CN103962352A - Pipeline cleaning device and adaptive control method thereof - Google Patents
Pipeline cleaning device and adaptive control method thereof Download PDFInfo
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- CN103962352A CN103962352A CN201410162243.5A CN201410162243A CN103962352A CN 103962352 A CN103962352 A CN 103962352A CN 201410162243 A CN201410162243 A CN 201410162243A CN 103962352 A CN103962352 A CN 103962352A
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- offset distance
- tolerance
- drift angle
- tube cleaning
- spray boom
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
- B08B9/0325—Control mechanisms therefor
Abstract
The invention discloses a pipeline cleaning device and an adaptive control method thereof. The pipeline cleaning device comprises a base, a spray rod, a horizontal rotating disc, a vertical stepping motor, a spray rod rotating stepping motor and a distance measurement module. A caterpillar band, a left side stepping motor and a right side stepping motor are arranged on the outer sides of the two sides of the base, wherein the caterpillar band, the left side stepping motor and the right side stepping motor drive the base to move forwards and backwards. The tail end of the spray rod is movably arranged in a spray rod rotating seat, the front end of the spray rod is communicated with a spray head through a connecting rod mechanism, and the connecting rod mechanism is connected with a curvature stepping motor. The horizontal rotating disc is arranged on the base, the spray rod rotating seat is mounted on the horizontal rotating disc, and a horizontal stepping motor is mounted below the horizontal rotating disc. The vertical stepping motor is used for driving the spray rod to rotate up and down. The spray rod rotating stepping is used for drive the spray rod to rotate around an own axis. The distance measurement module is used for detecting the position of the front end and the position of the rear end of the pipeline cleaning device, and calculating the offset distance and the deflection angle of the midpoint of the pipeline cleaning device deviating from the central axis of a pipeline. According to the pipeline cleaning device, the six motors and the deviation rectifying and adaptive control method are adopted, extra hardware structures are not needed to carry out for matching, and high-precision and efficient cleaning can be achieved.
Description
Technical field
The present invention relates to the technology that the motion of tube cleaning arrangement is controlled, related in particular to the positional information based on tube cleaning arrangement, feed back to control the self-adaptation control method of tube cleaning arrangement motion according to position deflection.
Background technology
Airduct and fume pipeline etc. are present in various communal facilitys in a large number, and the maintenance in these pipeline later stages and nursing are directly connected to the normal use of communal facility, are also related to security and the sustainability of each pipeline, therefore seem particularly important.
At present developed the Full-automatic based on six axle cooperative motions, the steam jet of device carries out shuttling movement along tube wall, therefore requires the space of tube cleaning arrangement, with respect to its motion initial point, has higher symmetry.And in actual application, guarantee that the symmetry of device is difficult to completely, and it is unsteady that the course of device can only be carried out along the axis of pipeline left and right, and precision is difficult to meet the demands.
Therefore, how providing the automatically-adaptive control method that a kind of precision is higher is industry technical problem urgently to be resolved hurrily.
Summary of the invention
The object of the invention is, in order to solve above-mentioned problems of the prior art, to propose a kind of tube cleaning arrangement and comprise:
Base, its outside, both sides is provided with crawler belt, is provided with the left and right side stepper motor that drives crawler belt in described base;
Spray boom, the activity of described spray boom tail end is located in described spray boom rotating seat, and its front end is communicated with a shower nozzle by a linkage, and described linkage is connected with the curvature stepper motor of being located on spray boom, for adjusting the bending angle of shower nozzle and spray boom;
Horizontal rotating disc, is located at above base, and a spray boom rotating seat is installed on it, and its below is provided with a horizontal stepper motor, for driving spray boom rotating seat to rotate in the horizontal direction;
Vertically stepper motor, is located at spray boom rotating seat one side and output shaft and is fixedly connected with spray boom rotating seat, for driving spray boom to rotate up and down;
Spray boom rotating stepper motor, is located between spray boom and spray boom rotating seat, for driving spray boom along self axis rotation;
Range finder module, comprise the laser range sensor of the front-end and back-end that are arranged on respectively tube cleaning arrangement homonymy, described range finder module is for detection of the position of tube cleaning arrangement front-end and back-end, and calculates offset distance and the drift angle that tube cleaning arrangement mid point departs from pipeline axis.
The automatically-adaptive control method of tube cleaning arrangement proposed by the invention, comprises the steps:
Step 1, tube cleaning arrangement axis centre is set as to offset distance d apart from the distance of pipeline axis, be drift angle α by the angle initialization of tube cleaning arrangement axis runout pipeline axis, define respectively minimum tolerance and the maximum tolerance of offset distance d and drift angle α, start tube cleaning arrangement, initialize the speed of tube cleaning arrangement both sides crawler belt;
Step 2, range finder module Real-time Obtaining tube cleaning arrangement is the return of value of the laser range sensor at two ends from beginning to end, and calculates offset distance d and the drift angle α of tube cleaning arrangement;
Step 3, taking the axis of pipeline as benchmark, according to offset distance d and drift angle α to the tube cleaning arrangement control of rectifying a deviation;
Step 4, crawler belt pause motion, taking tube cleaning arrangement as initial point, offset distance d after controlling according to correction in step 3, the work coordinate that recalculates horizontal stepper motor, vertical stepper motor, spray boom rotating stepper motor, curvature stepper motor, carries out position deflection compensation to four axles of tube cleaning arrangement with respect to the position of pipeline to described motor;
Step 5, starts to clean, and completes a cleaning frequency, crawler belt resume speed, and circulation step 2 is to step 6, until cleaning process completes.
The present invention controls crawler belt by two motors, and controlling spray boom by four motors moves along four inwalls of pipeline, make its adaptive approach be different from existing adaptive technique, do not need to increase unnecessary hardware configuration and coordinate, reduced the physical arrangement complexity of tube cleaning arrangement.And the present invention's control of rectifying a deviation between Self Adaptive Control, can ensure that tube cleaning arrangement remains essentially in pipeline axis annex, makes its cleaning operation have very high accuracy, has thoroughly solved the problem that deflection is brought, and has improved cleaning efficiency.And, the self-adaptation control method that this patent proposes can not be replaced, its control object is mainly cleaning rod, and correction control is mainly to realize by controlling crawler belt speed, use separately correction to control must to wait until track-type motion parts to eliminate again deflection, and the present invention can, in cleaning process, by revising in the site that cleans to washing motion motor, and then eliminate skewed error.Compared with the correction of crawler belt speed, greatly reduce and in cleaning process, eliminated the required time of deflection, improve cleaning efficiency.
Brief description of the drawings
Below, the present invention is described in detail for contrast accompanying drawing and preferred embodiment, wherein:
Fig. 1 is structural representation of the present invention;
Fig. 2 is flow chart of the present invention;
Fig. 3 is the flow chart of method for correcting error of the present invention;
Fig. 4 is large tolerance correcting method flow chart of the present invention;
Fig. 5 is little tolerance correcting method flow chart of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, invention is described in detail.Should be appreciated that the only technical scheme in order to explain that the present invention proposes of the explanation of specific embodiment, and non-limiting the present invention.
As shown in Figure 1, tube cleaning arrangement proposed by the invention comprises: base 11, horizontal rotating disc 10, spray boom rotating seat 9, spray boom 8, shower nozzle 7, curvature stepper motor 6, spray boom rotating stepper motor 5, vertical stepper motor 4, horizontal stepper motor 3, left side stepper motor 2, right side stepper motor 1 and range finder module.
Wherein, outside, base both sides is provided with crawler belt tumbler, is provided with left and right side stepper motor in base, and left and right side stepper motor, by gear and crawler belt 12 transmissions, drives tube cleaning arrangement to seesaw.Horizontal rotating disc 10, be located at above base 11, spray boom rotating seat 9 is installed on it, its below is provided with horizontal stepper motor 3, the output shaft of horizontal stepper motor 3 is connected with spray boom rotating seat 9 through horizontal rotating disc 10, horizontal stepper motor 3 drives spray boom rotating seat 9 left-right rotation in horizontal plane, for driving spray boom rotating seat 9 to rotate in the horizontal direction.Spray boom 8, spray boom 8 tail end activities are located in spray boom rotating seat 9, its front end is communicated with shower nozzle 7 by a linkage, linkage is connected with the curvature stepper motor 6 of being located on spray boom 8, for adjusting the bending angle of shower nozzle 7 and spray boom 8, wherein, linkage comprises: the connecting rod 13 that one end and curvature stepper motor 6 movable ends are hinged, the right angle connecting rod free bearing 14 hinged with connecting rod 13 other ends, connecting rod free bearing 14 one end, right angle and connecting rod 13 are hinged, the other end is fixedly connected with shower nozzle 7, curvature stepper motor 6 movable end stretching motions, push-and-pull connecting rod 13 drives the bending angle of shower nozzle 7 adjustment and spray boom 8.Vertically stepper motor 4, being located at spray boom rotating seat 9 one sides and output shaft is fixedly connected with spray boom rotating seat 9, be used for driving spray boom 8 to rotate up and down, the 9 two ends activities of spray boom rotating seat are located in a bearing block 15, vertically the output shaft of stepper motor 4 is fixedly connected with spray boom rotating seat 9 through described bearing block 15, and vertically stepper motor 4 rotates and drives spray boom rotating seat 9 to rotate.Spray boom rotating stepper motor 5, be located between spray boom 8 and spray boom rotating seat 9, be used for driving spray boom 8 along self axis rotation, it is interior and parallel with spray boom 8 that spray boom rotating stepper motor 5 is laterally fixed on spray boom rotating seat 9, spray boom rotating stepper motor 5 output shafts are connected with a driving pulley, on spray boom 8, be fixed with the driven pulley coordinating with driving pulley position, driving pulley and driven pulley are by driving-belt 16 transmissions, spray boom rotating stepper motor 5 drives spray boom 8 along self axis rotation by belt wheel, the each motion of spray boom rotating stepper motor 5 is clockwise fixing or be rotated counterclockwise 90 °.
Between spray boom 8 and spray boom rotating seat 9, be connected by O sealing ring movable sealing, spray boom rotating seat 9 rear ends are provided with the converting interface 17 being communicated with spray boom, converting interface 17 can connecting tubes road, cleaning fluid is entered in spray boom 8 by converting interface, spray from shower nozzle 7, make the rotation of spray boom 8 not affect exterior line by the setting of converting interface 17, prevent from being wound around because the rotation of spray boom 8 causes pipeline, affect result of use.
Range finder module has adopted 2 laser range sensors, is arranged on respectively the front-end and back-end of tube cleaning arrangement homonymy.According to the principle of 2 definite straight lines, the range information that range finder module returns according to two sensors and suitable installation of sensors positional information, deviation angle (being called for short drift angle α) and the tube cleaning arrangement axis centre offset axis distance that can calculate tube cleaning arrangement distance pipeline axis in traveling process (are called for short offset distance d).Therefore, drift angle α and offset distance d are two main positions parameters considering deviation, and in the present embodiment, definition drift angle α and offset distance d are negative in the time that depart from the left side of pipeline axis, are positive number in the time that depart from right side.In addition, the present invention has also defined the maximum tolerance and the minimum tolerance that have defined respectively drift angle α and offset distance d.If certain moment, in the location parameter drift angle α of tube cleaning arrangement and the absolute value of offset distance d, exist at least one item to be greater than the respective items in maximum/minimum tolerance, we judge that the position of tube cleaning arrangement exceeds maximum/minimum tolerance this moment so, otherwise, claim the position of tube cleaning arrangement this moment within the scope of maximum/minimum tolerance.
In the whole automatic cleaning process of tube cleaning arrangement, deflection adaptive control technology must coordinate automatic deviation correction technology jointly to solve the problem of the skew of advancing.If this is because do not carry out travel track correction, the distance that causes tube cleaning arrangement to depart from axis is strengthened gradually, finally cause deviation to exceed the controlled range that is offset self-adaptation control method, even produce and touch wall event, cause structural damage.
As shown in Figure 2, the automatically-adaptive control method of tube cleaning arrangement of the present invention, its idiographic flow comprises the steps:
Step 1, tube cleaning arrangement axis centre is set as to offset distance d apart from the distance of pipeline axis, be drift angle α by the angle initialization of tube cleaning arrangement axis runout pipeline axis, define respectively minimum tolerance and the maximum tolerance of offset distance d and drift angle α, minimum tolerance and maximum tolerance can be carried out different definition according to actual conditions, can define according to the range of the width of duct width, tube cleaning arrangement and laser range sensor minimum tolerance and the maximum tolerance of offset distance d and drift angle α.Then, start tube cleaning arrangement, initialize the speed of tube cleaning arrangement both sides crawler belt.
Step 2, in the traveling process of tube cleaning arrangement, range finder module Real-time Obtaining tube cleaning arrangement is the return of value of the laser range sensor at two ends from beginning to end, and calculates offset distance d and the drift angle α of tube cleaning arrangement.
Step 3, taking the axis of pipeline as benchmark, according to offset distance d and drift angle α to the tube cleaning arrangement control of rectifying a deviation;
As shown in Figure 3, correction is controlled and is mainly comprised the steps:
Step 31, judges that offset distance d and drift angle α are whether within the scope of minimum tolerance, if be less than minimum tolerance, it is very low that we think that it departs from axis degree,, to its adjustment of rectifying a deviation, do not return to step 2; If be greater than minimum tolerance, perform step 32;
Step 32, judge that offset distance d and drift angle α are whether within the scope of maximum tolerance, if be less than maximum tolerance, perform step 34, the position of this explanation tube cleaning arrangement has exceeded minimum tolerance, but within maximum tolerance scope, therefore we think that tube cleaning arrangement has had certain deviation, but this deviation is less on cleaning process impact, therefore implement little tolerance correction scheme, little tolerance correction scheme is carried out in the cleaning process of tube cleaning arrangement, forward motion to tube cleaning arrangement is rectified a deviation, do not affect the cleaning action of tube cleaning arrangement, ensure the efficiency of cleaning, if be greater than maximum tolerance, perform step 33, the position of this explanation tube cleaning arrangement has exceeded maximum tolerance, and we think that now tube cleaning arrangement has produced larger skew with respect to the axis of pipeline.As revised not in time, cannot ensure cleaning action, even may cause spray boom to touch wall, cause the damage on machinery or motor, now we,, by spray boom motion locking, suspend washing motion, implement large tolerance correction scheme, tube cleaning arrangement is come back within the scope of maximum tolerance, approach or be less than after minimum tolerance scope, now can again recover washing motion.
Step 33, carry out large tolerance correction scheme: suspend the cleaning action of tube cleaning arrangement, drift angle α and its minimum tolerance are contrasted, if drift angle α is greater than its minimum tolerance, correct drift angle, if drift angle α is less than its minimum tolerance, offset distance d and its minimum tolerance are contrasted, if offset distance d is greater than its minimum tolerance, offset distance is corrected, if offset distance d is less than its minimum tolerance, large tolerance correction scheme completes, and continues to return step 2;
As shown in Figure 4, wherein, the detailed process of carrying out large tolerance correction scheme is:
Step 331, whether disconnected drift angle α is less than its minimum tolerance, if drift angle α is less than its minimum tolerance, performs step 333 and judges offset distance d, if drift angle α is greater than its minimum tolerance, execution step 332 is corrected drift angle;
Step 332, centered by pipeline axis, judges the deflection direction of drift angle α, if drift angle α is positive number, illustrates that right avertence has occurred tube cleaning arrangement, then slows down the crawler belt speed in left side, is 0.6 times of initial velocity, and right side crawler belt still keeps initial velocity.Accordingly, if drift angle α is negative, illustrate that left avertence has occurred tube cleaning arrangement, then slow down the crawler belt speed on right side, be 0.6 times of initial velocity, left track still keeps initial velocity, then carries out time delay, returns to step 331, continues to judge drift angle α;
Step 333, judges whether offset distance d is greater than minimum tolerance, if be greater than minimum tolerance, performs step 334, carries out offset distance correction.If be less than minimum tolerance, complete large tolerance correction scheme;
Step 334, record drift angle α 0 and offset distance d0 now, centered by pipeline axis, judge the deflection direction of offset distance d, if offset distance d is a positive number, illustrate that right avertence has occurred tube cleaning arrangement, set 0.6 times that left track speed is initial velocity, right side crawler belt still keeps initial velocity.Correspondingly, if offset distance d is negative, there is left avertence in tube cleaning arrangement, sets 0.6 times that right side crawler belt speed is initial velocity, and left track speed keeps initial velocity.Under this Speed Setting, tube cleaning arrangement will produce certain drift angle, the motion of deflection axis, then experience after once small time delay, continue execution step 335;
Step 335, judges whether the absolute value of current offset distance is less than or equal to the absolute value of d0/2, if not, return to step 334, proceed to adjust, if so, perform step 336;
Step 336, exchanges the speed of tube cleaning arrangement both sides crawler belt, after time delay, continues execution step 337;
Step 337, judges that current offset distance d is whether within the scope of minimum tolerance, if not, return to step 336, if so, complete large tolerance correction scheme.
As shown in Figure 5, step 34, carries out little tolerance correction scheme: drift angle α and its minimum tolerance are contrasted, if drift angle α is greater than minimum tolerance, correct drift angle, if drift angle α is less than its minimum tolerance, initialize after crawler belt speed, offset distance d and its maximum tolerance are contrasted, if be greater than, return to step 32, if be less than, continue offset distance d and its minimum tolerance to contrast, if be greater than, offset distance is corrected, if be less than, complete little tolerance correction scheme, continue execution step 2.
Step 341, whether disconnected drift angle α is less than minimum tolerance, if drift angle α is less than minimum tolerance, initializes the speed of tube cleaning arrangement both sides crawler belt, and execution step 343 judges offset distance d, if drift angle α is greater than minimum tolerance, execution step 342 is corrected drift angle α;
Step 342, centered by pipeline axis, judges the deflection direction of drift angle α, if drift angle α is positive number, illustrates that right avertence has occurred tube cleaning arrangement, then slows down the crawler belt speed in left side, is 0.9 times of initial velocity, and right side crawler belt still keeps initial velocity.Accordingly, if drift angle α is negative, illustrate that left avertence has occurred tube cleaning arrangement, then slow down the crawler belt speed on right side, be 0.9 times of initial velocity, left track still keeps initial velocity, then carries out time delay, returns to step 341, continues to judge drift angle α;
Step 343, judges now whether the offset distance d of tube cleaning arrangement is less than maximum tolerance offset distance, if be less than maximum tolerance offset distance, performs step 344, if be greater than maximum tolerance offset distance, returns to step 32;
Step 344, judges now whether the offset distance d of tube cleaning arrangement is greater than minimum tolerance scope, if be greater than, performs step 345, if be less than minimum tolerance scope, little tolerance has been corrected, and returns to step 32;
Step 345, recording the now drift angle of tube cleaning arrangement is that α 1, offset distance are d1, centered by pipeline axis, judge the deflection direction of offset distance d1, if offset distance d is a positive number, illustrate that right avertence has occurred tube cleaning arrangement, set 0.9 times that left track speed is initial velocity, right side crawler belt still keeps initial velocity.Correspondingly, if offset distance d is negative, there is left avertence in tube cleaning arrangement, sets 0.9 times that right side crawler belt speed is initial velocity, and left track speed keeps initial velocity, after time delay, continues execution step 346;
Step 346, judges whether current offset distance d is less than or equal to d1/2, if not, return to step 334, proceed to adjust, if so, the speed of the crawler belt of tube cleaning arrangement both sides is initialized, return to step 32; If not return to step 345.
Step 4, crawler belt pause motion, start to carry out adaptive control, with to carry out automatic deviation correction technology in step 3 similar, the enforcement of self-adaptation control method, also be based on offset distance d and drift angle a, after rectifying a deviation, can there is new offset distance d and drift angle α, but because the work coordinate of the group of motors of controlling tube cleaning arrangement spray boom itself is positioned at the upper benchmark setting in pipeline axis with tube cleaning arrangement, therefore on new offset distance d and α basis, drift angle, horizontal stepper motor, vertically stepper motor, spray boom rotating stepper motor, there is change in the work coordinate of curvature stepper motor, if carry out work according to old work coordinate, can cause not washing clean clearly or the problem such as tactile wall, therefore by offset distance d and drift angle α, recalculate the work coordinate of group of motors, the slewing area of group of motors is carried out to position deflection compensation and angular deflection compensation, its detailed process be exactly tube cleaning arrangement after rectifying a deviation be initial point, redefine the work coordinate of four axles.For example, suppose that duct width is W, taking pipeline axis as initial point (left negative, the right side just), the coordinate position of left and right side tube wall is respectively-0.5*W, 0.5*W.After step 3 is rectified a deviation, now, still there is an offset distance d and drift angle α in tube cleaning arrangement, we revise coordinate, now obtain a left side, right side be respectively-0.5*W-d of tube wall coordinate, 0.5*W-d, in the time that offset distance d is a negative (left avertence), the coordinate of left side duct wall is-0.5*W-d, absolute value is less than former coordinate (coordinate taking pipeline axis as initial point), conform to (after left avertence with actual conditions, nearer apart from left wall), the coordinate of right side tube wall is 0.5*W-d simultaneously, absolute value is greater than former coordinate, conform to (after left avertence with actual conditions, farther apart from right wall), when offset distance d is a positive number (right avertence), left side duct wall coordinate-0.5*W-d, absolute value is greater than former coordinate, conform to (after right avertence with actual conditions, farther apart from left wall), right side duct wall coordinate 0.5W-d simultaneously, absolute value is less than former coordinate, (after right avertence, nearer apart from right wall) conforms to actual conditions.Therefore, by the coordinate of four axles is recalculated, can overcome the asymmetry of left and right cleaning space, eliminate the impact that position deflection is brought.
Then, drift angle α after controlling according to correction in step 3, electric machine rotation scope to tube cleaning arrangement is carried out angular deflection compensation, with step 4 in like manner, spray boom is taking tube cleaning arrangement as fulcrum, in the plane in certain cross section of pipeline, can rotate, while supposing spray boom pipe blow-through upper wall, its rotational angle range is [m, n], the introducing drift angle a that advances compensates and corrects, make range of movement change into [m-a, n-a], by coordinate transform, motion initial point is set in along pipeline axis direction, has ensured the symmetry of horizontal electric machine rotation.
Step 5, has set after the each parts coordinate after correction, starts to clean, and completes a cleaning frequency, crawler belt resume speed, and circulation step 2 is to step 6, until cleaning process completes.
Within each cleaning frequency, the drift condition of tube cleaning arrangement may be different, and therefore, in the time adopting deflection adaptive algorithm, in each new cycle, each of each axle moves to site and must recalculate.But calculating used is consuming time few, probably only need, less than 0.1 second, approximate can ignoring, therefore can not exert an influence to cleaning efficiency.
Claims (9)
1. a tube cleaning arrangement, is characterized in that, comprising:
Base, its outside, both sides is provided with crawler belt, is provided with the left and right side stepper motor that drives crawler belt in described base;
Spray boom, the activity of described spray boom tail end is located in described spray boom rotating seat, and its front end is communicated with a shower nozzle by a linkage, and described linkage is connected with the curvature stepper motor of being located on spray boom, for adjusting the bending angle of shower nozzle and spray boom;
Horizontal rotating disc, is located at above base, and a spray boom rotating seat is installed on it, and its below is provided with a horizontal stepper motor, for driving spray boom rotating seat to rotate in the horizontal direction;
Vertically stepper motor, is located at spray boom rotating seat one side and output shaft and is fixedly connected with spray boom rotating seat, for driving spray boom to rotate up and down;
Spray boom rotating stepper motor, is located between spray boom and spray boom rotating seat, for driving spray boom along self axis rotation;
Range finder module, comprise the laser range sensor of the front-end and back-end that are arranged on respectively tube cleaning arrangement homonymy, described range finder module is for detection of the position of tube cleaning arrangement front-end and back-end, and calculates offset distance and the drift angle that tube cleaning arrangement mid point departs from pipeline axis.
2. tube cleaning arrangement as claimed in claim 1, it is characterized in that, described linkage comprises: the hinged connecting rod of one end and curvature stepper motor movable end, the right angle connecting rod free bearing hinged with the connecting rod other end, connecting rod free bearing one end, described right angle is fixedly connected with shower nozzle with rod hinge connection, the other end, curvature stepper motor movable end stretching motion, push-and-pull connecting rod drives the bending angle of shower nozzle adjustment and spray boom;
The two ends activity of spray boom rotating seat is located in a bearing block, and vertically the output shaft of stepper motor is fixedly connected with spray boom rotating seat through described bearing block, and vertically stepper motor rotates and drives spray boom rotating seat to rotate;
It is interior and parallel with spray boom that spray boom rotating stepper motor is laterally fixed on spray boom rotating seat, spray boom rotating stepper motor output shaft is connected with a driving pulley, on spray boom, be fixed with and coordinate the driven pulley with transmission with driving pulley, spray boom rotating stepper motor drives spray boom along self axis rotation by belt wheel, and the each motion of described spray boom rotating stepper motor is clockwise fixing or be rotated counterclockwise 90 °.
3. an automatically-adaptive control method for tube cleaning arrangement, is characterized in that, comprises the steps:
Step 1, tube cleaning arrangement axis centre is set as to offset distance d apart from the distance of pipeline axis, be drift angle α by the angle initialization of tube cleaning arrangement axis runout pipeline axis, define respectively minimum tolerance and the maximum tolerance of offset distance d and drift angle α, start tube cleaning arrangement, initialize the speed of tube cleaning arrangement both sides crawler belt;
Step 2, range finder module Real-time Obtaining tube cleaning arrangement is the return of value of the laser range sensor at two ends from beginning to end, and calculates offset distance d and the drift angle α of tube cleaning arrangement;
Step 3, taking the axis of pipeline as benchmark, according to offset distance d and drift angle α to the tube cleaning arrangement control of rectifying a deviation;
Step 4, crawler belt pause motion, taking tube cleaning arrangement as initial point, recalculate the work coordinate of horizontal stepper motor, vertical stepper motor, spray boom rotating stepper motor, curvature stepper motor, the slewing area of described motor is carried out to position deflection compensation and angular deflection compensation;
Step 5, starts to clean, and completes a cleaning frequency, crawler belt resume speed, and circulation step 2 is to step 6, until cleaning process completes.
4. the automatically-adaptive control method of tube cleaning arrangement as claimed in claim 3, is characterized in that, in described step 3 to tube cleaning arrangement rectify a deviation control step specifically comprise:
Step 31, judges that offset distance d and drift angle α whether within the scope of minimum tolerance, if be less than minimum tolerance, return to step 2; If be greater than minimum tolerance, perform step 32;
Step 32, judges that offset distance d and drift angle α whether within the scope of maximum tolerance, if be less than maximum tolerance, perform step 34, implements little tolerance correction scheme; If be greater than maximum tolerance, perform step 33, implement large tolerance correction scheme;
Step 33, carry out large tolerance correction scheme: suspend the cleaning action of tube cleaning arrangement, drift angle α and its minimum tolerance are contrasted, if drift angle α is greater than its minimum tolerance, correct drift angle, if drift angle α is less than its minimum tolerance, offset distance d and its minimum tolerance are contrasted, if offset distance d is greater than its minimum tolerance, offset distance is corrected, if offset distance d is less than its minimum tolerance, large tolerance correction scheme completes, and continues to return step 2;
Step 34, carries out little tolerance correction scheme: drift angle α and its minimum tolerance are contrasted, if drift angle α is greater than minimum tolerance, correct drift angle, if drift angle α is less than its minimum tolerance, initialize after crawler belt speed, offset distance d and its maximum tolerance are contrasted, if be greater than, return to step 32, if be less than, continue offset distance d and its minimum tolerance to contrast, if be greater than, offset distance is corrected, if be less than, complete little tolerance correction scheme, continue execution step 2.
5. the automatic deviation correction control method of tube cleaning arrangement as claimed in claim 4, it is characterized in that, in described step 1, define minimum tolerance and the maximum tolerance of offset distance d and drift angle α according to the range of the width of duct width, tube cleaning arrangement and laser range sensor.
6. the automatic deviation correction control method of tube cleaning arrangement as claimed in claim 4, is characterized in that, described step 33 specifically comprises the steps:
Step 331, whether disconnected drift angle α is less than its minimum tolerance, if drift angle α is less than its minimum tolerance, performs step 333 and judges offset distance d, if drift angle α is greater than its minimum tolerance, execution step 332 is corrected drift angle;
Step 332, centered by pipeline axis, judges the deflection direction of drift angle α, slows down the speed of reciprocal crawler belt, then carries out time delay, returns to step 331, continues to judge drift angle α;
Step 333, judges whether offset distance d is greater than minimum tolerance, if be greater than minimum tolerance, performs step 334, carries out offset distance correction;
If be less than minimum tolerance, complete large tolerance correction scheme;
Step 334, record drift angle α 0 and offset distance d0 now, centered by pipeline axis, judges the deflection direction of offset distance d, slows down the speed of reciprocal crawler belt, after time delay, continues execution step 335;
Step 335, judges whether current offset distance is less than or equal to d0/2, if not, return to step 334, proceed to adjust, if so, perform step 336;
Step 336, exchanges the speed of tube cleaning arrangement both sides crawler belt, after time delay, continues execution step 337;
Step 337, judges that current offset distance d is whether within the scope of minimum tolerance, if not, return to step 336, if so, complete large tolerance correction scheme.
7. the automatic deviation correction control method of tube cleaning arrangement as claimed in claim 4, is characterized in that, described step 34 specifically comprises the steps:
Step 341, whether disconnected drift angle α is less than minimum tolerance, if drift angle α is less than minimum tolerance, initializes the speed of tube cleaning arrangement both sides crawler belt, and execution step 343 judges offset distance d, if drift angle α is greater than minimum tolerance, execution step 342 is corrected drift angle α;
Step 342, centered by pipeline axis, judges the deflection direction of drift angle α, slows down the speed of reciprocal crawler belt, then carries out time delay, returns to step 341, continues to judge drift angle α;
Step 343, judges now whether the offset distance d of tube cleaning arrangement is less than maximum tolerance offset distance, if be less than maximum tolerance offset distance, performs step 344, if be greater than maximum tolerance offset distance, returns to step 32;
Step 344, judges now whether the offset distance d of tube cleaning arrangement is greater than minimum tolerance scope, if be greater than, performs step 345, if be less than minimum tolerance scope, little tolerance has been corrected, and returns to step 32;
Step 345, recording the now drift angle of tube cleaning arrangement is that α 1, offset distance are d1, centered by pipeline axis, judges the deflection direction of offset distance d1, slows down the speed of reciprocal crawler belt, after time delay, continues execution step 346;
Step 346, judges whether current offset distance d is less than or equal to d1/2, if not, return to step 334, proceed to adjust, if so, the speed of the crawler belt of tube cleaning arrangement both sides is initialized, return to step 32; If not return to step 345.
8. the automatic deviation correction control method of tube cleaning arrangement as claimed in claim 5, is characterized in that, the speed that slows down reciprocal crawler belt in described large tolerance correction scheme is 0.6 times of crawler belt initial velocity.
9. the automatic deviation correction control method of tube cleaning arrangement as claimed in claim 5, is characterized in that, the speed that slows down reciprocal crawler belt in described little tolerance correction scheme is 0.9 times of crawler belt initial velocity.
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