CN105013776A - Control method for pipeline cleaning robot based on torque control - Google Patents
Control method for pipeline cleaning robot based on torque control Download PDFInfo
- Publication number
- CN105013776A CN105013776A CN201510506645.7A CN201510506645A CN105013776A CN 105013776 A CN105013776 A CN 105013776A CN 201510506645 A CN201510506645 A CN 201510506645A CN 105013776 A CN105013776 A CN 105013776A
- Authority
- CN
- China
- Prior art keywords
- spray boom
- servomotor
- cleaning
- control
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- 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
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0495—Nozzles propelled by fluid jets
Abstract
The invention provides a control method for a pipeline cleaning robot based on torque control. The pipeline cleaning robot comprises a spraying rod, a spraying nozzle connected with the spraying rod and a monitoring camera installed on the robot. The control method comprises the following steps that a robot parameter configuration file is read, and the monitoring camera is started; a pipeline cleaning signal is obtained; control signals to a first servo motor and a second servo motor are output so as to control a vertical rotating shaft and a horizontal rotating shaft of the spraying rod to operate; whether the received return speed of the horizontal rotating shaft or the vertical rotating shaft of the spraying rod is zero or not and lasts for a certain time T or not and whether a cleaning cycle is completed or not are judged; if yes, the robot moves for a preset advancing distance along the current pipeline; whether the moved distance of the robot is larger than or equal to a set total distance or not is judged; and if yes, cleaning work is ended, and if not, a next cleaning cycle is executed. By the adoption of the control method, the fault rate of drive motors adopted when the pipeline cleaning robot operates in a pipeline is effectively reduced; meanwhile, the cleaning effect on oil stains of the pipeline is effectively improved.
Description
Technical field
The present invention relates to pipeline cleaning movement control technology and Control System Design thereof, be specifically related to a kind of control method of the pipeline cleaning robot based on Torque Control.
Background technology
Flue is the infrastructure in hotel, restaurant, kitchen, restaurant, very easily shelters evil people and countenance evil practices, and is the dead angle of cleaning.Flue is the key area of fire-fighting, health, the inspection of epidemic prevention department simultaneously.Meanwhile, the easy parasitic mouse of petticoat pipe inwall, cockroach, do not meet state health standards.Greasy jelly is taken off for a long time and is attached to metal surface, also can corroding metal material, shortens flue service life.Fume pipeline has a lot of oil stain to remain in for a long time on cigarette machine He on flue surfaces to form grease, will affect the use of lampblack absorber, flue like this, plume is not easily got rid of.Kitchen exhaust does not freely have the reason of about 80%, is all owing to not cleaning the built-in screen pack of cooking fume remover for a long time, and greasy dirt blocking screen pack causes.Flue, petticoat pipe are in high-temperature work environment throughout the year, and oil smoke gasification forms long-pending oil, carbon deposit or greasy jelly, if cleaned flue and petticoat pipe not in time, is very easy to cause fire.
Now, continue the Successful utilization of passage of central air conditioner cleaning robot, occur that again pipeline cleaning robot successfully solves fume pipeline and cleans this difficult problem, use the pipeline cleaning robot of control system manipulation by self-contained camera, the clear pollution condition grasped in pipeline, the automatic cleaning to pipeline oil fume can be realized, but existing pipeline cleaning robot is in the process of pipe blow-through, on the one hand, interference because of spray boom and nozzle and duct wall can cause controlling the stall of motor thus motor damage, thus cause pipeline cleaning robot midway to stop cleaning, on the other hand, existing robot washer jet and duct wall are fitted not tight, cause pipeline cleaning poor effect.
Summary of the invention
Object of the present invention is intended to solve and easily burns out motor in the process of existing pipeline cleaning robot pipe blow-through and quit work and the technical problem not good to the cleaning performance of pipeline, provides a kind of control method of the pipeline cleaning robot based on Torque Control.
The invention provides a kind of control method of the pipeline cleaning robot based on Torque Control, described robot comprises spray boom and the nozzle that is connected with described spray boom and the monitoring camera be arranged in robot, and described control method comprises the following steps:
Read machine people parameter configuration files, and open monitoring camera;
Obtain pipeline cleaning signal, and according to described pipeline cleaning signal sets the cleaning parameters of robot;
Export to for control the first servomotor that spray boom horizontally rotates around feathering axis and for control the second servomotor that spray boom vertically rotates around vertical rotating shaft the first control signal with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Export the second control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 3rd control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, export the 4th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 5th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, described Robot moves default travel distance when preceding pipeline;
Judge whether the distance of robot movement is more than or equal to total distance of setting, if so, stop cleaning, if not, then enter the cleaning step in next cycle.
Further, described acquisition pipeline cleaning signal, and according to described pipeline cleaning signal sets the step of the cleaning parameters of robot, be specially:
Setting described pipeline is square pipe, and sets pipe blow-through total length L, the travel distance A in each cleaning frequency, cleaning resistance F, cleaning power S, and the speed of travel V of nozzle on pipeline wall;
Be the dirty cleaning model of light oil or the dirty cleaning model of heavy oil according to the pipe video signal sets cleaning model of monitoring camera collection;
Under unclog cleaning model, the angle of Control Nozzle and spray boom is 0;
Under the dirty cleaning model of heavy oil, the angle of Control Nozzle and spray boom is set angle α, makes the pipeline wall of nozzle all the time with cleaned vertical.
Further, described output to for control the first servomotor that spray boom horizontally rotates and for control the second servomotor that spray boom vertically rotates the first control signal with the step driving the nozzle of described robot to move to the motion initial point in pipeline cleaning cycle, be specially:
The moment size setting the vertical rotating shaft of described spray boom and spray boom feathering axis is that sky walks moment, and the maximal rate of the vertical rotating shaft of described spray boom and spray boom feathering axis is set as that sky walks speed;
Open the enable signal of the first servomotor and the second servomotor with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Wherein, described motion initial point be positioned on square pipe upper wall surface with right wall connection.
Further, described output, is specially with the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom the second control signal of the first servomotor and the second servomotor:
Setting described vertical rotating shaft moment is the moment of cleaning resistance F and the moment sum of spray boom gravity G, and the moment setting described feathering axis is the moment of cleaning power S, and the maximal rate of feathering axis is the speed of travel V of nozzle on pipeline wall;
Open the enable signal of the first servomotor and the second servomotor with the upper wall surface driving the nozzle of described robot to start to clean square pipe.
Further, under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom horizontally rotates and be zero and after the step of certain time T, to export the 3rd control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Level of control rotating shaft along the opposite direction revolution setpoint distance H of nozzle at upper wall surface direction of travel, and controls spray boom and is rotated counterclockwise 90 degree around own axes;
Open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on the left wall of square pipe with upper wall surface connection.
Further, the step that described output runs with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom the 3rd control signal of the first servomotor and the second servomotor, is specially:
Set the difference that described vertical rotating shaft moment is the moment of cleaning power S and the moment of spray boom gravity G, the moment setting described feathering axis is the moment of cleaning resistance F, and the maximal rate of vertical rotating shaft is the speed of travel V of nozzle on pipeline wall;
Open the left wall enable signal of the first servomotor and the second servomotor being cleaned to square pipe to drive the nozzle of described robot to start.
Further, under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom vertically rotates and be zero and after the step of certain time T, to export the 4th control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Control vertical rotating shaft along the opposite direction revolution setpoint distance H of nozzle at left wall direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes;
Open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on square pipe lower wall surface with left wall connection.
Further, the step that described output runs with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom the 4th control signal of the first servomotor and the second servomotor, is specially:
Set the difference that described vertical rotating shaft moment is the moment of cleaning resistance F and the moment of spray boom gravity G, the moment setting described feathering axis is the moment of cleaning power S, and the maximal rate of feathering axis is the speed of travel V of nozzle on pipeline wall;
Open the enable signal of the first servomotor and the second servomotor with the lower wall surface driving the nozzle of described robot to start to clean square pipe.
Further, under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom horizontally rotates and be zero and after the step of certain time T, to export the 5th control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Level of control rotating shaft along the opposite direction revolution setpoint distance H of nozzle at lower wall surface direction of travel, and controls spray boom and is rotated counterclockwise 90 degree around own axes;
Open and to drive the nozzle of described robot, wall connection, square pipe right wall up and down is moved to the enable signal of the first servomotor and the second servomotor.
Further, the step that described output runs with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom the 5th control signal of the first servomotor and the second servomotor, is specially:
Setting described vertical rotating shaft moment is the moment of cleaning power S and the moment sum of spray boom gravity G, and the moment setting described feathering axis is the moment of cleaning resistance F, and the maximal rate of vertical rotating shaft is the speed of travel V of nozzle on pipeline wall;
Open the right wall enable signal of the first servomotor and the second servomotor being cleaned to square pipe to drive the nozzle of described robot to start.
As can be seen from the scheme of said system, rotate around feathering axis by adopting the first Serve Motor Control spray boom, and adopt the second Serve Motor Control spray boom to rotate around vertical rotating shaft, under two servomotors are all operated in torque mode respectively, when can effectively ensure that spray boom runs into the interference of pipe side wall, lower wall surface or upper wall surface, servomotor is not easily burnt, thus effectively reduces the fault rate of pipeline cleaning robot operation in the duct; Meanwhile, adopt the torque mode of servomotor, effectively can ensure that nozzle is close to cleaned duct wall all the time, effectively improves the cleaning performance to pipeline greasy dirt.
The present invention reviews a set of automatic washing method for the pipeline cleaning robot based on Torque Control.Generally speaking, the control method that enforcement power of the present invention proposes simplifies the control procedure of the control method that position-based controls, and method has stronger adaptability, for the cleaning of fume pipeline and airduct opens new road.Not only effectively reduce the fault rate of pipeline cleaning robot motor in pipeline operations, meanwhile, adopt the torque mode of servomotor, effectively can ensure that nozzle is close to cleaned duct wall all the time, effectively improves the cleaning performance to pipeline greasy dirt.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of inventive pipeline cleaning robot;
Fig. 2 is the flow chart of the first embodiment of inventive pipeline cleaning robot control method;
Fig. 3 is the flow chart of the second embodiment of inventive pipeline cleaning robot control method.
Detailed description of the invention
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of control method of the pipeline cleaning robot based on Torque Control of embodiment, described pipeline cleaning robot, as shown in Figure 1, the nozzle 2 comprising spray boom 1 and be connected with spray boom, it is also provided with feathering axis 3 and vertical rotating shaft 4, described spray boom 1 can rotate in the horizontal plane around feathering axis 3, thus drives nozzle 2 to rotate along horizontal plane, described spray boom 1 can rotate on vertical plane around vertical rotating shaft 4, thus drives nozzle 2 to rotate along horizontal plane.Utilize the rotation of control device and the drive unit (not shown) control described feathering axis of driving and the vertical rotating shaft arranged in it, thus drive the cleaning of spray boom and the complete twin conduit of nozzle.In the present embodiment, preferably adopt feathering axis 3 described in the first driven by servomotor to rotate, described in the second driven by servomotor, vertical rotating shaft 4 rotates.
Described pipeline cleaning robot is also provided with monitoring camera, for the greasy dirt situation in the situation of advancing of real-time supervisory-controlled robot and pipeline.
The control method of the described pipeline cleaning robot based on Torque Control comprises the following steps:
System initialization, read machine people parameter configuration files, and open monitoring camera, recover default value; The motion control card initialization of robot, serial ports is opened, and opens camera and opens monitoring.
Obtain pipeline cleaning signal, and according to described pipeline cleaning signal sets the cleaning parameters of robot;
Export to for control the first servomotor that spray boom horizontally rotates around feathering axis and for control the second servomotor that spray boom vertically rotates around vertical rotating shaft the first control signal with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Export the second control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 3rd control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, export the 4th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 5th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, described Robot moves default travel distance when preceding pipeline;
Judge whether the distance of robot movement is more than or equal to total distance of setting, if so, stop cleaning, if not, then enter the cleaning step in next cycle.
Described acquisition pipeline cleaning signal, and the step of the cleaning parameters of robot is specially according to described pipeline cleaning signal sets:
Setting described pipeline is square pipe, and sets pipe blow-through total length L, the travel distance A in each cleaning frequency, cleaning resistance F, cleaning power S, and the speed of travel V of nozzle on pipeline wall;
Be the dirty cleaning model of light oil or the dirty cleaning model of heavy oil according to the pipe video signal sets cleaning model of monitoring camera collection;
Under unclog cleaning model, the angle of Control Nozzle and spray boom is 0;
Under the dirty cleaning model of heavy oil, the angle of Control Nozzle and spray boom is set angle α, makes the pipeline wall of nozzle all the time with cleaned vertical.
Within the scope of 0-90 degree, the angle of nozzle and pipeline wall is larger, means that the impulsive force of high-temperature steam jet to pipeline wall that nozzle sprays is larger.Therefore, for comparatively unclog, namely under the dirty cleaning model of light oil, only need to make nozzle 2 and spray boom 1 keep on the same line, namely angle is 0 degree, now spray boom be the angle of nozzle and pipeline wall with the angle of wall.And it is dirty for heavy oil, need to be converted to the dirty cleaning model of heavy oil, therefore for the dirty district of heavy oil, in order to obtain better cleaning performance, need increase the angle of nozzle and spray boom, now the actual angle of nozzle and wall is the angle that the angle of spray boom and wall adds spray boom and nozzle.
Increase the angle of nozzle and spray boom, although the impulsive force to greasy dirt can be strengthened, also can reduce the active area of steam jet simultaneously, make cleaning width narrower.The more important thing is, when nozzle and spray boom are not in straight line, the plane that nozzle and spray boom (equivalence becomes two straight lines) are formed must the moment vertical with the pipeline wall that will clean, therefore when such as pipe blow-through upper wall surface is switched to the situation of the left wall of pipeline, plane must be made to be that axle is rotated counterclockwise 90 degree with spray boom, in order to make the action of 90-degree rotation complete smoothly, spray boom level also must be made to the right to rotate to an angle, otherwise the motion of nozzle will interfere with left wall.
Therefore, based on above-mentioned situation, the control method of the pipeline cleaning robot based on Torque Control of the present invention is divided into the dirty cleaning model of heavy oil and the dirty cleaning model of light oil, describes in detail respectively below to two kinds of control models.
As shown in Figure 2, the control method of the pipeline cleaning robot based on Torque Control in the present embodiment comprises the following steps:
Step S1001, system initialization, read parameter configuration files, recover default value, each serial ports is opened, and opens camera and opens monitoring, select square pipeline cleaning, and set following parameter: pipe blow-through total length, travel distance in each cleaning frequency, cleaning resistance F(and nozzle are to the pressure of pipeline wall), cleaning power S(is the driving force making nozzle in wall movement), and the speed of travel V(of nozzle on pipeline wall and cleaning speed).Not yet set if had above-mentioned parameter, then take default value;
Step S1002, the pipe video signal gathered according to monitoring camera and human-computer interaction interface, user selects whether to open the dirty cleaning mode of heavy oil, enters step S1101 if not; If so, then control pipeline cleaning robot and enter the dirty cleaning mode of heavy oil.In practical application, method and the boundary of the greasy dirt that judges whether described duct wall attaches most importance to vary with each individual, and specifically can whether duct wall have oil droplet to be boundary, if there is oil droplet, then the cleaning model that can set robot is attached most importance to greasy dirt cleaning model.Certainly, in order to strengthen cleaning dynamics to any pipeline and cleaning performance, robot can be set and be operated in the dirty pattern of heavy oil always.
Step S1101, spray boom feathering axis and vertically rotating shaft all adopt torque mode, the moment size setting the vertical rotating shaft of described spray boom and spray boom feathering axis is that sky walks moment, and the maximal rate of the vertical rotating shaft of described spray boom and spray boom feathering axis is set as that sky walks speed; Open the first control signal of the first servomotor and the second servomotor with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Wherein, the initial point of motion described in the present embodiment be preferably placed on square pipe upper wall surface with right wall connection, i.e. the upper right corner.
Step S1102, prepare to start the upper wall surface cleaning square tube, now spray boom feathering axis is line shaft, and vertical rotating shaft is drag axis.Set the vertical rotating shaft moment of spray boom as cleaning resistance F moment and spray boom gravity G moment (constant) sum, this is due to when cleaning upper wall, and vertical rotating shaft, in order to provide enough pressure, should overcome the gravitational moment impact that spray boom is intrinsic; The moment of setting feathering axis is the moment of cleaning power S, and setting its maximal rate is cleaning speed V, after having set, sends the second control signal to these two axles, drives feathering axis and vertical rotating shaft to bring into operation.
Step S1103, judges whether nozzle arrives the upper left corner of pipeline, and namely whether the cleaning of pipeline upper wall surface completes.Judge according to be the motor speed that returns of spray boom feathering axis servo-driver in a period of time T as zero, then illustrate that trunnion axis stops operating, and has that is arrived the left wall of pipeline.Using the speed in a period of time T as judgment basis, it is the erroneous judgement in order to the disturbance of anti-stop signal will cause.If arrived the left wall of pipeline (trunnion axis stops operating), continue to perform step S1104, otherwise returned continuation monitoring.
Step S1104, prepare to start the left wall cleaning square tube, now spray boom feathering axis is drag axis, vertical rotating shaft is line shaft, the moment of the vertical rotating shaft of setting spray boom is the difference of the moment of cleaning power S and the moment square (constant) of spray boom gravity G, this is due to when cleaning left wall, the gravity of spray boom can provide a part of power, setting its maximal rate is cleaning speed V, the moment simultaneously setting feathering axis is the moment of cleaning resistance F, after having set, 3rd control signal is sent to these two axles, feathering axis and vertical rotating shaft is driven to bring into operation.
Step S1105, judges whether nozzle arrives the lower left corner of pipeline, and namely whether left wall cleaning completes.Judge according to be the motor speed that returns of the vertical rotating shaft servo-driver of spray boom in a period of time T as zero, then illustrate that vertical rotating shaft stops operating, that is pipeline lower wall surface has been arrived, if arrived lower wall surface (vertical axes stops operating), continue to perform step S1106, otherwise returned continuation monitoring.
Step S1106, prepare to start the lower wall surface cleaning square tube, now spray boom feathering axis is line shaft, and vertical rotating shaft is drag axis.The moment of the vertical rotating shaft of setting spray boom is the difference of the moment of cleaning resistance F and the moment (constant) of spray boom gravity G, this is due to when cleaning lower wall, the gravity of spray boom has provided a part of pressure, the moment of setting feathering axis is the moment of cleaning power S, and setting its maximal rate is cleaning speed V.After having set, the 4th control signal is sent to these two axles, drive feathering axis and vertical rotating shaft to bring into operation, drive nozzle to clean pipeline lower wall surface.
Step S1107, judge whether nozzle arrives the lower right corner of pipeline, namely whether lower wall surface cleaning completes, judge according to be the motor speed that returns of spray boom feathering axis servo-driver in a period of time T all as zero, then illustrate that feathering axis stops operating, that is nozzle has arrived the right wall of pipeline, if arrived right wall (trunnion axis stops operating), continues to perform step S1108, otherwise has returned continuation monitoring.
Step S1108, start the right wall cleaning square tube, now the vertical rotating shaft of spray boom is line shaft, feathering axis is drag axis, and the moment of the vertical rotating shaft of setting spray boom is the moment of cleaning power S and moment (constant) sum of spray boom gravity G, and this is due to when cleaning right wall, vertical rotating shaft is in order to provide cleaning power, first must overcome the gravity of spray boom, setting its maximal rate is cleaning speed V, and the moment of setting feathering axis is the moment of cleaning resistance F.After having set, the 5th control signal is sent to these two axles, drive feathering axis and vertical rotating shaft to bring into operation, drive the right wall of nozzle to square tube to clean.
Step S1109, judge whether nozzle arrives the upper right corner of pipeline, namely whether right wall cleaning completes, judge according to be the motor speed that returns of the vertical rotating shaft servo-driver of spray boom in a period of time T all as zero, then illustrate that vertical rotating shaft stops operating, that is nozzle has arrived the upper wall surface of pipeline.If arrived upper wall surface (vertical axes stops operating), continue to perform step S1110, otherwise returned continuation monitoring.
Step S1110, the cleaning action in one-period completes, and controls driven machine people and to advance default travel distance along pipeline.
Step S1111, the total length of setting whether has been completed according to total Distance Judgment of robot movement, namely whether the distance of device people movement is more than or equal to total distance of setting, if, continue to perform step S1301, otherwise return step S1102, start the cleaning action performing next cycle.
Step S1301, stops cleaning, waits for the next instruction of user.
As shown in Figure 3, the control method that the invention provides the pipeline cleaning robot based on Torque Control of another kind of embodiment comprises the following steps:
Step S1001, system initialization, read parameter configuration files, recover default value, each serial ports is opened, and opens camera and opens monitoring, select square pipeline cleaning, and set following parameter: pipe blow-through total length, travel distance in each cleaning frequency, cleaning resistance F(and nozzle are to the pressure of pipeline wall), cleaning power S(is the driving force making nozzle in wall movement), and the speed of travel V(of nozzle on pipeline wall and cleaning speed).Not yet set if had above-mentioned parameter, then take default value.
Step S1002, the pipe video signal gathered according to monitoring camera and human-computer interaction interface, enter step S1200, and user selects to be open the dirty cleaning mode of heavy oil.
Step S1201, the angle of Control Nozzle and spray boom is set angle α, make spray boom vertical with the pipeline wall of plane all the time with cleaned at nozzle place, spray boom feathering axis and vertically rotating shaft all adopt torque mode, the moment size setting the vertical rotating shaft of described spray boom and spray boom feathering axis is that sky walks moment, and the maximal rate of the vertical rotating shaft of described spray boom and spray boom feathering axis is set as that sky walks speed; Open the first control signal of the first servomotor and the second servomotor with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Wherein, the initial point of motion described in the present embodiment be preferably placed on square pipe upper wall surface with right wall connection, i.e. the upper right corner.
Step S1202, prepare to start the upper wall surface cleaning square tube, now spray boom feathering axis is line shaft, and vertical rotating shaft is drag axis.Set the vertical rotating shaft moment of spray boom as cleaning resistance F moment and spray boom gravity G moment (constant) sum, this is due to when cleaning upper wall, and vertical rotating shaft, in order to provide enough pressure, should overcome the gravitational moment impact that spray boom is intrinsic; The moment of setting feathering axis is the moment of cleaning power S, and setting its maximal rate is cleaning speed V, after having set, sends the second control signal to these two axles, drives feathering axis and vertical rotating shaft to bring into operation.
Step S1203, judges whether nozzle arrives the upper left corner of pipeline, and namely whether the cleaning of pipeline upper wall surface completes.Judge according to be the motor speed that returns of spray boom feathering axis servo-driver in a period of time T as zero, then illustrate that trunnion axis stops operating, and has that is arrived the left wall of pipeline.Using the speed in a period of time T as judgment basis, it is the erroneous judgement in order to the disturbance of anti-stop signal will cause.If arrived the left wall of pipeline (trunnion axis stops operating), continue to perform step S1204, otherwise returned continuation monitoring.
Step 1204, now, pipeline upper wall surface has cleaned, for excessively arriving the left wall of pipeline smoothly, level of control rotating shaft turns round setpoint distance H along nozzle in the opposite direction of upper wall surface direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes, and open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on the left wall of square pipe with upper wall surface connection.
Step S1205, prepare to start the left wall cleaning square tube, now spray boom feathering axis is drag axis, vertical rotating shaft is line shaft, the moment of the vertical rotating shaft of setting spray boom is the difference of the moment of cleaning power S and the moment square (constant) of spray boom gravity G, this is due to when cleaning left wall, the gravity of spray boom can provide a part of power, setting its maximal rate is cleaning speed V, the moment simultaneously setting feathering axis is the moment of cleaning resistance F, after having set, 3rd control signal is sent to these two axles, feathering axis and vertical rotating shaft is driven to bring into operation.
Step S1206, judges whether nozzle arrives the lower left corner of pipeline, and namely whether left wall cleaning completes.Judge according to be the motor speed that returns of the vertical rotating shaft servo-driver of spray boom in a period of time T as zero, then illustrate that vertical rotating shaft stops operating, that is pipeline lower wall surface has been arrived, if arrived lower wall surface (vertical axes stops operating), continue to perform step S1207, otherwise returned continuation monitoring.
Step S1207, now, the left wall of pipeline has cleaned, for excessively arriving the lower wall surface of pipeline smoothly, control vertical rotating shaft and turn round setpoint distance H along nozzle in the opposite direction of left wall direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes, and open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on square pipe lower wall surface with left wall connection.
Step S1208, prepare to start the lower wall surface cleaning square tube, now spray boom feathering axis is line shaft, and vertical rotating shaft is drag axis.The moment of the vertical rotating shaft of setting spray boom is the difference of the moment of cleaning resistance F and the moment (constant) of spray boom gravity G, this is due to when cleaning lower wall, the gravity of spray boom has provided a part of pressure, the moment of setting feathering axis is the moment of cleaning power S, and setting its maximal rate is cleaning speed V.After having set, the 4th control signal is sent to these two axles, drive feathering axis and vertical rotating shaft to bring into operation, drive nozzle to clean pipeline lower wall surface.
Step S1209, judge whether nozzle arrives the lower right corner of pipeline, namely whether lower wall surface cleaning completes, judge according to be the motor speed that returns of spray boom feathering axis servo-driver in a period of time T all as zero, then illustrate that feathering axis stops operating, that is nozzle has arrived the right wall of pipeline, if arrived right wall (trunnion axis stops operating), continues to perform step S1210, otherwise has returned continuation monitoring.
Step 1210, now, pipeline lower wall surface has cleaned, for excessively arriving the right wall of pipeline smoothly, level of control rotating shaft turns round setpoint distance H along nozzle in the opposite direction of lower wall surface direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes, and open to drive the nozzle of described robot, wall connection, square pipe right wall up and down is moved to the enable signal of the first servomotor and the second servomotor.
Step S1211, start the right wall cleaning square tube, now the vertical rotating shaft of spray boom is line shaft, feathering axis is drag axis, and the moment of the vertical rotating shaft of setting spray boom is the moment of cleaning power S and moment (constant) sum of spray boom gravity G, and this is due to when cleaning right wall, vertical rotating shaft is in order to provide cleaning power, first must overcome the gravity of spray boom, setting its maximal rate is cleaning speed V, and the moment of setting feathering axis is the moment of cleaning resistance F.After having set, the 5th control signal is sent to these two axles, drive feathering axis and vertical rotating shaft to bring into operation, drive the right wall of nozzle to square tube to clean.
Step S1212, judge whether nozzle arrives the upper right corner of pipeline, namely whether right wall cleaning completes, judge according to be the motor speed that returns of the vertical rotating shaft servo-driver of spray boom in a period of time T all as zero, then illustrate that vertical rotating shaft stops operating, that is nozzle has arrived the upper wall surface of pipeline.If arrived upper wall surface (vertical axes stops operating), continue to perform step S1213, otherwise returned continuation monitoring.
Step S1213, now, the right wall of pipeline has cleaned, for excessively arriving the upper wall surface of pipeline smoothly, level of control rotating shaft turns round setpoint distance H along nozzle in the opposite direction of right wall direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes, and open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on square pipe upper wall surface with right wall connection, and enter step S1214;
Step S1214, the cleaning action in one-period completes, and controls driven machine people and to advance default travel distance along pipeline.
Step S1215, the total length of setting whether has been completed according to total Distance Judgment of robot movement, namely whether the distance of device people movement is more than or equal to total distance of setting, if, continue to perform step S1301, otherwise return step S1202, start the cleaning action performing next cycle.
Step S1301, stops cleaning, waits for the next instruction of user.
In sum, perform above step, just automatically can complete the cleaning of square shaped pipeline.Only need operating personnel when initializing in all processes, relevant important parameter is set.When automatically cleaning, by monitor video, operating personnel monitor whether robot is in normal operating condition.
In the control method of pipeline cleaning robot provided by the invention, employ position control and Torque Control simultaneously, correspond respectively to step motor control and Serve Motor Control, for stepper motor, we are by the pwm pulse number of modulation to stepper motor driver input, realize the position to stepper motor and running speed control; For AC servo motor, under it can operate in three kinds of different modes respectively: mode position, velocity mode and torque mode.Here, we use its torque mode, under torque mode, the rotational torque of motor is can set amount, its setting range is 0-3 nominal torque doubly, in theory, if the moment of resistance is less than setting moment always, motor will keep acceleration mode always, finally cause rotating speed too fast, in reality, limit by power of motor, rotating speed can not reach unlimited fast, but rotating speed also can maintain a higher level.Therefore, on servo-driver, can set the maximal rate under torque mode, even if the moment of resistance is less than setting moment always, motor speed also can not exceed setting value.Especially, when motor torque is set in below nominal torque, if the moment of resistance is greater than setting torque, motor can export the torque of setting within the time of one longer with zero velocity, can not cause damage again to motor simultaneously.
Utilize servomotor this characteristic under torque mode, when pipe blow-through, can realize nozzle and duct wall are adjacent to, keep certain pressure (size can be set), moving steam nozzle in duct wall plane, while ensureing that steam jet and duct wall are adjacent to constantly, can not cause damage to motor again, if stepper motor is when long-time stall, will burn out.
Claims (10)
1., based on a control method for the pipeline cleaning robot of Torque Control, described robot comprises spray boom and the nozzle that is connected with described spray boom and the monitoring camera be arranged in robot, it is characterized in that: described control method comprises the following steps:
Read machine people parameter configuration files, and open monitoring camera;
Obtain pipeline cleaning signal, and according to described pipeline cleaning signal sets the cleaning parameters of robot;
Export to for control the first servomotor that spray boom horizontally rotates around feathering axis and for control the second servomotor that spray boom vertically rotates around vertical rotating shaft the first control signal with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Export the second control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 3rd control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, export the 4th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom horizontally rotates is zero and certain time T;
If so, export the 5th control signal of the first servomotor and the second servomotor with the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom;
Judge whether receive the return speed that spray boom vertically rotates is zero and certain time T;
If so, described Robot moves default travel distance when preceding pipeline;
Judge whether the distance of robot movement is more than or equal to total distance of setting, if so, stop cleaning, if not, then enter the cleaning step in next cycle.
2. control method as claimed in claim 1, is characterized in that: described acquisition pipeline cleaning signal, and according to described pipeline cleaning signal sets the step of the cleaning parameters of robot, be specially:
Setting described pipeline is square pipe, and sets pipe blow-through total length L, the travel distance A in each cleaning frequency, cleaning resistance F, cleaning power S, and the speed of travel V of nozzle on pipeline wall;
Be the dirty cleaning model of light oil or the dirty cleaning model of heavy oil according to the pipe video signal sets cleaning model of monitoring camera collection;
Under unclog cleaning model, the angle of Control Nozzle and spray boom is 0;
Under the dirty cleaning model of heavy oil, the angle of Control Nozzle and spray boom is set angle α, makes spray boom vertical with the pipeline wall of plane all the time with cleaned at nozzle place.
3. control method as claimed in claim 2, it is characterized in that: described output to for control the first servomotor that spray boom horizontally rotates and for control the second servomotor that spray boom vertically rotates the first control signal with the step driving the nozzle of described robot to move to the motion initial point in pipeline cleaning cycle, be specially:
The moment size setting the vertical rotating shaft of described spray boom and spray boom feathering axis is that sky walks moment, and the maximal rate of the vertical rotating shaft of described spray boom and spray boom feathering axis is set as that sky walks speed;
Open the enable signal of the first servomotor and the second servomotor with the motion initial point driving the nozzle of described robot to move to the pipeline cleaning cycle;
Wherein, described motion initial point be positioned on square pipe upper wall surface with right wall connection.
4. control method as claimed in claim 3, is characterized in that: described output, is specially with the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom the second control signal of the first servomotor and the second servomotor:
Setting described vertical rotating shaft moment is the moment of cleaning resistance F and the moment sum of spray boom gravity G, and the moment setting described feathering axis is the moment of cleaning power S, and the maximal rate of feathering axis is the speed of travel V of nozzle on pipeline wall;
Open the enable signal of the first servomotor and the second servomotor with the upper wall surface driving the nozzle of described robot to start to clean square pipe.
5. control method as claimed in claim 4, it is characterized in that: under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom horizontally rotates and be zero and after the step of certain time T, to export the 3rd control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Level of control rotating shaft along the opposite direction revolution setpoint distance H of nozzle at upper wall surface direction of travel, and controls spray boom and is rotated counterclockwise 90 degree around own axes;
Open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on the left wall of square pipe with upper wall surface connection.
6. control method as claimed in claim 5, is characterized in that: the step that three control signal of described output to the first servomotor and the second servomotor is run with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, is specially:
Set the difference that described vertical rotating shaft moment is the moment of cleaning power S and the moment of spray boom gravity G, the moment setting described feathering axis is the moment of cleaning resistance F, and the maximal rate of vertical rotating shaft is the speed of travel V of nozzle on pipeline wall;
Open the left wall enable signal of the first servomotor and the second servomotor being cleaned to square pipe to drive the nozzle of described robot to start.
7. control method as claimed in claim 6, it is characterized in that: under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom vertically rotates and be zero and after the step of certain time T, to export the 4th control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Control vertical rotating shaft along the opposite direction revolution setpoint distance H of nozzle at left wall direction of travel, and control spray boom and be rotated counterclockwise 90 degree around own axes;
Open to the enable signal of the first servomotor and the second servomotor with drive the nozzle of described robot move on square pipe lower wall surface with left wall connection.
8. control method as claimed in claim 7, is characterized in that: the step that four control signal of described output to the first servomotor and the second servomotor is run with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, is specially:
Set the difference that described vertical rotating shaft moment is the moment of cleaning resistance F and the moment of spray boom gravity G, the moment setting described feathering axis is the moment of cleaning power S, and the maximal rate of feathering axis is the speed of travel V of nozzle on pipeline wall;
Open the enable signal of the first servomotor and the second servomotor with the lower wall surface driving the nozzle of described robot to start to clean square pipe.
9. control method as claimed in claim 8, it is characterized in that: under described cleaning model attaches most importance to greasy dirt cleaning model, judging to receive return speed that spray boom horizontally rotates and be zero and after the step of certain time T, to export the 5th control signal of the first servomotor and the second servomotor with before the step of the operation of the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, also comprise:
Level of control rotating shaft along the opposite direction revolution setpoint distance H of nozzle at lower wall surface direction of travel, and controls spray boom and is rotated counterclockwise 90 degree around own axes;
Open and to drive the nozzle of described robot, wall connection, square pipe right wall up and down is moved to the enable signal of the first servomotor and the second servomotor.
10. control method as claimed in claim 9, is characterized in that: the step that five control signal of described output to the first servomotor and the second servomotor is run with the feathering axis of the vertical rotating shaft and described spray boom that control described spray boom, is specially:
Setting described vertical rotating shaft moment is the moment of cleaning power S and the moment sum of spray boom gravity G, and the moment setting described feathering axis is the moment of cleaning resistance F, and the maximal rate of vertical rotating shaft is the speed of travel V of nozzle on pipeline wall;
Open the right wall enable signal of the first servomotor and the second servomotor being cleaned to square pipe to drive the nozzle of described robot to start.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510506645.7A CN105013776B (en) | 2015-08-18 | 2015-08-18 | A kind of control method of the pipeline cleaning robot based on Torque Control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510506645.7A CN105013776B (en) | 2015-08-18 | 2015-08-18 | A kind of control method of the pipeline cleaning robot based on Torque Control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105013776A true CN105013776A (en) | 2015-11-04 |
| CN105013776B CN105013776B (en) | 2017-04-05 |
Family
ID=54404281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510506645.7A Active CN105013776B (en) | 2015-08-18 | 2015-08-18 | A kind of control method of the pipeline cleaning robot based on Torque Control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105013776B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106475374A (en) * | 2016-10-26 | 2017-03-08 | 西可林控制系统(上海)有限公司 | A kind of automatic pipe profile inner chamber flusher and control system |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01121187A (en) * | 1987-11-04 | 1989-05-12 | Toshiba Corp | Travelling robot |
| JPH08188151A (en) * | 1995-01-12 | 1996-07-23 | Kensetsusho Kanto Chiho Kensetsu Kyokucho | Working vehicle for pipe passage inspection |
| CN2734434Y (en) * | 2003-12-16 | 2005-10-19 | 杨雄 | Conduit cleaning robot |
| CN1907583A (en) * | 2005-08-05 | 2007-02-07 | 金银龙 | Multifunctional pipeline cleaning robot |
| KR20130108806A (en) * | 2012-03-26 | 2013-10-07 | 주식회사 포스코 | Robot having apparatus for obstacle removing and driving assistance |
| CN103861851A (en) * | 2014-03-31 | 2014-06-18 | 北京汉卓空气净化设备有限责任公司 | Robot for cleaning pipeline |
| CN103949446A (en) * | 2014-04-22 | 2014-07-30 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning robot and control method |
| KR20150042070A (en) * | 2013-10-10 | 2015-04-20 | 재단법인대구경북과학기술원 | Duct cleaning robot |
-
2015
- 2015-08-18 CN CN201510506645.7A patent/CN105013776B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01121187A (en) * | 1987-11-04 | 1989-05-12 | Toshiba Corp | Travelling robot |
| JPH08188151A (en) * | 1995-01-12 | 1996-07-23 | Kensetsusho Kanto Chiho Kensetsu Kyokucho | Working vehicle for pipe passage inspection |
| CN2734434Y (en) * | 2003-12-16 | 2005-10-19 | 杨雄 | Conduit cleaning robot |
| CN1907583A (en) * | 2005-08-05 | 2007-02-07 | 金银龙 | Multifunctional pipeline cleaning robot |
| KR20130108806A (en) * | 2012-03-26 | 2013-10-07 | 주식회사 포스코 | Robot having apparatus for obstacle removing and driving assistance |
| KR20150042070A (en) * | 2013-10-10 | 2015-04-20 | 재단법인대구경북과학기술원 | Duct cleaning robot |
| CN103861851A (en) * | 2014-03-31 | 2014-06-18 | 北京汉卓空气净化设备有限责任公司 | Robot for cleaning pipeline |
| CN103949446A (en) * | 2014-04-22 | 2014-07-30 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning robot and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106475374A (en) * | 2016-10-26 | 2017-03-08 | 西可林控制系统(上海)有限公司 | A kind of automatic pipe profile inner chamber flusher and control system |
| CN106475374B (en) * | 2016-10-26 | 2019-05-03 | 西可林控制系统(上海)有限公司 | A kind of automatic pipe profile inner cavity flusher and control system |
| CN113352325A (en) * | 2021-06-17 | 2021-09-07 | 深之蓝海洋科技股份有限公司 | Automatic cleaning method and equipment for culture cabin |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105013776B (en) | 2017-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106974583A (en) | Vertical scrolling formula robot system for curtain cleaning | |
| CN207238685U (en) | A kind of self-adapting pipe self-propelled cleans robot vehicle | |
| CN106218594B (en) | Rail vehicle bottom purge equipment | |
| CN105013776A (en) | Control method for pipeline cleaning robot based on torque control | |
| CN109622526A (en) | A kind of smoke exhaust ventilator ventilation shaft inner-wall cleaning device | |
| CN106426198A (en) | Cleaning robot | |
| CN107511374A (en) | A kind of smoke controlling pipeline cleaning robot | |
| CN105013775A (en) | Automatic pipeline cleaning robot control method based on torque control | |
| CN108776439A (en) | Sanitation cart apparatus for work control method, control system, apparatus for work and sanitation cart | |
| CN107080502A (en) | Intelligent cleaning robot system | |
| CN112873165A (en) | Multifunctional household robot | |
| CN204478212U (en) | A kind of smoke exhaust ventilator easy to clean | |
| CN206200981U (en) | Clean robot | |
| CN106491041A (en) | A kind of composite multifunction negative pressure cleaning device | |
| CN209113006U (en) | A kind of roller line clearing apparatus | |
| CN101744591B (en) | Water-spraying cleaning device of wall cleaning robot | |
| CN103861851B (en) | A kind of robot for pipeline cleaning | |
| CN212235728U (en) | Household floor sweeping fire-fighting robot | |
| CN206841388U (en) | Intelligent complete series automobile cleaning system | |
| CN107421384A (en) | A kind of heat exchanger air water auto cleaning system | |
| CN105127161A (en) | Control system of pipe cleaning robot | |
| CN110554653A (en) | Container automatic cleaning control system based on industrial controller and human-computer interface | |
| CN209952478U (en) | Multilayer formula building site spray dust collector | |
| CN207898436U (en) | intelligent cleaning robot system | |
| CN204018323U (en) | A kind of robot for pipeline cleaning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 Guangdong city of Shenzhen province Futian District Hua Fu Lu Nanguang building fifth layer (East / West Wing) room 510 (only office) Applicant after: Shenzhen CATIC Limited by Share Ltd Address before: 518000 Guangdong city of Shenzhen province Futian District Hua Fu Lu Nanguang building 510B Applicant before: Shenzhen Catic Tai Kee (E. & M.) Ltd. |
|
| COR | Change of bibliographic data | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |