CN105127161A - Control system of pipe cleaning robot - Google Patents

Control system of pipe cleaning robot Download PDF

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Publication number
CN105127161A
CN105127161A CN201510506673.9A CN201510506673A CN105127161A CN 105127161 A CN105127161 A CN 105127161A CN 201510506673 A CN201510506673 A CN 201510506673A CN 105127161 A CN105127161 A CN 105127161A
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CN
China
Prior art keywords
control
driver
module
motor
motor driver
Prior art date
Application number
CN201510506673.9A
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Chinese (zh)
Inventor
贾云祥
唐战
郭海军
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深圳市中航大记工程制品有限公司
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Application filed by 深圳市中航大记工程制品有限公司 filed Critical 深圳市中航大记工程制品有限公司
Priority to CN201510506673.9A priority Critical patent/CN105127161A/en
Publication of CN105127161A publication Critical patent/CN105127161A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027Cleaning the internal surfaces; Removal of blockages
    • B08B9/04Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049Cleaning 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
    • B08B9/051Cleaning 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Abstract

The invention provides a control system of a pipe cleaning robot. The control system comprises a first driving module connected with a proceeding device, a second driving module connected with a cleaning execution device, a third driving module connected with the cleaning execution device, and a man-machine interaction module, wherein the man-machine interaction module is connected with the first driving module, the second driving module and the third driving module through a movement control card; the second driving module comprises a third motor driver, a fourth motor driver, a first servo motor and a second servo motor; the man-machine interaction module sends a control signal to the third motor driver to drive the first servo motor to operate, and the cleaning execution device is controlled to swing horizontally; and the man-machine interaction module sends a control signal to the fourth motor driver to drive the second servo motor to operate, and the cleaning execution device is controlled to swing vertically. The difficulty of control over the pipe cleaning robot is effectively lowered, and control over automatic pipe cleaning is achieved.

Description

A kind of control system of pipeline cleaning robot
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 system of pipeline cleaning robot.
Background technology
Along with the raising of people's living standard, catering industry obtained in nearly ten years and develops rapidly.Fast-developing behind, some potential safety hazards urgently to be resolved hurrily of ubiquity in industry.In the manufacturing process of general Chinese food and beverage or American fast food, often along with larger oil smoke, although most of businessman has settled cooking fume remover in fume pipeline, its effect only avoid oil smoke discharge in outdoor environment.Inevitably, oil smoke can accumulate in a large number at fume pipeline inwall.Due to the specific condition in kitchen, environment temperature is generally higher.After greasy dirt is accumulated in fume pipeline in a large number, major safety risks will be caused, easy initiation fire, and fire is difficult to control the condition of a fire after occurring.
In order to overcome above potential safety hazard, businessman must clean fume pipeline in timing.Now mainly through the mode of manual cleaning, fume pipeline is maintained.But cost of labor is day by day high, cleaning cost increases, and in addition for some less pipelines, manual cleaning is also helpless.Therefore, design a kind of can automatically to the robot that fume pipeline cleans, the current market demand of fitting.
Present stage, there are some pipeline cleaning robots in market, but need workmen to carry out real-time operation to it.Personnel are outside pipeline, and can not make pipe interior situation by means of only camera and judging accurately, operation easier is very high, cannot realize controlling preferably pipeline cleaning robot.
Summary of the invention
The present invention is intended to need carry out artificial control in real time to pipeline cleaning robot in solution prior art, controls the technical problem that difficulty is higher, provides one automatically can control pipeline cleaning robot, the control system of easy to operate pipeline cleaning robot.
The invention provides a kind of control system of pipeline cleaning robot, described pipeline cleaning robot comprises moving device and cleaning actuating unit, and described control system comprises,
First driver module, is connected with described moving device, drives the axial direction of described Robot pipeline to move;
Second driver module, is connected with described cleaning actuating unit, drives described cleaning actuating unit to swing in the horizontal direction and on vertical direction;
3rd driver module, is connected with described cleaning actuating unit, drives described cleaning actuating unit to rotate around its center axis;
Human-computer interaction module, be connected with described first driver module, the second driver module and the 3rd driver module respectively by a motion control card, be responsible for the control instruction receiving operating personnel, downward one deck module exports control signal to described first driver module, the second driver module and the 3rd driver module, and receives the feedback signal of the robotic end that the first driver module, the second driver module and the 3rd driver module return;
Wherein, described second driver module comprises the 3rd motor driver, the 4th motor driver, the first servomotor, the second servomotor, human-computer interaction module transmits control signal and drives the first servomotor work to the 3rd motor driver, control cleaning actuating unit to swing in the horizontal direction, human-computer interaction module transmits control signal and drives the second servomotor work to the 4th motor driver, controls cleaning actuating unit in the vertical direction and swings.
Further, described moving device comprises the driven pedrail being separately positioned on the left and right sides bottom described robot, described first driver module comprises the first motor driver and the second motor driver that are electrically connected with described motion control card respectively, also comprise first stepper motor and second stepper motor, first motor driver is rotated by the driven pedrail on the left of control first driving stepper motor, and the second motor driver is rotated by the driven pedrail on the right side of control second driving stepper motor.
Further, described 3rd driver module comprises the 5th motor driver be connected with described motion control card, and the 3rd stepper motor be electrically connected with the 5th motor driver; Described cleaning actuating unit comprises a spray boom and is arranged on the nozzle on spray boom top; Described 5th motor driver passes through spray boom described in control the 3rd driving stepper motor around spray boom center axis thereof.
Further, described 3rd driver module also comprises the 6th motor driver that a described motion control card is connected, and the 4th stepper motor be electrically connected with the 6th motor driver; Described 6th motor driver is rotated by the axis direction of nozzle described in control the 4th driving stepper motor along spray boom, thus regulates the angle between nozzle and spray boom.
Further, described control system also comprises an AD conversion module and D/A conversion module, and described AD conversion module and D/A conversion module are electrically connected with the 3rd motor driver, the 4th motor driver, human-computer interaction module respectively; The control signal that human-computer interaction module sends sends to the 3rd motor driver and the 4th motor driver after being changed by D/A conversion module, and the feedback signal that the 3rd motor driver and the 4th motor driver are passed back is transferred to human-computer interaction module after being changed by AD conversion module.
Further, described control system also comprises a camera, the video frequency collection card be connected with described camera, and described video frequency collection card is also electrically connected with described human-computer interaction module; Human-computer interaction module monitors the situation in pipeline in real time by video frequency collection card and camera.
Further, when described control system controls described robot cleaning heavy oil dirt pipeline, transmitted control signal by human-computer interaction module and control the 4th stepper motor to the 6th motor driver and regulate the angle of described nozzle and spray boom to be preset value, and the plane that nozzle and spray boom are formed and the cross-section normal of pipeline cleaned.
Further, when described control system controls the dirty pipeline of described robot cleaning light oil, transmitted control signal by human-computer interaction module and control the 4th stepper motor to the 6th motor driver and regulate the angle of described nozzle and spray boom to be 0.
Further, described control signal comprises Torque Control signal, speed control signal and position control signal.
Further, described feedback signal comprises the velocity information of each motor driving shaft and the displacement information of each motor driving shaft.
The above technical scheme, control the different control signal of setting thus control different motors to carry out work by human-computer interaction module, thus each position automatic operation automatically controlling pipeline cleaning robot can be realized, the automatic cleaning to pipeline is realized while robot advances automatically, effectively reduce the manipulation difficulty to pipeline cleaning robot, adopt the spray boom of servomotor to robot to control simultaneously, nozzle and duct wall can be made to be adjacent to, ensure that nozzle and duct wall can not cause damage to motor again while being adjacent to constantly, effectively improve the reliability of pipeline cleaning robot pipe blow-through.
Accompanying drawing explanation
Fig. 1 is the module composition diagram of the pipeline cleaning robot control system of an embodiment of the present invention.
Fig. 2 is the module composition diagram of the pipeline cleaning robot control system of the another kind of embodiment of the present invention.
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.
As shown in Figure 1, Fig. 1 shows the structure composition frame chart of a kind of embodiment of the control system of inventive pipeline cleaning robot, and comprise moving device and cleaning actuating unit (not shown), described control system comprises:
First driver module 0021, is connected with described moving device, drives the axial direction of described Robot pipeline to move; The moving device of described robot can be existing various transmission device, as wheel, hinge bracket running gear, caterpillar driving device etc., described in the present embodiment, moving device is preferably caterpillar driving device, bottom described robot, the left and right sides arranges a caterpillar driving device respectively, drive described caterpillar driving device work by the first driver module 0021, and drive robot to move forward and backward along the axis direction of pipeline;
Second driver module 0022, is connected with described cleaning actuating unit, drives described cleaning actuating unit to swing in the horizontal direction and on vertical direction;
3rd driver module 0023, is connected with described cleaning actuating unit, drives described cleaning actuating unit to rotate around its center axis;
Human-computer interaction module 0001, be connected with described first driver module 0021, second driver module 0022 and the 3rd driver module 0023 respectively by a motion control card 0103, be responsible for the control instruction receiving operating personnel, downward one deck module exports control signal to described first driver module 0021, second driver module 0022 and the 3rd driver module 0023, and receives the feedback signal of the robotic end that the first driver module 0021, second driver module 0022 and the 3rd driver module 0023 return;
Wherein, shown in composition graphs 2, described second driver module 0022 comprises the 3rd motor driver 0203, the 4th motor driver 0204, first servomotor 0303, second servomotor 0304, human-computer interaction module 0001 transmits control signal and drives the first servomotor 0303 to work to the 3rd motor driver 0203, control cleaning actuating unit to swing in the horizontal direction, human-computer interaction module 0001 transmits control signal and drives the second servomotor 0304 to work to the 4th motor driver 0204, controls cleaning actuating unit in the vertical direction and swings.
Servomotor described here is preferably AC servo motor, for AC servo motor, under it can operate in three kinds of different modes respectively: mode position, velocity mode and torque mode.In the present embodiment, we use its torque mode.Under torque mode, the rotational torque of motor is can set amount, and 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 causes 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 motor 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 first making nozzle and duct wall be adjacent to, keep certain pressure, this pressure can be set by human-computer interaction module, then in duct wall plane moving nozzle, can ensure that nozzle and duct wall are adjacent to constantly, damage (if use stepper motor here, when long-time stall, will burn out) can not be caused to motor again simultaneously.
Described human-computer interaction module 0001, be responsible for the control instruction receiving operating personnel on the one hand, parameters when working to pipeline cleaning robot sets, one deck module can export control signal downwards by human-computer interaction module 0001, described control signal preferably includes Torque Control signal, speed control signal, position control signal etc. simultaneously; Receive the real time detection signal of robotic end on the other hand, i.e. feedback signal, comprises the pilot signal etc. that robot each motor driving shaft speed of service information, each motor driving shaft displacement information and camera return.
Described motion control card 0103, its major function is by PCI socket, receives the control signal of human-computer interaction module 0001, and it also can return control impuls to human-computer interaction module 0001 and whether export complete signal simultaneously.
Further, described moving device comprises the driven pedrail being separately positioned on the left and right sides bottom described robot, described first driver module comprises the first motor driver 0201 and the second motor driver 0202 be electrically connected with described motion control card 0103 respectively, also comprise first stepper motor 0301 and second stepper motor 0302, first motor driver 0201 receives the pulse signal of the respective channel of motion control card 0103, drive the first stepper motor 0301 rotation work, thus rotated by the driven pedrail on the left of drive shaft, second motor driver 0202 receives the pulse signal of the respective channel of motion control card 0103, drive the second stepper motor 0302 rotation work, thus rotated by the driven pedrail on the right side of drive shaft robot.Control the first stepper motor 0301 driven pedrail rotating speed that can control left and right sides identical with the rotating speed of the second stepper motor 0302 identical, realize pipeline cleaning robot to advance along the central axis of pipeline in the duct, if pipeline cleaning robot deviate from the central axis of pipeline, can control by the rotating speed of adjustment first stepper motor 0301 and the second stepper motor 0302 central axis that pipeline cleaning robot comes back to pipeline.
Further, described 3rd driver module 0023 comprises the 5th motor driver 0205 be connected with described motion control card 0103, and the 3rd stepper motor 0305 be electrically connected with the 5th motor driver 0205; 5th motor driver 0205 receives the pulse signal of the respective channel of described motion control card 0103, drives the 3rd stepper motor work.
Described cleaning actuating unit in the present embodiment preferably includes a spray boom and is arranged on the nozzle on spray boom top, high-temperature steam is delivered to nozzle by spray boom, sprayed by nozzle thus duct wall is cleaned, described 5th motor driver 0205 drives described spray boom rotation by control the 3rd stepper motor 0305, namely around the center axis thereof of spray boom self, thus can to realize nozzle be that axle rotates with spray boom.
As the improvement further of the present embodiment, described 3rd driver module 0023 also comprises the 6th motor driver 0206 be connected with described motion control card 0103, and the 4th stepper motor 0306 be electrically connected with the 6th motor driver 0206; Described 6th motor driver 0206 drives described nozzle to rotate along the axis direction of spray boom by control the 4th stepper motor 0306, thus regulates the corner dimension between nozzle and spray boom.When described control system controls described robot cleaning heavy oil dirt pipeline, transmitted control signal by human-computer interaction module 0001 and control the 4th stepper motor 0306 to the 6th motor driver 0206 and regulate the angle of described nozzle and spray boom to be preset value, and the cross-section normal of the plane that nozzle and spray boom are formed and the pipeline cleaned; When described control system controls the dirty pipeline of described robot cleaning light oil, transmitted control signal by human-computer interaction module 0001 and control the 4th stepper motor 0306 to the 6th motor driver 0206 and regulate the angle of described nozzle and spray boom to be 0.
Further, described control system also comprises an AD conversion module 0101 and D/A conversion module 0102, and described AD conversion module 0101 and D/A conversion module 0102 are electrically connected with the 3rd motor driver 0203, the 4th motor driver 0204, human-computer interaction module 0001 respectively, the control signal that human-computer interaction module sends sends to the 3rd motor driver and the 4th motor driver after being changed by D/A conversion module, the feedback signal that 3rd motor driver and the 4th motor driver are passed back is transferred to human-computer interaction module after being changed by AD conversion module 0101, particularly: described 3rd motor driver 0203 and the 4th motor driver 0204 can the speeds of service of Real-Time Monitoring current servo motor driving shaft by the encoder on motor, but it exports with the analog signal form of 0 ~ 10V, in order to obtain the real-world operation speed of servomotor, AD conversion module 0101 is responsible for the analog quantity that the 3rd motor driver 0203 and the 4th motor driver 0204 return to be converted into digital quantity, again by RS-485 serial ports, the digital quantity recorded is returned to human-computer interaction module 0001 be for further processing, once mention above, under torque mode, can make setting to the output torque of two servomotors and maximum (top) speed by the 3rd motor driver 0203 and the 4th motor driver 0204, but the 3rd motor driver 0203 and the 4th motor driver 0204 only accept the setting of analog quantity.Therefore, human-computer interaction module 0001 is sent in D/A conversion module 0102 by the numerical value that RS-485 serial ports first will set, digital quantity is converted into analog quantity by D/A conversion module 0102, export to the 3rd motor driver 0203 and the 4th motor driver 0204 again, the setting to servomotor output torque and maximum (top) speed can be completed.
3rd motor driver 0203, for making its correct driving the first servomotor 0303 under torque mode, need set following parameter: output torque, maximum (top) speed and rotation direction.After setting completes, also need to access enable model and motor is brought into operation.Except exporting control signal to the first servomotor 0303,3rd motor driver 0203 also receives the signal from motor encoder, code device signal is processed, obtain the real-world operation speed that the first servomotor 0303 is current, then the 3rd motor driver 0203 carries out analog-to-digital conversion with the form output speed of analog signal to AD conversion module 0101; 4th motor driver 0204, for making its correct driving the second servomotor 0304 under torque mode, also needs to set following parameter: output torque, maximum (top) speed and rotation direction.After setting completes, also need to access enable model and motor is brought into operation.Except exporting control signal to the second servomotor 0304,4th motor driver 0204 also receives the signal from motor encoder, code device signal is processed, obtain the real-world operation speed that the second servomotor 0304 is current, then the 4th motor driver 0204 carries out analog-to-digital conversion with the form output speed of analog signal to AD conversion module 0101;
Described control system also comprises a camera 0307, the video frequency collection card 0104 be connected with described camera 0307, and described video frequency collection card 0104 is also electrically connected with described human-computer interaction module 0001; Human-computer interaction module 0001 monitors the situation in pipeline in real time by video frequency collection card 0104 and camera 0307.Described camera 0307 is arranged on robot outside, and the situation in real time in monitoring pipeline, returns AV analog picture signal to video frequency collection card 0104.
In the above embodiment, can see, in the design of final dynamical system, have employed two servomotors, use torque mode, be applied to horizontal direction rotary oscillation and the vertical direction rotary oscillation of spray boom respectively, for these two kinematic axis, the torque mode of servomotor is necessary.First servomotor 0303 and the second servomotor 0304 respectively in the left and right of pipe blow-through, up and down duct wall time, play the effect that steam jet compresses duct wall, can realize first making nozzle and duct wall be adjacent to, keep certain pressure, moving nozzle in duct wall plane again, can ensure that nozzle and duct wall are adjacent to constantly, damage can not be caused to motor again simultaneously, then while strengthening cleaning performance, ensure that motor is not burnt.For all the other four motors, although also can use servomotor, its motion realized, stepper motor can realize.In addition, because servomotor rotating speed is very fast, nominal torque is less, therefore need to be equipped with the very large reduction box of speed reducing ratio, at this moment reduction box is not only expensive but also volume is comparatively large, therefore, be convenient to assembling to save product cost, all the other four motors have employed stepper motor.
Below, the control system of the present embodiment is utilized to control the whole process of pipeline cleaning robot work under simple description, here to clean the upper wall of square pipe, first control the 3rd stepper motor to run, make nozzle just to pipeline upper wall, whether to attach most importance to greasy dirt district or unclog district according to pipeline upper wall, control the corner dimension of the 4th stepper motor work adjustment nozzle and spray boom again, then set the moment of the second servomotor, maximal rate and rotation direction, make the motion of nozzle be close to pipeline upper wall; Finally set the moment of the first servomotor, maximal rate and rotation direction, after having set, now nozzle just can be close to pipeline upper wall, movement in a curve is done in top wall surface, when nozzle moves to the left side of pipeline upper wall from the right side of pipeline upper wall, just complete the cleaning to pipeline upper side wall, control the 3rd stepper motor work, drive spray boom to rotate around own axes, thus start the left side wall of pipe blow-through.Equally, for the cleaning operation of other wall of square pipe, similar with said process, do not repeat them here.
The control system of the pipeline cleaning robot described by the invention process power can realize the automatic control to robot easily, realizes, to the automatic cleaning of pipeline, having good adaptability, and obtaining good cleaning performance.
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.

Claims (10)

1. a control system for pipeline cleaning robot, described pipeline cleaning robot comprises moving device and cleaning actuating unit, it is characterized in that: described control system comprises,
First driver module, is connected with described moving device, drives the axial direction of described Robot pipeline to move;
Second driver module, is connected with described cleaning actuating unit, drives described cleaning actuating unit to swing in the horizontal direction and on vertical direction;
3rd driver module, is connected with described cleaning actuating unit, drives described cleaning actuating unit to rotate around its center axis;
Human-computer interaction module, be connected with described first driver module, the second driver module and the 3rd driver module respectively by a motion control card, be responsible for the control instruction receiving operating personnel, downward one deck module exports control signal to described first driver module, the second driver module and the 3rd driver module, and receives the feedback signal of the robotic end that the first driver module, the second driver module and the 3rd driver module return;
Wherein, described second driver module comprises the 3rd motor driver, the 4th motor driver, the first servomotor, the second servomotor, human-computer interaction module transmits control signal and drives the first servomotor work to the 3rd motor driver, control cleaning actuating unit to swing in the horizontal direction, human-computer interaction module transmits control signal and drives the second servomotor work to the 4th motor driver, controls cleaning actuating unit in the vertical direction and swings.
2. the control system of pipeline cleaning robot according to claim 1, it is characterized in that: described moving device comprises the driven pedrail being separately positioned on the left and right sides bottom described robot, described first driver module comprises the first motor driver and the second motor driver that are electrically connected with described motion control card respectively, also comprise first stepper motor and second stepper motor, first motor driver is rotated by the driven pedrail on the left of control first driving stepper motor, second motor driver is rotated by the driven pedrail on the right side of control second driving stepper motor.
3. the control system of pipeline cleaning robot according to claim 1, it is characterized in that: described 3rd driver module comprises the 5th motor driver be connected with described motion control card, and the 3rd stepper motor be electrically connected with the 5th motor driver; Described cleaning actuating unit comprises a spray boom and is arranged on the nozzle on spray boom top; Described 5th motor driver passes through spray boom described in control the 3rd driving stepper motor around spray boom center axis thereof.
4. the control system of pipeline cleaning robot according to claim 3, it is characterized in that: described 3rd driver module also comprises the 6th motor driver that a described motion control card is connected, and the 4th stepper motor be electrically connected with the 6th motor driver; Described 6th motor driver is rotated by the axis direction of nozzle described in control the 4th driving stepper motor along spray boom, thus regulates the angle between nozzle and spray boom.
5. the control system of pipeline cleaning robot according to claim 1, it is characterized in that: described control system also comprises an AD conversion module and D/A conversion module, described AD conversion module and D/A conversion module are electrically connected with the 3rd motor driver, the 4th motor driver, human-computer interaction module respectively; The control signal that human-computer interaction module sends sends to the 3rd motor driver and the 4th motor driver after being changed by D/A conversion module, and the feedback signal that the 3rd motor driver and the 4th motor driver are passed back is transferred to human-computer interaction module after being changed by AD conversion module.
6. the control system of pipeline cleaning robot according to claim 1, it is characterized in that: described control system also comprises a camera, the video frequency collection card be connected with described camera, described video frequency collection card is also electrically connected with described human-computer interaction module; Human-computer interaction module monitors the situation in pipeline in real time by video frequency collection card and camera.
7. the control system of pipeline cleaning robot according to claim 4, it is characterized in that: when described control system controls described robot cleaning heavy oil dirt pipeline, transmitted control signal by human-computer interaction module and control the 4th stepper motor to the 6th motor driver and regulate the angle of described nozzle and spray boom to be preset value, and the plane that nozzle and spray boom are formed and the cross-section normal of pipeline cleaned.
8. the control system of pipeline cleaning robot according to claim 4, it is characterized in that: when described control system controls the dirty pipeline of described robot cleaning light oil, being transmitted control signal by human-computer interaction module is controlled the 4th stepper motor to the 6th motor driver and regulates the angle of described nozzle and spray boom to be 0.
9. the control system of pipeline cleaning robot according to claim 1, is characterized in that: described control signal comprises Torque Control signal, speed control signal and position control signal.
10. the control system of pipeline cleaning robot according to claim 9, is characterized in that: described feedback signal comprises the velocity information of each motor driving shaft and the displacement information of each motor driving shaft.
CN201510506673.9A 2015-08-18 2015-08-18 Control system of pipe cleaning robot CN105127161A (en)

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Application publication date: 20151209