Design and control methods of a condenser cleaning robot

摘要

As the condenser has complicated indoor environment and it’s difficult for the cleaning robot to complete cleaning, this paper deeply researches tele-operation system of intelligent cleaning robot, designs hardware architecture and software system at tele-operation control platform, including design of human-machine interface on the tele-operation control platform and software and hardware design of joystick force feedback controller. It designs the ontology mechanical structure, electromechanical control system, communication control program and picture processing program of intelligent cleaning robot. Industrial personal computer is used for data processing and motion control in the electromechanical control system. Test results show that the operation system herein can be used to effectively solve the problems in design and control of tele- operation system of intelligent cleaning robot and implement online high-pressure water-jetting cleaning of a condenser tube, so as to ensure efficient and safe operation of condensers in the large power plant.