusts the output of the servo driver to make the upper drive mechanism approach the target position. The lower drive synchronization control unit includes a servo driver, a drive controller, an absolute encoder, and a drive status acquisition circuit. During robot operation, the lower drive synchronization control unit acquires the position and speed of the bottom drive mechanism in real time and sends the acquisition results to the attitude coordination unit. When the robot passes through the local deformation area of ​​the track, the lower drive synchronization control unit automatically adjusts the drive torque according to the compensation command sent by the attitude coordination unit, so that the robot can pass through the track deformation area smoothly.

[0007] Preferably, the flexible track compensation unit receives the track gauge change, robot attitude angle, and vertical drive position sent by the track state detection unit, and calculates the overall track offset: ; in, Indicates the overall track offset; Indicates lateral deviation of the track; Indicates longitudinal offset of the track; When the overall offset is less than the first threshold, the robot maintains its rated speed. When the overall offset is greater than the first threshold but less than the second threshold, the flexible track compensation unit reduces the robot's running speed and adjusts the synchronization speed of the upper and lower drives. When the overall offset exceeds the second threshold, the robot stops running and sends an alarm message to the central controller. The attitude coordination unit reads the upper drive position, lower drive position, upper drive speed, lower drive speed, and tilt sensor data in real time, and calculates the synchronization error between the upper and lower drives. ; in, Indicates synchronization error; Indicates the position of the upper drive; Indicates the lower drive position; Calculate the speed compensation amount: ; in, Indicates the proportionality coefficient; Represents the differential coefficient; Indicates the speed compensation value; The attitude coordination unit sends the compensation value to the upper drive synchronization control unit and the lower drive synchronization control unit respectively, so that the two drive mechanisms always keep synchronized. If the robot's attitude angle exceeds the allowable range, the attitude coordination unit reduces the robot's overall running speed and re-establishes synchronous control.

[0008] Preferably, the environmental perception module includes an infrared temperature measurement unit, a visual recognition unit, a laser ranging unit, an attitude detection unit, an orbital state detection unit, and a data fusion unit; Infrared temperature measurement unit is used to collect the temperature distribution on the surface of the fins of the intercooler tower; The visual recognition unit is used to identify track markings, refueling station locations, high-pressure water supply interface locations, and obstacles to robot operation. The laser ranging unit is used to obtain the spatial distance between the robot and the target interface. Specifically, after the robot enters the resupply area, it emits a laser beam to measure the distance between the robot and the water supply interface, and combines the results of visual recognition to establish three-dimensional spatial coordinates, providing accurate position data for the robotic arm to generate an automatic docking trajectory. The attitude detection unit is used to measure the robot's pitch angle, roll angle, and yaw angle in real time and send them to the robot motion control module in real time. When the attitude angle exceeds the set threshold, the robot motion control module immediately reduces the running speed and readjusts the synchronization state of the upper and lower drives. The track status detection unit is used to measure the changes in the distance between the upper and lower tracks and the degree of track curvature in real time, and sends the detection results to the flexible track compensation unit. When local deformation of the track is detected, the robot motion control module adjusts the synchronous control parameters according to the detection results, so that the robot can pass through the deformed area smoothly.

[0009] Preferably, the wireless energy and media management module includes a wireless power supply management unit, a wireless charging positioning unit, a robotic arm control unit, a wireless high-pressure water automatic docking unit, a sealing detection unit, and an automatic disconnection control unit; The wireless power management unit is used to manage the robot's wireless power replenishment process; The robotic arm control unit is used to control the robot to automatically connect and disconnect the high-pressure water interface; The robot is controlled to automatically connect and disconnect from the high-pressure water interface. Specifically, the robot arm control unit receives the interface coordinates sent by the vision recognition unit and the spatial position sent by the laser ranging unit; establishes the current position of the robot arm's end effector; generates the robot arm's motion trajectory using fifth-order polynomial trajectory planning, enabling the robot arm to smoothly approach the water supply interface; throughout the entire movement process, the robot arm controller continuously corrects the motion trajectory to ensure that the end effector always faces the target interface; when the robot arm enters the set range from the interface, the robot arm automatically reduces its running speed and enters a precise positioning mode. Wireless high-pressure water automatic docking unit is used to realize automatic connection of high-pressure water supply to the robot; The automatic connection of the robot's high-pressure water supply is as follows: After the robot moves to the water supply station, the robotic arm control unit controls the robotic arm to grasp the quick-connect water supply connector on the robot end; then, based on the visual positioning results, the robotic arm gradually approaches the fixed water supply interface; during the interface approach process, the system detects the interface axis deviation in real time; when the deviation is within the allowable range, the robotic arm slowly pushes the interface to complete the connection; after the connection is completed, the system first turns on the low-pressure water supply; after the sealing detection unit confirms that there is no leakage, the high-pressure water supply is gradually turned on; the robot then enters the high-pressure cleaning state. The sealing detection unit is used to collect interface pressure, flow rate changes, and pressure holding time in real time; Automatic disconnection control unit, used to automatically disconnect after the water supply ends.

[0010] Preferably, the wireless power replenishment process for the robot is specifically as follows: the remaining power is periodically read through the robot's built-in battery management system, and the battery state of charge is calculated. ; in, Indicates the remaining battery percentage; Indicates the current remaining capacity; Indicates the rated capacity; When the SOC is higher than the first set value, the robot continues to perform the cleaning task; When the SOC is lower than the first set value, the wireless power management unit sends a power replenishment request to the intelligent decision module; The intelligent decision-making module calculates the nearest wireless power station based on the robot's current location and controls the robot to automatically move to the corresponding location; After the robot enters the charging area, the wireless power management unit first establishes a communication connection between the robot and the wireless power station, and then controls the wireless receiver to enter the charging state. Once the wireless power station detects that the robot's identity authentication has been successful, it begins to output high-frequency AC power, which is rectified by the robot's receiver to charge the power battery. Throughout the charging process, the wireless power management unit continuously monitors the charging current, battery temperature, and SOC changes; When the SOC reaches the set value, the wireless power station stops outputting power, and the robot automatically leaves the power replenishment area. The wireless charging positioning unit is used to improve wireless power supply efficiency, specifically: After the robot enters the charging area, the visual recognition unit identifies the location marker of the wireless power station. The laser ranging unit measures the spatial distance between the robot and the power station; Calculate the positional error between the robot's current position and the optimal charging position based on the recognition results: ; in, Indicates positioning error; , Indicates the robot's current position; , Indicates the optimal charging location; If the positioning error exceeds the allowable range, the robot motion control module will continue to adjust the positioning. Once the location is established, the wireless power management unit initiates the wireless charging process.

[0011] Preferably, the cleaning execution control module includes a nozzle control unit, a pressure regulating unit, a spray control unit, a high-pressure flushing control unit, and a flow control unit; The nozzle control unit is used to control the spray direction and spray status. Specifically, after the robot arrives at the target area, it automatically calculates the spray coverage area based on the robot's current position and controls the nozzle to complete the area coverage according to the preset scanning path. After the nozzle completes the cleaning of the current area, it automatically switches to the next scanning area. The pressure regulating unit is used to automatically set the target pressure according to the pollution level, continuously monitor the water supply pressure, and control the proportional pressure regulating valve to maintain the target pressure stable. The spray control unit is used to perform maintenance cleaning, specifically: when the robot detects that the fins are lightly contaminated, it only activates the spray mode; The high-pressure flushing control unit is used to treat heavily polluted areas. Specifically, the robot automatically activates the high-pressure mode according to the pollution level. After the high-pressure water supply is established, the nozzles continuously scan according to the planned trajectory to achieve deep cleaning. The flow control unit is used to control the water supply per unit time. Specifically, it adjusts the water supply flow synchronously according to the robot's running speed to keep the spray coverage width consistent and improve the overall cleaning uniformity.

[0012] Preferably, the intelligent decision-making module includes a task scheduling unit, a pollution assessment unit, a route planning unit, an energy scheduling unit, and a synchronization coordination unit; The task scheduling unit is used to generate multiple areas to be cleaned according to the division of the indirect cooling tower area, and to establish a task queue. After the robot completes the task in the current area, it automatically switches to the next task. The pollution assessment unit is used to calculate the pollution level based on infrared temperature distribution, visual image features, and historical operating data. The path planning unit is used to generate the shortest running path based on the robot's current position, target area, and supply station location. If the robot detects a track abnormality during the journey, it will replan the running route. The energy scheduling unit is used to determine whether the robot needs to be recharged in advance based on the battery state of charge, task length and resupply distance. If the remaining power is expected to be insufficient to complete the current task, the robot will prioritize entering the wireless power supply process. The synchronization and coordination unit is used to coordinate four types of tasks: robot motion control, wireless power supply, automatic high-pressure water docking, and cleaning.

[0013] Preferably, the remote centralized control and management module includes a central controller, an edge computing unit, a historical database, a 3D visualization management unit, and a remote monitoring unit; The central controller receives data uploaded by each module, generates the robot's operating status, and issues control commands to each module. When a robot malfunction, communication abnormality, or power supply abnormality is detected, the central controller enters a safety control mode, suspends the robot's operation, and records the fault information. Edge computing units are used to perform local analysis on data uploaded by the robot; Historical database, used to store operational data throughout the robot's entire lifecycle; The 3D visualization management unit is used to dynamically display the robot's motion status, current cleaning area, wireless power station location, high-pressure water supply station location, and equipment operating status in a 3D interface based on the robot's real-time position, work area, and environmental perception data. At the same time, managers can intuitively view the robot's operation process and monitor the work progress in real time. The remote monitoring unit is used to periodically receive the operating status uploaded by the central controller, and supports remotely issuing start, pause, return, recharge and maintenance commands. When an abnormal alarm is detected, the remote monitoring unit automatically pushes alarm information and saves the operating data for the corresponding time period.

[0014] The present invention also provides a control method for a track-mounted indirect cooling tower cleaning robot, comprising the following steps: S1. Collect information on the robot's operating environment and its own status, and establish initial state data for robot operation; S2. Control the upper and lower drive mechanisms to operate synchronously according to the target task, and correct the motion error of the dual drive in real time, so that the robot can move stably along the track to the target area. S3. Real-time detection of track geometry changes during robot movement, and dynamic adjustment of running posture and drive parameters based on track offset to ensure stable robot operation under track deformation. S4. Collect information on heat exchange fin contamination, comprehensively analyze the degree of contamination, and determine the corresponding cleaning mode and cleaning parameters. S5. Determine whether the robot needs recharging based on its remaining battery power, and control the robot to autonomously complete the wireless charging positioning and wireless power supply process. S6. After the robot enters the water supply area, the robotic arm automatically completes the positioning, connection, sealing test and high-pressure water supply establishment of the high-pressure water interface, realizing wireless high-pressure water automatic docking. S7. Based on the cleaning strategy issued by the intelligent decision-making module, coordinate the spray pressure, flow rate and spray trajectory to carry out precise cleaning of the target area; S8. After the robot completes the cleaning of the current area, it automatically depressurizes, disconnects the high-pressure water interface, and switches to the next cleaning area or returns to the standby position according to the task scheduling results.

[0015] Therefore, the control system and method of the track-mounted indirect cooling tower cleaning robot described above have the following beneficial effects: (1) The present invention establishes a flexible synchronous control mechanism for upper and lower dual drives, and combines it with a track flexible compensation control strategy to realize the real-time coordinated operation of the upper and lower drive mechanisms of the robot. It can adapt to the position changes of the intercooling tower track caused by thermal expansion and contraction or local deformation, and improve the robot's operational stability and track adaptability.

[0016] (2) The present invention establishes a wireless power supply management mechanism. The robot can autonomously locate the wireless power supply station and complete wireless power replenishment, which avoids the problems of cable dragging, wear and tear and high maintenance costs caused by the traditional drag chain power supply method, and improves the robot's continuous operation capability.

[0017] (3) The present invention establishes an automatic high-pressure water docking control mechanism for robotic arms. The robot can autonomously complete the positioning of the water supply interface, automatic connection, sealing detection, establishment of high-pressure water supply and automatic disconnection, realize the full automation of the high-pressure water supply process, reduce human intervention and improve the reliability and safety of the water supply connection.

[0018] (4) The present invention establishes a collaborative control mechanism between environmental perception, intelligent decision-making, motion control, energy management and cleaning execution. It can automatically adjust the operation strategy according to the robot's operating status, pollution level and energy status, realize the robot's autonomous energy replenishment, autonomous cleaning and autonomous task switching, and improve the efficiency of intercooling tower cleaning operation and the overall level of intelligence.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a framework diagram of the control system of the track-mounted indirect cooling tower cleaning robot according to an embodiment of the present invention; Figure 2 This is a diagram showing the change in synchronization error of the upper and lower drive mechanisms of the track-type indirect cooling tower cleaning robot as a function of running time after startup, according to an embodiment of the present invention. Figure 3 This is a graph showing the change in contaminant removal rate with cleaning time during the cleaning task performed by the track-mounted intercooling tower cleaning robot according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating the control method of a track-mounted indirect cooling tower cleaning robot according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] Example like Figure 1 As shown, this invention provides a control system for a track-mounted indirect cooling tower cleaning robot, including a robot motion control module, an environmental perception module, a wireless energy and media management module, a cleaning execution control module, an intelligent decision-making module, and a remote centralized control management module. The remote centralized control management module is communicatively connected to both the intelligent decision-making module and the robot motion control module; the environmental perception module is connected to both the robot motion control module and the intelligent decision-making module; the robot motion control module is connected to both the wireless energy and media management module and the cleaning execution control module; the wireless energy and media management module is connected to the cleaning execution control module; and the intelligent decision-making module is connected to all three modules.

[0024] The robot motion control module is used to control the motion of the track-mounted indirect cooling tower cleaning robot. This module is responsible for coordinating the synchronous operation of the robot's upper and lower drive mechanisms, and adjusting the robot's running posture in real time according to the actual track conditions, so that the robot can maintain stable operation even under conditions such as thermal expansion and contraction, local settlement, and installation errors on the track. It is also responsible for controlling the robot's start, stop, acceleration, deceleration, positioning, and motion state switching, and feeding back the robot's current position and motion status to the intelligent decision-making module.

[0025] The robot motion control module includes an upper drive synchronization control unit, a lower drive synchronization control unit, a flexible track compensation unit, an attitude coordination unit, and a speed planning unit.

[0026] The upper drive synchronization control unit is used to control the movement of the robot's top drive mechanism along the upper track.

[0027] In this embodiment, the upper drive synchronization control unit includes a drive controller, a servo driver, an absolute encoder, and a drive status acquisition circuit. After the robot starts running, the drive controller first receives the target speed and target position sent by the central controller; then, the servo driver drives the upper drive motor to run at the target speed; the absolute encoder detects the position of the upper drive mechanism in real time and feeds back the current position to the drive controller; the drive controller compares the current position with the target position. When there is a deviation between the two, the drive controller recalculates the output frequency and adjusts the output of the servo driver to make the upper drive mechanism gradually approach the target position.

[0028] The lower drive synchronization control unit is used to control the movement of the robot's bottom drive mechanism along the lower track.

[0029] In this embodiment, the lower drive synchronization control unit includes a servo driver II, a drive controller II, an absolute encoder II, and a drive status acquisition circuit II. During robot operation, the lower drive synchronization control unit acquires the position and speed of the bottom drive mechanism in real time and sends the acquisition results to the attitude coordination unit. Since the lower drive mechanism bears the main weight of the robot, the lower drive synchronization control unit prioritizes ensuring stable output of the driving force. When the robot passes through a local deformation area of ​​the track, the lower drive synchronization control unit automatically adjusts the drive torque according to the compensation command sent by the attitude coordination unit, enabling the robot to smoothly pass through the track deformation area.

[0030] like Figure 2 As shown, when the robot starts running, the synchronization error is relatively large due to startup inertia and track installation errors. As the attitude coordination unit continuously calculates the synchronization error and adjusts the speed of the upper and lower drive mechanisms in real time, the robot's synchronization error rapidly decreases, stabilizing at around 0.2 mm after approximately 30 seconds. This demonstrates that the present invention can achieve rapid synchronization control of the upper and lower drive mechanisms, improving the robot's stability during track operation and providing a reliable guarantee for subsequent precise positioning and cleaning.

[0031] Flexible track compensation unit is used to compensate for track positional shifts caused by temperature changes.

[0032] In this embodiment, the flexible track compensation unit receives the track gauge change, robot attitude angle, and vertical drive position from the track state detection unit. Then, it calculates the overall track offset. ; in, Indicates the overall track offset; Indicates lateral deviation of the track; This indicates the longitudinal offset of the track.

[0033] When the overall offset is less than the first threshold, the robot maintains its rated speed.

[0034] When the overall offset is greater than the first threshold but less than the second threshold, the flexible track compensation unit reduces the robot's running speed and adjusts the synchronization speed of the upper and lower drives.

[0035] When the overall offset exceeds the second threshold, the robot stops running and sends an alarm message to the central controller.

[0036] The attitude coordination unit is used to coordinate the synchronous operation of the upper and lower drive mechanisms. In this embodiment, the attitude coordination unit reads the upper drive position, lower drive position, upper drive speed, lower drive speed, and tilt sensor data in real time.

[0037] The attitude coordination unit first calculates the synchronization error between the upper and lower drives: ; in, Indicates synchronization error; Indicates the position of the upper drive; Indicates the lower drive position.

[0038] Then, the speed compensation amount is calculated: ; in, Indicates the proportionality coefficient; Represents the differential coefficient; This indicates the speed compensation value.

[0039] The attitude coordination unit sends the compensation value to the upper drive synchronization control unit and the lower drive synchronization control unit respectively, so that the two drive mechanisms always remain synchronized.

[0040] If the robot's attitude angle exceeds the allowable range, the attitude coordination unit further reduces the robot's overall running speed and re-establishes synchronous control.

[0041] The speed planning unit generates a speed planning curve based on the robot's current position, target position, and track status. During the robot's startup phase, it accelerates slowly; after entering the normal operating area, it maintains a constant speed; as it approaches the target area, it gradually decelerates; when the robot enters the wireless power supply area or the high-pressure water supply area, the speed planning unit automatically switches to a low-speed positioning mode to ensure sufficient accuracy for wireless power supply positioning and automatic docking of the robotic arm. Throughout the process, the speed planning unit continuously updates the target speed and sends it to the upper and lower drive synchronization control unit.

[0042] The environmental perception module is used to acquire real-time information about the robot's operating environment and provide environmental data to the robot's motion control module and intelligent decision-making module. This module mainly performs tasks such as track status detection, robot posture detection, heat exchange fin contamination detection, temperature detection, and manipulator docking and positioning, providing environmental basis for the robot's autonomous operation.

[0043] The environmental perception module includes an infrared temperature measurement unit, a visual recognition unit, a laser ranging unit, an attitude detection unit, an orbital status detection unit, and a data fusion unit.

[0044] Each detection unit is connected to a data fusion unit, which in turn is connected to the robot motion control module, the wireless energy and media management module, and the intelligent decision-making module.

[0045] Infrared temperature measurement unit is used to collect the temperature distribution on the surface of the fins of the intercooler tower.

[0046] In this embodiment, during the operation of the robot, the heat exchange fin area in front of the robot is continuously scanned by an infrared thermal imager, and a two-dimensional temperature matrix is ​​output. The data fusion unit calculates the local temperature gradient based on the temperature matrix. When the local temperature is significantly higher than the surrounding area, it is determined that there may be dust accumulation and blockage in the corresponding area, and the pollution level is sent to the intelligent decision module to provide a basis for subsequent selection of spray mode or high-pressure flushing mode.

[0047] The visual recognition unit is used to identify track markings, refueling station locations, high-pressure water supply interface locations, and obstacles in the robot's operation.

[0048] In this embodiment, the visual recognition unit uses an industrial camera to continuously acquire images, identifies the water supply interface and wireless power supply positioning mark through image feature matching, and calculates their center position coordinates; the recognition result is sent to the robot control unit to provide target pose information for the robot to automatically complete wireless high-pressure water docking.

[0049] The laser ranging unit is used to obtain the spatial distance between the robot and the target interface. Specifically, after the robot enters the supply area, it emits a laser beam to measure the distance between the robot and the water supply interface, and combines the results of visual recognition to establish three-dimensional spatial coordinates, providing accurate position data for the robotic arm to generate an automatic docking trajectory.

[0050] The attitude detection unit is used to detect the robot's running attitude.

[0051] In this embodiment, the attitude detection unit uses an inertial measurement unit (IMU) to measure the robot's pitch, roll, and yaw angles in real time and sends the data to the robot motion control module. When the attitude angles exceed a set threshold, the robot motion control module immediately reduces its operating speed and readjusts the synchronization state of the upper and lower drives. The IMU includes a three-axis accelerometer and a three-axis gyroscope. It collects the three-axis acceleration, three-axis angular velocity, and heading information of the robot in real time during operation and calculates the robot's current pitch, roll, and yaw angles using an attitude calculation algorithm.

[0052] The robot's attitude angles are calculated by fusing data from the three-axis gyroscope and the three-axis accelerometer using a complementary filtering algorithm. ; in, This represents the attitude angle after fusion at the current moment; This indicates the fused attitude angle from the previous moment; This represents the angular velocity measured by the three-axis gyroscope; Indicates the sampling period; This represents the attitude angle calculated by the triaxial accelerometer; This represents the filtering coefficient, which is preferably between 0.95 and 0.99.

[0053] The track condition detection unit is used to detect geometric changes in the track.

[0054] In this embodiment, the track status detection unit measures the change in the distance between the upper and lower tracks and the degree of track curvature in real time through displacement sensors and distance sensors, and sends the detection results to the flexible track compensation unit.

[0055] When local deformation of the track is detected, the robot motion control module adjusts the synchronization control parameters according to the detection results, so that the robot can pass through the deformed area smoothly.

[0056] The wireless energy and media management module is used to centrally manage the energy and cleaning media supply during robot operation. This module is responsible for monitoring the robot's remaining battery power, controlling the wireless power supply process, controlling the automatic high-pressure water connection process, monitoring the water supply sealing status, and controlling the robotic arm to automatically connect and disconnect. The entire supply process requires no manual intervention; the robot can autonomously complete energy replenishment, water replenishment, and recovery operations.

[0057] The wireless energy and media management module includes a wireless power supply management unit, a wireless charging positioning unit, a robotic arm control unit, a wireless high-pressure water automatic docking unit, a sealing detection unit, and an automatic disconnection control unit.

[0058] The wireless power management unit is used to manage the wireless power replenishment process of the robot.

[0059] In this embodiment, the central controller periodically reads the remaining power and calculates the battery state of charge through the robot's built-in battery management system (BMS): ; in, Indicates the remaining battery percentage; Indicates the current remaining capacity; Indicates the rated capacity.

[0060] When the SOC is higher than the first set value, the robot continues to perform the cleaning task.

[0061] When the SOC is lower than the first set value, the wireless power management unit sends a power replenishment request to the intelligent decision module.

[0062] The intelligent decision-making module calculates the nearest wireless power station based on the robot's current location and controls the robot to automatically travel to the corresponding location.

[0063] After the robot enters the charging area, the wireless power management unit first establishes a communication connection between the robot and the wireless power station, and then controls the wireless receiver to enter a charging standby state. Once the wireless power station detects that the robot's identity authentication is successful, it begins to output high-frequency AC power, which is rectified by the robot's receiver to charge the power battery.

[0064] Throughout the charging process, the wireless power management unit continuously monitors the charging current, battery temperature, and SOC changes. Once the SOC reaches the set value, the wireless power station stops outputting power, and the robot automatically exits the charging area.

[0065] The wireless charging positioning unit is used to improve wireless power supply efficiency, specifically: After the robot enters the charging area, the visual recognition unit first identifies the location marker of the wireless power station.

[0066] The laser ranging unit then measures the spatial distance between the robot and the power station.

[0067] Calculate the positional error between the robot's current position and the optimal charging position based on the recognition results: ; in, Indicates positioning error; , Indicates the robot's current position; , Indicates the optimal charging location.

[0068] If the positioning error exceeds the allowable range, the robot motion control module will continue to fine-tune the positioning.

[0069] Once the location is established, the wireless power management unit initiates the wireless charging process.

[0070] This positioning method can improve the efficiency of wireless power transmission while reducing energy loss.

[0071] The robotic arm control unit is used to control the robot to automatically connect and disconnect the high-pressure water interface.

[0072] In this embodiment, the robot control unit receives the interface coordinates sent by the vision recognition unit and the spatial position sent by the laser ranging unit. The robot control unit first establishes the current position of the robot end effector. Then, it uses fifth-order polynomial trajectory planning to generate the robot's motion trajectory, enabling the robot to smoothly approach the water supply interface. Throughout the movement, the robot controller continuously corrects the motion trajectory to ensure that the end effector always faces the target interface. When the robot enters the set range from the interface, the robot automatically reduces its running speed and enters the precise positioning mode.

[0073] The wireless high-pressure water automatic docking unit is used to realize the automatic connection of the robot's high-pressure water supply.

[0074] In this embodiment, after the robot moves to the water supply station, the robotic arm control unit controls the robotic arm to grasp the quick water supply connector at the robot end; then the robotic arm gradually approaches the fixed water supply interface based on the visual positioning results; during the interface approach process, the system detects the interface axis deviation in real time; when the deviation meets the allowable range, the robotic arm slowly pushes the interface to complete the connection; after the connection is completed, the system first turns on the low-pressure water supply; after the sealing detection unit confirms that there is no leakage, the high-pressure water supply is gradually turned on; the robot then enters the high-pressure cleaning state.

[0075] The sealing test unit is used to test the connection quality of high-voltage interfaces.

[0076] In this embodiment, the sealing detection unit collects the interface pressure, flow rate changes, and pressure holding time in real time.

[0077] The pressure change rate is calculated as follows: ; in, Indicates the rate of change of pressure; Indicates the change in pressure; Indicates the detection time.

[0078] If the pressure change rate is lower than the allowable value, the seal is considered normal.

[0079] If the pressure drops too quickly, the system immediately shuts off the water supply and controls the robotic arm to re-execute the interface docking.

[0080] The automatic disconnection control unit is used to automatically disconnect the system after the water supply ends. Specifically: After the robot completes the cleaning of the current area, it first closes the high-pressure water supply valve; then it automatically opens the pressure relief valve to release the residual pressure; when the detected pressure drops to a safe value, the robotic arm is unlocked; the robotic arm exits the interface area along its original trajectory; the robot resumes its movement and continues to perform the next task.

[0081] The cleaning execution control module controls the robot to complete the cleaning operation on the surface of the indirect cooling tower heat exchanger. Based on the cleaning strategy issued by the intelligent decision-making module, this module adjusts the spray pressure, spray flow rate, and spray pattern to achieve precise cleaning under different levels of contamination.

[0082] The cleaning execution control module includes a nozzle control unit, a pressure regulation unit, a spray control unit, a high-pressure flushing control unit, and a flow control unit.

[0083] The nozzle control unit is used to control the spray direction and spray status, specifically: After the robot reaches the target area, it automatically calculates the spray coverage area based on the robot's current position and controls the nozzle to complete the area coverage according to the preset scanning path; after the nozzle completes the cleaning of the current area, it automatically switches to the next scanning area.

[0084] The pressure regulating unit is used to control the cleaning pressure, specifically: The target pressure is automatically set according to the pollution level; low-pressure spray is used for light pollution; medium-pressure flushing is used for moderate pollution; and high-pressure flushing is used for heavy pollution. The water supply pressure is continuously monitored, and the proportional pressure regulating valve is controlled to maintain the target pressure stable.

[0085] The spray control unit is used to perform maintenance cleaning, specifically: When the robot detects that the fin contamination is light, it only activates the spray mode. The spray mode can reduce water consumption and reduce the impact on the heat exchange fins.

[0086] The high-pressure flushing control unit is used to treat heavily contaminated areas, specifically: The robot automatically activates high-pressure mode based on the pollution level; once the high-pressure water supply is established, the nozzles continuously scan along the planned trajectory to achieve deep cleaning.

[0087] The flow control unit is used to control the water supply per unit time, specifically: The water supply flow rate is adjusted synchronously according to the robot's operating speed to keep the spray coverage width consistent and improve the overall cleaning uniformity.

[0088] like Figure 3 As shown, with increasing cleaning time, the robot dynamically adjusts the spray pressure, spray flow rate, and spray pattern based on the contamination assessment results, gradually removing contaminants from the surface of the heat exchange fins. In the initial cleaning stage, due to the large amount of loosely attached contaminants, the contamination removal rate increases rapidly; as the contaminants gradually decrease, the remaining contaminants adhere more firmly, the curve gradually flattens, and eventually stabilizes at approximately 95%. This demonstrates that the present invention can perform precise cleaning according to the degree of contamination, improving water resource utilization efficiency and cleaning uniformity while ensuring cleaning effectiveness.

[0089] The intelligent decision-making module, as the core control module of the entire system, is used to uniformly manage the robot's operation tasks, energy supply tasks, cleaning tasks, and safety protection tasks, and coordinate the various functional modules to complete autonomous operations in a predetermined order.

[0090] The intelligent decision-making module includes a task scheduling unit, a pollution assessment unit, a route planning unit, an energy scheduling unit, and a synchronization coordination unit.

[0091] The task scheduling unit is used to establish a robot operation plan. Specifically, it generates multiple areas to be cleaned based on the area of ​​the indirect cooling tower and establishes a task queue. After the robot completes the current area, it automatically switches to the next task.

[0092] The pollution assessment unit is used to calculate the pollution level based on infrared temperature distribution, visual image features, and historical operating data. Specifically: The comprehensive pollution index is obtained by weighted fusion: ; in, This represents the comprehensive pollution index; Indicates the degree of temperature anomaly; Indicates image contamination feature values; Indicates historical pollution weight; , , This represents the corresponding weighting coefficient, and the sum of the three is 1.

[0093] The system automatically selects between spray mode and high-pressure flushing mode based on the pollution index.

[0094] The path planning unit is used to generate the shortest running path based on the robot's current position, target area, and supply station location. If the robot detects a track abnormality during the journey, it will replan the running route.

[0095] The energy scheduling unit is used to determine whether the robot needs to be recharged in advance based on the SOC, task length, and resupply distance. If the remaining power is expected to be insufficient to complete the current task, the robot will prioritize entering the wireless power supply process.

[0096] The synchronization and coordination unit is used to coordinate four types of tasks: robot motion control, wireless power supply, automatic high-pressure water docking, and cleaning.

[0097] The synchronization and coordination unit employs a state machine control method, allowing the robot to proceed to the next stage only after the conditions for completing the previous stage are met. For example, the synchronization and coordination unit only allows the cleaning execution control module to activate the high-pressure water supply after the wireless high-pressure water automatic docking unit reports "sealing test qualified"; and the robot motion control module only resumes track operation after the automatic disconnection control unit reports "interface completely disconnected". This sequential control avoids conflicts between movement, replenishment, and cleaning processes, improving the overall operational safety and control reliability.

[0098] The remote centralized control and management module is used to centrally manage, remotely monitor, store operational data, diagnose equipment status, and manage maintenance of the entire track-mounted indirect cooling tower cleaning robot system. As a higher-level management platform, this module does not directly participate in the underlying motion control; instead, it is responsible for issuing work plans to the intelligent decision-making module and receiving operational information from each module, enabling collaborative management and remote operation and maintenance of multiple robots.

[0099] The remote centralized control and management module includes a central controller, an edge computing unit, a historical database, a 3D visualization management unit, and a remote monitoring unit.

[0100] The central controller is used to manage all functional modules in a unified manner.

[0101] In this embodiment, the central controller establishes communication connections with the robot motion control module, environmental perception module, wireless energy and media management module, cleaning execution control module, and intelligent decision-making module via industrial Ethernet. After receiving the data uploaded by each module, the central controller generates the robot's operating status and issues control commands to each module. When a robot malfunction, communication abnormality, or power supply abnormality is detected, the central controller immediately enters the safety control mode, suspends the robot's operation, and records the fault information.

[0102] The edge computing unit is used to perform local analysis on the data uploaded by the robot, specifically: During robot operation, the environmental perception module continuously uploads temperature images, visual images, track status, and robot posture data; the edge computing unit first completes data preprocessing and outlier removal, and then sends the processing results to the intelligent decision-making module.

[0103] The historical database is used to store the robot's operational data throughout its entire lifecycle. Specifically, the historical database continuously records the robot's operating trajectory, power supply records, high-pressure water supply records, cleaning pressure, pollution level, fault information, and maintenance records.

[0104] The intelligent decision-making module can call upon historical data to optimize subsequent cleaning strategies, thereby improving the long-term operating efficiency of the system.

[0105] The 3D visualization management unit is used to establish a digital operation interface for indirect cooling towers, specifically as follows: Based on the robot's real-time location, work area, and environmental perception data, the robot's motion status, current cleaning area, wireless power station location, high-pressure water supply station location, and equipment operating status are dynamically displayed in a 3D interface. At the same time, managers can intuitively view the robot's operation process and monitor the work progress in real time.

[0106] The remote monitoring unit is used to enable remote operation and maintenance management.

[0107] In this embodiment, the remote monitoring unit periodically receives the operating status uploaded by the central controller and supports remotely issuing control commands such as start, pause, return, recharge, and maintenance. When an abnormal alarm is detected, the remote monitoring unit automatically pushes alarm information and saves the operating data for the corresponding time period to provide a basis for subsequent fault analysis and maintenance.

[0108] like Figure 4 As shown, the present invention also provides a control method for a track-mounted indirect cooling tower cleaning robot, comprising the following steps: S1. Collect information on the robot's operating environment and its own status, and establish initial state data for robot operation to provide basic data for subsequent motion control and task planning.

[0109] S2. Control the upper and lower drive mechanisms to operate synchronously according to the target task, and correct the motion error of the dual drive in real time, so that the robot can move stably along the track to the target area.

[0110] S3. During the robot's movement, the geometric changes of the track are detected in real time, and the running posture and drive parameters are dynamically adjusted according to the track offset to ensure that the robot runs stably under track deformation.

[0111] S4. Collect information on heat exchange fin contamination. The intelligent decision-making module comprehensively analyzes the degree of contamination and determines the corresponding cleaning mode and cleaning parameters.

[0112] S5. Determine whether the robot needs recharging based on its remaining battery power, and control the robot to autonomously complete the wireless charging positioning and wireless power supply process.

[0113] S6. After the robot enters the water supply area, the robotic arm automatically completes the positioning, connection, sealing test and high-pressure water supply establishment of the high-pressure water interface, realizing wireless high-pressure water automatic docking.

[0114] S7. Based on the cleaning strategy issued by the intelligent decision-making module, coordinate the spray pressure, flow rate and spray trajectory to carry out precise cleaning of the target area.

[0115] S8. After the robot completes the cleaning of the current area, it automatically depressurizes, disconnects the high-pressure water interface, and switches to the next cleaning area or returns to the standby position according to the task scheduling results.

[0116] Therefore, the present invention adopts the above-mentioned control system and method of the track-type indirect cooling tower cleaning robot to realize the robot's autonomous power replenishment, autonomous water supply, autonomous cleaning and autonomous task switching, reduce human intervention, improve the automation level, operational stability and cleaning efficiency of indirect cooling tower cleaning operations, and can adapt to long-term stable operation under track thermal deformation environment.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A control system for a track-mounted indirect cooling tower cleaning robot, characterized in that: It includes a robot motion control module, an environmental perception module, a wireless energy and media management module, a cleaning execution control module, an intelligent decision-making module, and a remote centralized control management module; The robot motion control module is used to control the motion of the track-mounted indirect cooling tower cleaning robot. The wireless power and media management module is used to uniformly manage the power supply and cleaning media supply during robot operation; The environmental perception module is used to acquire information about the robot's operating environment in real time and provide environmental data to the robot's motion control module and intelligent decision-making module. The cleaning execution control module is used to control the robot to complete the cleaning operation on the surface of the intercooling tower heat exchanger; The intelligent decision-making module is used to uniformly manage the robot's operation tasks, energy supply tasks, cleaning tasks, and safety protection tasks, and coordinate the various functional modules to complete autonomous operations in a predetermined order. The remote centralized control and management module is used to complete centralized management, remote monitoring, operation data storage, equipment status diagnosis and maintenance management.

2. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The robot motion control module includes an upper drive synchronization control unit, a lower drive synchronization control unit, a flexible track compensation unit, an attitude coordination unit, and a speed planning unit; The upper drive synchronization control unit is used to control the movement of the robot's top drive mechanism along the upper track; The lower drive synchronization control unit is used to control the movement of the robot's bottom drive mechanism along the lower track; Flexible track compensation unit is used to compensate for track positional deviations caused by temperature changes. The attitude coordination unit is used to coordinate the synchronous operation of the upper and lower drive mechanisms; The velocity planning unit is used to generate a velocity planning curve based on the robot's current position, target position, and trajectory status. The upper drive synchronization control unit includes drive controller 1, servo driver 1, absolute encoder 1 and drive status acquisition circuit 1. After the robot starts running, drive controller 1 first receives the target speed and target position sent by the central controller. Servo driver 1 drives the upper drive motor to run at the target speed. Absolute encoder 1 detects the position of the upper drive mechanism in real time and feeds back the current position to drive controller 1. Drive controller 1 compares the current position with the target position. When there is a deviation between the two, the drive controller recalculates the output frequency and adjusts the output of the servo driver to bring the upper drive mechanism closer to the target position. The lower drive synchronization control unit includes a servo driver, a drive controller, an absolute encoder, and a drive status acquisition circuit. During robot operation, the lower drive synchronization control unit acquires the position and speed of the bottom drive mechanism in real time and sends the acquisition results to the attitude coordination unit. When the robot passes through the local deformation area of ​​the track, the lower drive synchronization control unit automatically adjusts the drive torque according to the compensation command sent by the attitude coordination unit, so that the robot can pass through the track deformation area smoothly.

3. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 2, characterized in that: The flexible track compensation unit receives the track gauge change, robot attitude angle, and vertical drive position from the track state detection unit, and calculates the overall track offset. ； in, Indicates the overall track offset; Indicates lateral deviation of the track; Indicates longitudinal offset of the track; When the overall offset is less than the first threshold, the robot maintains its rated speed. When the overall offset is greater than the first threshold but less than the second threshold, the flexible track compensation unit reduces the robot's running speed and adjusts the synchronization speed of the upper and lower drives. When the overall offset exceeds the second threshold, the robot stops running and sends an alarm message to the central controller. The attitude coordination unit reads the upper drive position, lower drive position, upper drive speed, lower drive speed, and tilt sensor data in real time, and calculates the synchronization error between the upper and lower drives. ； in, Indicates synchronization error; Indicates the position of the upper drive; Indicates the lower drive position; Calculate the speed compensation amount: ； in, Indicates the proportionality coefficient; Represents the differential coefficient; Indicates the speed compensation value; The attitude coordination unit sends the compensation value to the upper drive synchronization control unit and the lower drive synchronization control unit respectively, so that the two drive mechanisms always keep synchronized. If the robot's attitude angle exceeds the allowable range, the attitude coordination unit reduces the robot's overall running speed and re-establishes synchronous control.

4. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The environmental perception module includes an infrared temperature measurement unit, a visual recognition unit, a laser ranging unit, an attitude detection unit, an orbital status detection unit, and a data fusion unit; Infrared temperature measurement unit is used to collect the temperature distribution on the surface of the fins of the intercooler tower; The visual recognition unit is used to identify track markings, refueling station locations, high-pressure water supply interface locations, and obstacles to robot operation. The laser ranging unit is used to obtain the spatial distance between the robot and the target interface. Specifically, after the robot enters the resupply area, it emits a laser beam to measure the distance between the robot and the water supply interface, and combines the results of visual recognition to establish three-dimensional spatial coordinates, providing accurate position data for the robotic arm to generate an automatic docking trajectory. The attitude detection unit is used to measure the robot's pitch angle, roll angle, and yaw angle in real time and send them to the robot motion control module in real time. When the attitude angle exceeds the set threshold, the robot motion control module immediately reduces the running speed and readjusts the synchronization state of the upper and lower drives. The track status detection unit is used to measure the changes in the distance between the upper and lower tracks and the degree of track curvature in real time, and sends the detection results to the flexible track compensation unit. When local deformation of the track is detected, the robot motion control module adjusts the synchronous control parameters according to the detection results, so that the robot can pass through the deformed area smoothly.

5. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The wireless energy and media management module includes a wireless power supply management unit, a wireless charging positioning unit, a robotic arm control unit, a wireless high-pressure water automatic docking unit, a sealing detection unit, and an automatic disconnection control unit; The wireless power management unit is used to manage the robot's wireless power replenishment process; The robotic arm control unit is used to control the robot to automatically connect and disconnect the high-pressure water interface; The robot is controlled to automatically connect and disconnect the high-pressure water interface. Specifically, the robot arm control unit receives the interface coordinates sent by the vision recognition unit and the spatial position sent by the laser ranging unit; establishes the current position of the robot arm end effector; and generates the robot arm's motion trajectory using fifth-order polynomial trajectory planning, enabling the robot arm to smoothly approach the water supply interface. Throughout the entire movement, the robot controller continuously corrects the movement trajectory to ensure that the end effector always faces the target interface; when the robot enters the set range from the interface, the robot automatically reduces its running speed and enters the precise positioning mode; Wireless high-pressure water automatic docking unit is used to realize automatic connection of high-pressure water supply to the robot; The automatic connection of the robot's high-pressure water supply is as follows: After the robot moves to the water supply station, the robotic arm control unit controls the robotic arm to grasp the quick-connect water supply connector on the robot end; then, based on the visual positioning results, the robotic arm gradually approaches the fixed water supply interface; during the interface approach process, the system detects the interface axis deviation in real time; when the deviation is within the allowable range, the robotic arm slowly pushes the interface to complete the connection; after the connection is completed, the system first turns on the low-pressure water supply; after the sealing detection unit confirms that there is no leakage, the high-pressure water supply is gradually turned on; the robot then enters the high-pressure cleaning state. The sealing detection unit is used to collect interface pressure, flow rate changes, and pressure holding time in real time; Automatic disconnection control unit, used to automatically disconnect after the water supply ends.

6. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 5, characterized in that: The process of wirelessly recharging the robot involves periodically reading the remaining battery power and calculating the battery's state of charge through the robot's built-in battery management system. ； in, Indicates the remaining battery percentage; Indicates the current remaining capacity; Indicates the rated capacity; When the SOC is higher than the first set value, the robot continues to perform the cleaning task; When the SOC is lower than the first set value, the wireless power management unit sends a power replenishment request to the intelligent decision module; The intelligent decision-making module calculates the nearest wireless power station based on the robot's current location and controls the robot to automatically move to the corresponding location; After the robot enters the charging area, the wireless power management unit first establishes a communication connection between the robot and the wireless power station, and then controls the wireless receiver to enter the charging state. Once the wireless power station detects that the robot's identity authentication has been successful, it begins to output high-frequency AC power, which is rectified by the robot's receiver to charge the power battery. Throughout the charging process, the wireless power management unit continuously monitors the charging current, battery temperature, and SOC changes; When the SOC reaches the set value, the wireless power station stops outputting power, and the robot automatically leaves the power replenishment area. The wireless charging positioning unit is used to improve wireless power supply efficiency, specifically: After the robot enters the charging area, the visual recognition unit identifies the location marker of the wireless power station. The laser ranging unit measures the spatial distance between the robot and the power station; Calculate the positional error between the robot's current position and the optimal charging position based on the recognition results: ； in, Indicates positioning error; , Indicates the robot's current position; , Indicates the optimal charging location; If the positioning error exceeds the allowable range, the robot motion control module will continue to adjust the positioning. Once the location is established, the wireless power management unit initiates the wireless charging process.

7. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The cleaning execution control module includes a nozzle control unit, a pressure regulation unit, a spray control unit, a high-pressure flushing control unit, and a flow control unit; The nozzle control unit is used to control the spray direction and spray status. Specifically, after the robot arrives at the target area, it automatically calculates the spray coverage area based on the robot's current position and controls the nozzle to complete the area coverage according to the preset scanning path. After the nozzle completes the cleaning of the current area, it automatically switches to the next scanning area. The pressure regulating unit is used to automatically set the target pressure according to the pollution level, continuously monitor the water supply pressure, and control the proportional pressure regulating valve to maintain the target pressure stable. The spray control unit is used to perform maintenance cleaning, specifically: when the robot detects that the fins are lightly contaminated, it only activates the spray mode; The high-pressure flushing control unit is used to treat heavily polluted areas. Specifically, the robot automatically activates the high-pressure mode according to the pollution level. After the high-pressure water supply is established, the nozzles continuously scan according to the planned trajectory to achieve deep cleaning. The flow control unit is used to control the water supply per unit time. Specifically, it adjusts the water supply flow synchronously according to the robot's running speed to keep the spray coverage width consistent and improve the overall cleaning uniformity.

8. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The intelligent decision-making module includes a task scheduling unit, a pollution assessment unit, a route planning unit, an energy scheduling unit, and a synchronization and coordination unit; The task scheduling unit is used to generate multiple areas to be cleaned according to the division of the indirect cooling tower area, and to establish a task queue. After the robot completes the task in the current area, it automatically switches to the next task. The pollution assessment unit is used to calculate the pollution level based on infrared temperature distribution, visual image features, and historical operating data. The path planning unit is used to generate the shortest running path based on the robot's current position, target area, and supply station location. If the robot detects a track abnormality during the journey, it will replan the running route. The energy scheduling unit is used to determine whether the robot needs to be recharged in advance based on the battery state of charge, task length and resupply distance. If the remaining power is expected to be insufficient to complete the current task, the robot will prioritize entering the wireless power supply process. The synchronization and coordination unit is used to coordinate four types of tasks: robot motion control, wireless power supply, automatic high-pressure water docking, and cleaning.

9. The control system of the track-mounted indirect cooling tower cleaning robot according to claim 1, characterized in that: The remote centralized control and management module includes a central controller, an edge computing unit, a historical database, a 3D visualization management unit, and a remote monitoring unit; The central controller receives data uploaded by each module, generates the robot's operating status, and issues control commands to each module. When a robot malfunction, communication abnormality, or power supply abnormality is detected, the central controller enters a safety control mode, suspends the robot's operation, and records the fault information. Edge computing units are used to perform local analysis on data uploaded by the robot; Historical database, used to store operational data throughout the robot's entire lifecycle; The 3D visualization management unit is used to dynamically display the robot's motion status, current cleaning area, wireless power station location, high-pressure water supply station location, and equipment operating status in a 3D interface based on the robot's real-time position, work area, and environmental perception data. At the same time, managers can intuitively view the robot's operation process and monitor the work progress in real time. The remote monitoring unit is used to periodically receive the operating status uploaded by the central controller, and supports remotely issuing start, pause, return, recharge and maintenance commands. When an abnormal alarm is detected, the remote monitoring unit automatically pushes alarm information and saves the operating data for the corresponding time period.

10. A control method for a track-mounted indirect cooling tower cleaning robot, applied to the control system of the track-mounted indirect cooling tower cleaning robot as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Collect information on the robot's operating environment and its own status, and establish initial state data for robot operation; S2. Control the upper and lower drive mechanisms to operate synchronously according to the target task, and correct the motion error of the dual drive in real time, so that the robot can move stably along the track to the target area. S3. Real-time detection of track geometry changes during robot movement, and dynamic adjustment of running posture and drive parameters based on track offset to ensure stable robot operation under track deformation. S4. Collect information on heat exchange fin contamination, comprehensively analyze the degree of contamination, and determine the corresponding cleaning mode and cleaning parameters. S5. Determine whether the robot needs recharging based on its remaining battery power, and control the robot to autonomously complete the wireless charging positioning and wireless power supply process. S6. After the robot enters the water supply area, the robotic arm automatically completes the positioning, connection, sealing test and high-pressure water supply establishment of the high-pressure water interface, realizing wireless high-pressure water automatic docking. S7. Based on the cleaning strategy issued by the intelligent decision-making module, coordinate the spray pressure, flow rate and spray trajectory to carry out precise cleaning of the target area; S8. After the robot completes the cleaning of the current area, it automatically depressurizes, disconnects the high-pressure water interface, and switches to the next cleaning area or returns to the standby position according to the task scheduling results.

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