WO2022054525A1 - Cleaning device - Google Patents

Abstract

This cleaning device 100 comprises: a device body 1; a traveling mechanism 2 which is provided to the device body 1 and travels on a plurality of tubes P arranged in a predetermined arrangement direction; a cleaning mechanism 3 which descends from the device body 1, enters between two tubes P included in the plurality of tubes P, and cleans matter attached to the surfaces of the tubes P; a first sensor 71a which is provided to the device body 1 and detects the relative position in the arrangement direction with respect to a first tube P1 which is one tube P among the two tubes P; and a second sensor 71b which is provided to the device body 1 and detects the relative position in the arrangement direction with respect to a second tube P2 which is the other tube P among the two tubes P.

Description

Cleaning device

The technology disclosed here relates to cleaning equipment.

Conventionally, a cleaning device for removing deposits adhering to the surface of a pipe such as a boiler pipe has been known. For example, the cleaning device disclosed in Patent Document 1 cleans a pipe while traveling on the pipe. Specifically, the cleaning device includes a traveling mechanism that travels on the pipe and a cleaning mechanism that is lowered and raised from the traveling mechanism to the gap between the pipes.

Japanese Unexamined Patent Publication No. 2001-336897

In the cleaning device as described above, the traveling mechanism moves the cleaning mechanism to an appropriate position above the gap between the pipes. From that state, the cleaning mechanism enters the gap between the pipes. However, deposits are attached on the pipe, and an error may occur in the movement by the traveling mechanism. If the cleaning mechanism is not in the proper position, the cleaning mechanism will not be able to properly enter the gap between the pipes.

The technology disclosed here was made in view of this point, and the purpose thereof is to improve the movement accuracy of the traveling mechanism traveling on the pipe.

The cleaning device disclosed here includes a device main body, a traveling mechanism provided on the device main body and traveling on a plurality of pipes arranged in a predetermined arrangement direction, and the plurality of cleaning devices descending from the device main body. A cleaning mechanism that enters between the two pipes included in the pipes to clean the deposits on the surface of the pipes, and a cleaning mechanism provided on the main body of the device in the arrangement direction with respect to one of the two pipes. It includes a first sensor for detecting a relative position and a second sensor provided in the main body of the device for detecting a relative position in the arrangement direction of the two tubes with respect to the other tube.

According to the cleaning device, it is possible to improve the moving accuracy of the traveling mechanism traveling on the pipe.

FIG. 1 is a side view of the cleaning device according to the first embodiment. FIG. 2 is a front view of the cleaning device. FIG. 3 is a front view of the cleaning device showing the cleaning mechanism in a cross-sectional view. FIG. 4 is a view of the cleaning mechanism in the Y-axis direction. FIG. 5 is a cross-sectional view of the cleaning unit in the SS line of FIG. 4 in a state where the scraper is housed. FIG. 6 is a cross-sectional view of the cleaning unit in the SS line of FIG. 4 in a state where the scraper is expanded. FIG. 7 is a view of the cleaning mechanism in a state where the guide is contracted in the X-axis direction. FIG. 8 is a view of the cleaning mechanism with the guide expanded in the X-axis direction. FIG. 9 is a view of the state in which the cleaning mechanism is cleaning the pipe in the X-axis direction. FIG. 10 is an explanatory diagram illustrating the positional relationship between the sensor and the tube. FIG. 11 is an explanatory diagram illustrating the dimensional relationship between the first and second sensors and the two pipes. FIG. 12 is an explanatory diagram showing the positional relationship between the first and second sensors and the two pipes when the first and second sensors are displaced from the central position to the first pipe side in the arrangement direction. FIG. 13 is an explanatory diagram showing the positional relationship between the first and second sensors and the two pipes when the first and second sensors are displaced from the central position to the second pipe side in the arrangement direction. FIG. 14 is a view of the main body of the apparatus when the traveling direction of the traveling mechanism and the two pipes are parallel to each other in the Z-axis direction. FIG. 15 is a view of the main body of the device when the traveling direction of the traveling mechanism is tilted with respect to the two pipes in the Z-axis direction. FIG. 16 is a block diagram of the main body controller. FIG. 17 is a flowchart of cleaning control. FIG. 18 is a flowchart of cleaning control according to the first modification. FIG. 19 is a side view of the cleaning device according to the modified example 2. FIG. 20 is a side view of the cleaning device according to the second embodiment. FIG. 21 is a view of the state in which the cleaning mechanism is cleaning the pipe as viewed in the Y-axis direction.

Hereinafter, exemplary embodiments will be described in detail based on the drawings.

<< Embodiment 1 >>
The cleaning device 100 according to the first embodiment cleans the deposits adhering to the surface of the pipe included in the pipe group. Here, a case where the cleaning device 100 cleans the heat transfer tube of the boiler will be described. FIG. 1 is a side view of the cleaning device 100. FIG. 2 is a front view of the cleaning device 100. FIG. 3 is a front view of the cleaning device showing the cleaning mechanism in a cross-sectional view.

In the boiler, a tube group Q (see FIGS. 2 and 3) formed by a plurality of tubes P is provided. A fluid such as water circulates inside the pipe P. The tube P is a heat transfer tube and exchanges heat with the heat generated in the combustion chamber of the boiler. For example, the plurality of pipes P extend horizontally and are arranged horizontally and vertically. That is, in the tube group Q, a plurality of tubes P are arranged in a state parallel to each other in the horizontal direction, and a plurality of tubes P are arranged in a state parallel to each other in the vertical direction. The tube P is made of a conductive material. Further, the tube P is a circular tube having a substantially circular cross section.

In some cases, one tube P and the other tube P are connected to each other to form one tube. That is, in the tube group Q, when one tube extends horizontally and then folds back and extends horizontally again, or when one tube extends horizontally and then folds back and extends horizontally again. May be repeated and extend in a meandering manner as a whole. In the present specification, even in such a case, each of the portions extending in the horizontal direction is regarded as one tube P. Therefore, even if it is actually one continuous pipe, if there are a plurality of portions extending in the horizontal direction, it is treated as a plurality of pipes P.

In the boiler, the ash generated by combustion can adhere to the pipe P. Some of the ash melts into clinker. As described above, deposits such as ash and clinker are attached to the surface of the tube P. Here, the deposit is not limited to the one that is in direct contact with the surface of the pipe P, but also includes the one that is further stacked on the one that is in direct contact with the surface of the pipe P. For example, not only the ash that is in direct contact with the surface of the tube P, but also the ash that is further deposited on the ash is included in the deposit.

The cleaning device 100 is placed on a plurality of pipes P arranged in a predetermined arrangement direction (here, the horizontal direction). The cleaning device 100 includes a device main body 1, a traveling mechanism 2 provided on the device main body 1 and traveling on the pipe P included in the pipe group Q, and a plurality of cleaning devices 100 descending from the device main body 1 and arranged in the horizontal direction. A cleaning mechanism 3 that enters the pipe group Q through a gap between the two pipes P included in the pipe P to clean the deposits on the surface of the pipe P, and two pipes P provided in the main body 1 of the apparatus. The first sensor 71a for detecting the relative position in the arrangement direction with respect to one tube P and the second sensor 71b provided in the apparatus main body 1 for detecting the relative position in the arrangement direction with respect to the other tube P of the two tubes P. And have. The cleaning device 100 may further include a main body controller 9 (see FIG. 1) that controls the cleaning device 100. The cleaning device 100 lowers and raises the cleaning mechanism 3 between the two pipes P to clean the two pipes P and the deposits adhering to the pipes P arranged below them.

The cleaning device 100 is provided on the device main body 1 at a position where the position of the traveling mechanism 2 in the traveling direction is different from that of the first sensor 71a. The apparatus main body 1 may be provided at a position where the position of 2 in the traveling direction is different from that of the second sensor 71b, and may further include a fourth sensor 71d for detecting a relative position in the arrangement direction with respect to the other tube P. The cleaning device 100 may further include a vision sensor 8 (see FIG. 1) that captures at least one of the device main body 1 and the traveling mechanism 2 mounted on a plurality of pipes P. The vision sensor 8 is an example of an image pickup device. The main body controller 9 is an example of a control unit.

Hereinafter, for convenience of explanation, the X-axis, Y-axis, and Z-axis that are orthogonal to each other with respect to the cleaning device 100 are defined. The X-axis is set in the traveling direction of the cleaning device 100 (that is, the traveling direction of the traveling mechanism 2), the Z-axis is set in the vertical direction of the cleaning device 100 (that is, the elevating direction of the cleaning mechanism 3), and the cleaning device 100 is set. The Y-axis is set in the width direction (that is, the direction orthogonal to both the traveling direction and the vertical direction).

In addition, the U-axis, V-axis, and W-axis that are orthogonal to each other with respect to the tube group Q are defined. The U-axis is set in the direction in which the tube P extends, the V-axis is set in the direction orthogonal to and horizontal to the U-axis, and the W-axis is set in the direction orthogonal to and vertical to the U-axis.

The apparatus main body 1 has a flat plate-shaped base 11 extending on an XY plane, a case 12 provided on the base 11 for accommodating the cleaning mechanism 3, and an elevating mechanism 14 for raising and lowering the cleaning mechanism 3 from the apparatus main body 1. ing. An opening 11a (see FIG. 3) penetrating the base 11 is formed substantially in the center of the base 11. The case 12 is formed in a square cylinder shape having a substantially rectangular cross section with the X-axis direction as the longitudinal direction. The case 12 penetrates the opening 11a of the base 11.

The traveling mechanism 2 has two crawlers 21 attached to the lower surface of the base 11. The crawler 21 is configured to travel in the X-axis direction. That is, the rotation axis of the drive wheel of the crawler 21 extends in the Y-axis direction. The two crawlers 21 are arranged in the Y-axis direction with the opening 11a of the base 11 interposed therebetween.

The cleaning mechanism 3 descends and rises from the device main body 1 to clean the deposits on the surface of the pipe P located below the traveling mechanism 2. The cleaning mechanism 3 is housed in the case 12 when cleaning is not performed. When cleaning, the cleaning mechanism 3 descends downward from the case 12 and cleans the surface of the pipe P included in the pipe group Q while traveling in the pipe group Q.

The elevating mechanism 14 has two winches 15 and a wire 16 wound around each winch 15. The winch 15 is installed on the upper surface of the base 11. The two winches 15 are arranged so as to sandwich the case 12 in the X-axis direction. The wire 16 is wound around the reel of the winch 15. One end of the wire 16 is attached to the cleaning mechanism 3. That is, the cleaning mechanism 3 is suspended by the two wires 16 and is moved up and down in the Z-axis direction by the elevating mechanism 14.

Each of the first to fourth sensors 71a to 71d has the same configuration. Hereinafter, when each of the first to fourth sensors 71a to 71d is not distinguished, it is simply referred to as "sensor 71". The sensor 71 detects the relative position between the sensor 71 and the tube P in the arrangement direction. Specifically, the sensor 71 detects the distance from the sensor 71 to the surface of the tube P. The sensor 71 is attached to the lower surface of the base 11.

The vision sensor 8 images the apparatus main body 1 mounted on the plurality of tubes P from above. Therefore, the vision sensor 8 acquires an image including at least one of the device main body 1 and the traveling mechanism 2 and a plurality of tubes P on which the traveling mechanism 2 is mounted.

The main body controller 9 is mounted on the device main body 1. An external controller 98 that the operator operates when inputting a command may be connected to the main body controller 9. The external controller 98 is connected to the main body controller 9 via the cable 99. The operator inputs a command to the main body controller 9 by operating the external controller 98. For example, the external controller 98 can input an operation command to the cleaning device 100 as a command. In addition, the external controller 98 may be capable of inputting various settings related to operation. The external controller 98 may be wirelessly connected to the main body controller 9.

Hereinafter, the cleaning mechanism 3 will be described in more detail. FIG. 4 is a view of the cleaning mechanism 3 in the Y-axis direction. FIG. 5 is a cross-sectional view of the cleaning unit 4 in the SS line of FIG. 4 in a state where the scraper 34 is housed. FIG. 6 is a cross-sectional view of the cleaning unit 4 in the SS line of FIG. 4 in a state where the scraper 34 is expanded. FIG. 7 is a view of the cleaning mechanism 3 with the guide 5 contracted in the X-axis direction. FIG. 8 is a view of the cleaning mechanism 3 with the guide 5 expanded in the X-axis direction.

The cleaning mechanism 3 has a frame 31, three cleaning units 4 supported by the frame 31, and a guide 5 that guides the cleaning mechanism 3 in the traveling direction when the cleaning mechanism 3 advances in the pipe group Q. ing.

As shown in FIG. 4, the frame 31 is formed in a substantially quadrangular frame shape. A cover 31a is attached to the frame 31, whereby the frame 31 is formed in a box shape as a whole. Each of the pair of vertical frames 31b provided at both ends of the frame 31 in the X-axis direction and extending in the Z-axis direction is provided with a locking portion 31c to which the wire 16 of the elevating mechanism 14 is attached.

The dimension of the frame 31 in the _Y -axis direction is set to be smaller than the distance GV between the two tubes P. On the other hand, the dimension of the frame 31 in the X-axis direction is set to be larger than the distance _GV between the two tubes P. That is, when the X-axis direction of the cleaning device 100 and the U-axis direction of the pipe group Q coincide with each other, the frame 31 can enter between the two pipes P.

The three cleaning units 4 are supported by the frame 31. The three cleaning units 4 project downward from the lower part of the frame 31.

The three cleaning units 4 are arranged in the X-axis direction. The positions of the three cleaning units 4 are different in the Z-axis direction (that is, the elevating direction of the cleaning mechanism 3). Specifically, the cleaning unit 4 in the middle projects downward as compared with the cleaning units 4 on both sides. Hereinafter, when the three cleaning units 4 are distinguished from each other, they are referred to as "first cleaning unit 4A", "second cleaning unit 4B", and "third cleaning unit 4C" in the order of arrangement in the X-axis direction.

The cleaning unit 4 is configured to come into contact with the pipe P while rotating around a rotation axis A parallel to the Z axis (that is, parallel to the elevating direction of the cleaning mechanism 3) to remove deposits on the surface of the pipe P. ing. Specifically, as shown in FIG. 4, the cleaning unit 4 has a rotating shaft 32 that rotates around a rotating shaft A extending in parallel with the Z axis, and the surface of the pipe P is attached by contacting the surface of the pipe P. It has a scraper 34 for removing kimono, a disk 35 provided coaxially with the rotation axis A, and an excavation portion 36 provided on the rotation axis A at the tip of the cleaning unit 4. The rotary shaft 32 is rotationally driven by a motor (not shown) supported by the frame 31. The cleaning unit 4 is an example of a cleaning unit, and the scraper 34 is an example of a contact unit.

A disk 35, a scraper 34, and an excavation portion 36 are provided at the tip of the rotary shaft 32. Four discs 35 are arranged coaxially with the rotation axis A at equal intervals. The disk 35 is attached to the rotating shaft 32 in a non-rotatable state. That is, the disk 35 rotates integrally with the rotating shaft 32. The diameter of the disk 35 is set to be smaller than the distance _GV between the two tubes P.

Three gaps are formed by the four disks 35. As shown in FIGS. 5 and 6, three scrapers 34 are arranged in each gap. Between each of the two adjacent discs 35, three swing shafts 37 extending along the swing shaft B parallel to the rotation shaft A are provided. The three swing shafts 37 are provided at positions eccentric from the rotation shaft A at equal intervals around the rotation shaft A. Each scraper 34 is connected to the swing shaft 37 in a swingable state. The scraper 34 is formed in a substantially arc shape. The scraper 34 is made of, for example, an aluminum alloy, carbon steel, urethane rubber or brass.

As shown in FIG. 5, in the state where the tip portion 34a, which is the end portion of the scraper 34 far from the swing shaft B, is closest to the rotation shaft A, the scraper 34 is completely within the gap between the two discs 35. Is housed in. That is, the scraper 34 is housed inside the outer peripheral edge E of the disk 35. When the scraper 34 is housed in the disk 35, the shape of the cleaning unit 4 when viewed in the _Z -axis direction (that is, the elevating direction of the cleaning mechanism 3) has a diameter of the distance GV between the two pipes P. It is within the circle. Here, "accommodated inside the outer peripheral edge E" means that the scraper 34 does not protrude from the outer peripheral edge E. That is, the scraper 34 may be flush with the outer peripheral edge E when housed between the disks 35.

On the other hand, as shown in FIG. 6, the scraper 34 swings so that the tip portion 34a is separated from the rotation axis A by the centrifugal force of the rotation shaft 32, and expands outward in the radial direction about the rotation axis A. At this time, the scraper 34 protrudes outward from the outer peripheral edge E of the disk 35 (that is, protrudes outward from the outer peripheral edge E).

Hereinafter, unless otherwise specified, the "radial direction" means the radial direction centered on the rotation axis A.

As shown in FIG. 4, the excavation portion 36 is arranged at the tip of the rotary shaft 32. The excavated portion 36 is attached to the rotating shaft 32 in a non-rotatable state. That is, the excavated portion 36 rotates integrally with the rotating shaft 32. The excavated portion 36 is formed in a substantially conical shape, that is, in a sharp shape. The excavation section 36 is formed with a groove for allowing the chips cut by the excavation section 36 to escape.

Further, as shown in FIGS. 4, 7 and 8, a guide 5 is provided in each of the pair of vertical frames 31b in the frame 31. The guide 5 has a pair of first blades 51A and second blades 51B, and four first to fourth links 61 to 64 connecting the first blades 51A and the second blades 51B to the vertical frame 31b. .. The first blade 51A and the second blade 51B have symmetrical shapes. The first blade 51A and the second blade 51B guide the cleaning mechanism 3 by coming into contact with the pipe P outside the guide 5 in the Y-axis direction. When the first blade 51A and the second blade 51B are not distinguished, they are simply referred to as "blade 51". The first to fourth links 61 to 64 all have the same shape. When each of the first link 61, the second link 62, the third link 63, and the fourth link 64 is not distinguished, it is simply referred to as "link 6".

Each blade 51 has a shape extending in the Z-axis direction. Each blade 51 has an edge 53 extending substantially in the Z-axis direction on the outside in the Y-axis direction (that is, the side far from the center in the Y-axis direction of the frame 31). The edge 53 comes into contact with the tube P. The first to fourth links 61 to 64 are connected to each blade 51.

The central portion of each link 6 in the longitudinal direction is rotatably attached to the vertical frame 31b. The first link 61 and the second link 62 are attached to the same rotation shaft C. The third link 63 and the fourth link 64 are attached to the same rotation axis D. One end in the longitudinal direction of each link 6 (hereinafter referred to as "first end") is connected to the first blade 51A, and the other end in the longitudinal direction of each link 6 (hereinafter referred to as "second end"). Is connected to the second blade 51B.

Specifically, the first end portion 61a of the first link 61 is rotatably and slidably attached to the elongated hole 54 extending in the Z-axis direction formed in the first blade 51A. .. The second end 61b of the first link 61 is rotatably attached to the second blade 51B. The first end portion 62a of the second link 62 is rotatably attached to the first blade 51A. The second end portion 62b of the second link 62 is rotatably and slidably attached to the elongated hole 54 extending in the Z-axis direction formed in the second blade 51B.

Similarly, the first end portion 63a of the third link 63 is rotatably and slidably attached to the elongated hole 54 extending in the Z-axis direction formed in the first blade 51A. .. The second end 63b of the third link 63 is rotatably attached to the second blade 51B. The first end 64a of the fourth link 64 is rotatably attached to the first blade 51A. The second end portion 64b of the fourth link 64 is rotatably and slidably attached to the elongated hole 54 extending in the Z-axis direction formed in the second blade 51B.

In the first link 61 and the second link 62, the first end portion 61a of the first link 61 and the second end portion 62b of the second link 62 are separated from each other in the Y-axis direction, and the second end portion of the first link 61 is separated. The 61b and the first end portion 62a of the second link 62 are urged around the rotation axis C by a coil spring (not shown) so as to be separated from each other in the Y-axis direction.

Similarly, in the third link 63 and the fourth link 64, the first end portion 63a of the third link 63 and the second end portion 64b of the fourth link 64 are separated from each other in the Y-axis direction, and the third link 63 is the third link 63. The two end portions 63b and the first end portion 64a of the fourth link 64 are urged around the rotation axis D by a coil spring (not shown) so as to be separated from each other in the Y-axis direction.

Thus, the first blade 51A and the second blade 51B are urged to separate from each other in the Y-axis direction while maintaining the posture extending in the Z-axis direction. That is, the first blade 51A and the second blade 51B are urged to press the edge 53 against the pipe P located outside the guide 5 in the Y-axis direction.

Next, the cleaning operation of the cleaning mechanism 3 configured in this way will be described. FIG. 9 is a view of the state in which the cleaning mechanism 3 is cleaning the pipe P in the X-axis direction.

The cleaning mechanism 3 enters the gap between the two pipes P in a state where the arrangement direction of the three cleaning units 4 is parallel to the two pipes P. At this time, the cleaning mechanism 3 rotates the rotary shaft 32 to clean the two pipes P and the deposits adhering to the pipes P arranged below them.

The scraper 34 expands outward in the radial direction about the rotation axis A due to the centrifugal force generated by the rotation of the rotation shaft 32. However, if there is not enough space, the scraper 34 will not expand to the maximum and will expand to the extent possible. That is, when the space on the outer side in the radial direction of the scraper 34 differs depending on the position in the Z-axis direction, the scraper 34 descends while changing the spread according to the space on the outer side in the radial direction. When the cleaning mechanism 3 descends in the pipe group Q, as shown in FIG. 9, the scraper is located at a position where the pipe P does not exist on the radial outside of the scraper 34, or the pipe P exists on the radial outside of the scraper 34. In the position where 34 cannot reach, the scraper 34 is in the fully expanded state (see the scraper 34 relatively upper of the first cleaning unit 4A in FIG. 9). At the position where the pipe P exists on the radial outer side of the scraper 34 and the scraper 34 reaches the pipe P, the scraper 34 expands to the state where the scraper 34 is in contact with the pipe P (the scraper at a relatively lower portion of the first cleaning unit 4A in FIG. 9). 34 and scraper 34 of the second cleaning unit 4B). As a result, when the scraper 34 passes by the side of the pipe P, the scraper 34 comes into contact with the surface of the pipe P while changing the radial spread according to the surface shape of the pipe P.

That is, the scraper 34 enters between the plurality of pipes P arranged along the traveling direction of the cleaning mechanism 3 (that is, arranged in the W-axis direction), and the deposit existing between the plurality of pipes P. And contact the surfaces of the plurality of tubes P to remove the deposits on the tubes P. As a result, the scraper 34 is not only the portion of the surface of the pipe P facing the space through which the cleaning mechanism 3 passes, but also the direction (for example, the V-axis direction) intersecting the traveling direction of the cleaning mechanism 3 from the space. ) Also removes deposits adhering to the distant part (that is, the deep part).

Preferably, the diameter of the circumscribed circle F (see FIG. 6) of the scraper 34 in the state where the scraper 34 is most expanded is set to be larger than the distance between the axes of the two pipes P arranged in the V-axis direction. As a result, the scraper 34 can remove the deposits on the substantially half circumference of the surface of the pipe P by passing by the side of the pipe P in the W-axis direction.

In this way, the scraper 34 scrapes off the deposits adhering to the surface of the pipe P.

Here, when the cleaning mechanism 3 descends between the two pipes P, deposits such as ash are present in front of the cleaning mechanism 3 in the traveling direction (that is, below the cleaning mechanism 3). In some cases. An excavation section 36 is provided at the tip of the cleaning unit 4. The excavated portion 36 rotates integrally with the rotating shaft 32 when the cleaning mechanism 3 descends. Therefore, when the cleaning mechanism 3 descends, the excavation section 36 excavates the deposits existing below the cleaning mechanism 3. As a result, the cleaning mechanism 3 can be smoothly lowered.

Further, when the cleaning mechanism 3 advances in the pipe group Q, the guide 5 guides the cleaning mechanism 3. Specifically, the first blade 51A and the second blade 51B of the guide 5 are urged in a direction in which they are separated from each other in the Y-axis direction. Therefore, the first blade 51A contacts the tube P on one side in the V-axis direction, and the second blade 51B contacts the tube P on the other side in the V-axis direction. In this way, the cleaning mechanism 3 is positioned in the V-axis direction with respect to the pipes P located on both sides in the V-axis direction.

When the lowermost pipe P among the pipes P to be cleaned is descended until the cleaning unit 4 passes through, the cleaning at the time of descent is completed.

The cleaning mechanism 3 cleans the pipe P not only when descending but also when ascending. Even when the cleaning mechanism 3 rises, the scraper 34 contacts the surface of the pipe P while changing the radial spread according to the surface shape of the pipe P, and scrapes off the deposits adhering to the surface of the pipe P. I will drop it. That is, the cleaning mechanism 3 can clean the surface of the pipe P with the scraper 34 both when descending and when ascending.

Since the cleaning mechanism 3 is provided with three cleaning units 4 arranged in the X-axis direction, three locations of the pipe P whose U-axis direction positions are different due to one descent and / or ascent of the cleaning mechanism 3 are provided. Be cleaned.

Next, the sensor 71 will be described in detail.

Each sensor 71 is an eddy current sensor. Specifically, although not shown, the sensor 71 has an exciting coil and a receiving coil. When a high frequency current is applied to the exciting coil, an eddy current is generated in the object. The receiving coil detects this eddy current. The magnitude of the eddy current detected by the receiving coil changes according to the distance between the sensor 71 and the object. That is, the sensor 71 substantially detects the distance between the sensor 71 and the object by acquiring the detection voltage corresponding to the distance between the sensor 71 and the object. In the cleaning device 100, the object is the pipe P. The sensor 71 detects the distance to the surface of the tube P.

Since the traveling mechanism 2 travels on the plurality of pipes P arranged in the arrangement direction, the plurality of pipes P arranged in the arrangement direction form a traveling surface on which the traveling mechanism 2 travels. At this time, the sensor 71 moves in parallel with respect to the traveling surface, that is, the plane including the arrangement direction and the tube axis direction.

FIG. 10 is an explanatory diagram illustrating the positional relationship between the sensor and the tube. The sensor 71 is arranged so that the axis of the exciting coil faces the vertical direction. Since the magnetic field generated by the sensor 71 has a spread, the sensor 71 also detects a distance to an object existing in a range having a certain spread around the vertical lower part. Here, for convenience of explanation, as shown by the solid arrow in FIG. 10, the sensor 71 detects the distance to the point vertically below the sensor 71 on the surface of the tube P.

Since the tube P is a circular tube, when the sensor 71 moves in parallel in the arrangement direction, the distance between the sensor 71 and the surface of the tube P also changes. Specifically, as the sensor 71 moves from the position indicated by the solid line to the side closer to the top of the tube P in the arrangement direction as shown by the alternate long and short dash line, the distance between the sensor 71 and the surface of the tube P becomes shorter. Further, as the sensor 71 moves in the arrangement direction and passes through the top of the tube P as shown by the broken line, the distance between the sensor 71 and the surface of the tube P becomes longer. As described above, the distance between the sensor 71 and the surface of the tube P changes according to the relative position of the tube P and the sensor 71 in the arrangement direction.

As shown in FIGS. 1 to 3, the first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are arranged so that the positions of the traveling mechanism 2 in the traveling direction are different from each other. Specifically, the first and second sensors 71a and 71b are arranged at one end of the base 11 in the traveling direction. The third and fourth sensors 71c and 71d are arranged at the other end of the base 11 in the traveling direction. The first and second sensors 71a and 71b are paired, and the third and fourth sensors 71c and 71d are paired. Each pair detects the position of the cleaning mechanism 3 in the arrangement direction.

Specifically, as shown in FIG. 2, the first and second sensors 71a and 71b are arranged so that the positions in the directions orthogonal to the traveling direction (specifically, the width direction of the cleaning device 100) are different. .. The first and second sensors 71a and 71b are equidistant from the cleaning mechanism 3 on both sides in the width direction. That is, in the width direction, the cleaning mechanism 3 is located at the center between the first sensor 71a and the second sensor 71b. The arrangement of the third and fourth sensors 71c and 71d in the width direction is the same as that of the first and second sensors 71a and 71b. That is, the position in the width direction of the first sensor 71a and the position in the width direction of the third sensor 71c are the same, and the position in the width direction of the second sensor 71b and the position in the width direction of the fourth sensor 71d are the same.

The first and second sensors 71a and 71b are arranged so that the positions in the arrangement direction are different from each other as shown in FIG. 2 when the traveling direction of the traveling mechanism 2 is oriented along the two pipes P. Will be done. Similarly, the positions of the third and fourth sensors 71c and 71d in the arrangement direction are different from each other as shown in FIG. 3 when the traveling direction of the traveling mechanism 2 is oriented along the two pipes P. Arranged like this.

Here, the dimensional relationship between the measurement points of the two sensors 71 and the two tubes P in the arrangement direction will be described in detail. The measurement point is a point on the surface of the tube P where the distance from the sensor 71 is detected. In this example, each sensor 71 mainly detects the distance to a point located vertically below the sensor 71 on the surface of the tube P. That is, the position of the sensor 71 and the position of the measurement point are the same in the arrangement direction. Hereinafter, for convenience of explanation, the arrangement direction position of the sensor 71 will be described as the arrangement direction position of the measurement points.

FIG. 11 is an explanatory diagram illustrating the dimensional relationship between the first and second sensors 71a and 71b and the two pipes P. The pitch in the array direction of the two sensors 71 in each pair (that is, the pitch in the array direction of the measurement points of the two sensors 71 in each pair) M is larger than the distance GV between the two tubes _P in the array direction. Moreover, it is set smaller than the dimension L of the entire two tubes P in the arrangement direction. Further, the pitch M in the arrangement direction of the two sensors 71 does not match the pitch M in the arrangement direction of the two tubes P (that is, the distance between the tube axes of the two tubes P) N. Specifically, the pitch M in the arrangement direction of the two sensors 71 is smaller than the pitch N in the arrangement direction of the two tubes P. Hereinafter, for convenience of explanation, the pipe P to which the first sensor 71a of the two pipes P approaches is referred to as "the first pipe P1", and the pipe P to which the second sensor 71b of the two pipes P approaches is referred to as "the first pipe P1". It is called "second tube P2".

Since the pitch M of the two sensors 71 is set to be larger than the distance GV of the two pipes _P and smaller than the dimension L of the entire two pipes P, the two sensors 71 are vertically below the two sensors 71. A situation may occur in which the tube P of is located. For example, the first sensor 71a may detect the distance S1 to the surface of the first tube P1, and at the same time, the second sensor 71b may detect the distance S2 to the surface of the second tube P2. At this time, the third sensor 71c can also detect the distance to the surface of the first tube P1, and at the same time, the fourth sensor 71d can also detect the distance to the surface of the second tube P2.

Further, since the pitch M in the arrangement direction of the two sensors 71 does not match the pitch N in the arrangement direction of the two tubes P, each of the two sensors 71 simultaneously detects the distance to the top of the two tubes P. The situation cannot occur. For example, when the first sensor 71a detects the distance S1 to the surface of the top of the first tube P1, the second sensor 71b detects the distance S2 to the surface of a portion other than the top of the second tube P2.

In this example, since the cleaning mechanism 3 is located at the center between the first sensor 71a and the second sensor 71b in the width direction of the cleaning device 100, the cleaning mechanism 3 is located at the center of the two pipes P in the arrangement direction. When positioned, as shown in FIG. 11, the first and second sensors 71a, 71b detect distances S1 and S2 to parts other than the top of each of the two tubes P. The first and second sensors 71a and 71b are arranged between the axis of the first tube P1 and the axis of the second tube P2 in the arrangement direction. At this time, the distance S1 from the first sensor 71a to the first pipe P1 and the distance S2 from the second sensor 71b to the second pipe P2 are substantially equal. That is, in the arrangement direction, the midpoint of the first sensor 71a and the second sensor 71b coincides with the midpoint of the two pipes P. Hereinafter, this position of the first and second sensors 71a and 71b with respect to the two pipes P is referred to as a "center position".

FIG. 12 shows the positional relationship between the first and second sensors 71a and 71b and the two pipes P when the first and second sensors 71a and 71b are displaced from the central position to the first pipe P1 side in the arrangement direction. It is explanatory drawing which shows. FIG. 13 shows the positional relationship between the first and second sensors 71a and 71b and the two pipes P when the first and second sensors 71a and 71b are displaced from the central position to the second pipe P2 side in the arrangement direction. It is explanatory drawing which shows. The distances S1 and S2 to the surface of the tube P detected by each of the first and second sensors 71a and 71b change according to the relative positions of the sensor 71 and the tube P in the arrangement direction as described above. Here, the pitch M in the arrangement direction of the first and second sensors 71a and 71b does not match the pitch N in the arrangement direction of the two tubes P. Therefore, when one of the measurement points of the two sensors 71 approaches the top of the tube P in the arrangement direction, the other measurement point of the two sensors 71 moves away from the top of the tube P. For example, as shown in FIG. 12, when the first and second sensors 71a and 71b are displaced from the central position to the side of the first tube P1 in the arrangement direction, the measurement point of the first sensor 71a is located at the top of the first tube P1. While approaching, the measurement point of the second sensor 71b moves away from the top of the second tube P2. At this time, the distance S1 from the first sensor 71a to the first pipe P1 becomes shorter, while the distance S2 from the second sensor 71b to the second pipe P2 becomes longer. As shown in FIG. 13, when the first and second sensors 71a and 71b are displaced from the central position to the side of the second tube P2 in the arrangement direction, the measurement point of the first sensor 71a moves away from the top of the first tube P1. , The measurement point of the second sensor 71b approaches the top of the second tube P2. At this time, the distance S1 from the first sensor 71a to the first pipe P1 becomes longer, while the distance S2 from the second sensor 71b to the second pipe P2 becomes shorter.

In this way, by arranging the two sensors 71 so that the situation where each of the two sensors 71 simultaneously detects the distance to the top of the two tubes P cannot occur, the two sensors 71 in the arrangement direction and the two sensors 71 When the relative positions of the two tubes P change, the relative relationship between the detection distance of one sensor 71 and the detection distance of the other sensor 71 changes. That is, the relative relationship between the detection distance S1 of the first sensor 71a and the detection distance S2 of the second sensor 71b correlates with the relative positions of the first sensor 71a and the second sensor 71b and the two tubes P in the arrangement direction. be.

An example of the relative relationship between the detection distance S1 of the first sensor 71a and the detection distance S2 of the second sensor 71b is the distance difference ΔS (= S1) between the detection distance S1 of the first sensor 71a and the detection distance S2 of the second sensor 71b. -S2). When the first and second sensors 71a and 71b are located at the center position, the distance difference ΔS becomes 0.

When the first and second sensors 71a and 71b are displaced from the central position to the side of the first pipe P1 in the arrangement direction, the distance difference ΔS becomes smaller than 0. The distance difference ΔS decreases monotonically until the first sensor 71a reaches the position of the top of the first tube P1 in the arrangement direction. When the first sensor 71a exceeds the position of the top of the first tube P1 in the arrangement direction, the detection distance S1 of the first sensor 71a starts to increase. On the other hand, the rate of increase of the detection distance S2 of the second sensor 71b gradually increases according to the displacement of the second sensor 71b toward the first tube P1. Eventually, the second tube P2 does not exist below the second sensor 71b, and the second sensor 71b does not detect the distance to the second tube P2.

On the other hand, when the first and second sensors 71a and 71b are displaced from the central position to the side of the second pipe P2 in the arrangement direction, the distance difference ΔS becomes larger than 0. The distance difference ΔS increases monotonically until the second sensor 71b reaches the position of the top of the second tube P2 in the arrangement direction. When the second sensor 71b exceeds the position of the top of the second tube P2 in the arrangement direction, the detection distance S2 of the second sensor 71b starts to increase. On the other hand, the rate of increase of the detection distance S1 of the first sensor 71a gradually increases according to the displacement of the first sensor 71a toward the second tube P2. Eventually, the first tube P1 does not exist below the first sensor 71a, and the first sensor 71a does not detect the distance to the first tube P1.

In this way, the first and second sensors 71a and 71b detect the distance to the surface of each of the two tubes P arranged in the arrangement direction, so that the first sensor 71a and 71b are the first with respect to the two tubes P in the arrangement direction. And the relative positions of the second sensors 71a and 71b are detected. The first and second sensors 71a and 71b and the cleaning mechanism 3 are provided on the base 11. That is, the first and second sensors 71a and 71b substantially detect the relative position of the cleaning mechanism 3 with respect to the two pipes P in the arrangement direction.

The third and fourth sensors 71c and 71d are also arranged in the same manner as the first and second sensors 71a and 71b. Therefore, the third and fourth sensors 71c and 71d also detect the distances to the respective surfaces of the two tubes P arranged in the arrangement direction, so that the third and third sensors 71c and 71d with respect to the two tubes P in the arrangement direction can also be detected. 4 The relative positions of the sensors 71c and 71d, and by extension, the relative positions of the cleaning mechanism 3 with respect to the two tubes P in the arrangement direction are detected.

Further, since the first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are arranged at different positions in the traveling direction, they are based on the detection distances of the first to fourth sensors 71a to 71d. , The inclination of the traveling mechanism 2 in the traveling direction with respect to the two pipes P (specifically, the pipe shafts of the two pipes P) can be obtained. FIG. 14 is a view of the apparatus main body 1 when the traveling direction of the traveling mechanism 2 and the two pipes P are parallel to each other in the Z-axis direction. FIG. 15 is a view of the apparatus main body 1 in the Z-axis direction when the traveling direction of the traveling mechanism 2 is tilted with respect to the two pipes P.

Specifically, as shown in FIG. 14, when the traveling direction of the traveling mechanism 2 is parallel to the two pipes P, the arrangement of the cleaning mechanism 3 detected by the first and second sensors 71a and 71b. The relative position in the direction coincides with the relative position in the arrangement direction of the cleaning mechanism 3 detected by the third and fourth sensors 71c and 71d. On the other hand, the relative position in the arrangement direction of the cleaning mechanism 3 detected by the first and second sensors 71a and 71b and the relative position in the arrangement direction of the cleaning mechanism 3 detected by the third and fourth sensors 71c and 71d are different. This means that, as shown in FIG. 15, the traveling direction of the traveling mechanism 2 is tilted with respect to the two pipes P.

As described above, the first to fourth sensors 71a to 71d substantially detect the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction.

In addition, the vision sensor 8 acquires an image including at least one of the device main body 1 and the traveling mechanism 2 and a plurality of tubes P on which the traveling mechanism 2 is mounted. According to the image of the vision sensor 8, the positional relationship of the traveling mechanism 2 with respect to the plurality of pipes P can be detected. Specifically, when the image includes a plurality of pipes P and the traveling mechanism 2, the positional relationship of the traveling mechanism 2 with respect to the plurality of pipes P can be acquired. Depending on the dimensions and arrangement of the apparatus main body 1 and the traveling mechanism 2, the traveling mechanism 2 may not be included in the image, but the apparatus main body 1 may be included. However, since the traveling mechanism 2 is provided in the device main body 1, if the positional relationship of the device main body 1 with respect to the plurality of pipes P is known, the positional relationship of the traveling mechanism 2 with respect to the plurality of pipes P can also be known.

The detection distances of the first to fourth sensors 71a to 71d and the acquired images of the vision sensor 8 are input to the main body controller 9.

The main body controller 9 executes a cleaning control for cleaning the pipe P included in the pipe group Q by the cleaning mechanism 3. At that time, the main body controller 9 executes the traveling control of the traveling mechanism 2 based on the detection results of the first to fourth sensors 71a to 71d and the acquired image of the vision sensor 8. For example, the main body controller 9 operates the traveling mechanism 2 to move the cleaning device 100 to a target position, and operates the cleaning mechanism 3 and the elevating mechanism 14 at that position.

FIG. 16 is a block diagram of the main body controller 9. Specifically, the main body controller 9 has a processing unit 91 and a storage unit 92.

The storage unit 92 is a computer-readable storage medium that stores various programs and various data. The storage unit 92 is formed of a magnetic disk such as a hard disk, an optical disk such as a CD-ROM and a DVD, or a semiconductor memory.

The processing unit 91 has various processors such as a CPU (Central Processing Unit) and / or a DSP (Digital Signal Processor), and various semiconductor memories such as VRAM, RAM and / or ROM. The processing unit 91 comprehensively controls each unit of the cleaning device 100 by reading and executing various programs stored in the storage unit 92, and realizes various functions for executing cleaning control and traveling control. Specifically, the processing unit 91 has a first inclination calculation unit 93, a position calculation unit 94, a second inclination calculation unit 95, a traveling execution unit 96, and a cleaning execution unit 97 as functional blocks. There is.

The first inclination calculation unit 93 determines the inclination of the traveling mechanism 2 in the traveling direction with respect to the two pipes P to be cleaned (hereinafter referred to as “inclination of the traveling mechanism 2”) based on the acquired image of the vision sensor 8. calculate. The first inclination calculation unit 93 performs image processing of the acquired image of the vision sensor 8 to extract the tube P located below the apparatus main body 1 and the traveling mechanism 2. The first inclination calculation unit 93 determines whether or not the inclination of the traveling mechanism 2 is within the predetermined first inclination range based on the extracted pipe P and the traveling mechanism 2.

The position calculation unit 94 calculates the relative position (hereinafter, referred to as “arrangement direction position of the cleaning mechanism 3”) of the cleaning mechanism 3 with respect to the two pipes P to be cleaned. Specifically, the position calculation unit 94 calculates the arrangement direction position of the cleaning mechanism 3 based on the detection distances of the first and second sensors 71a and 71b. In addition, the position calculation unit 94 calculates the arrangement direction position of the cleaning mechanism 3 based on the detection distances of the third and fourth sensors 71c and 71d. Further, the position calculation unit 94 determines whether or not the cleaning mechanism 3 is within a predetermined position range including the center of the two pipes P in the arrangement direction based on the calculated position in the arrangement direction of the cleaning mechanism 3. do. When the cleaning mechanism 3 is within the position range, the cleaning mechanism 3 is inside the gap GV of the two pipes _P in the arrangement direction, and the cleaning mechanism 3 can descend and enter the gap _GV . can.

Specifically, in the position calculation unit 94, the distance difference ΔS (hereinafter referred to as “first distance difference ΔS1”) of the detection distances of the first and second sensors 71a and 71b satisfies the following equation (1). Further, when the distance difference ΔS (hereinafter referred to as “second distance difference ΔS2”) of the detection distances of the third and fourth sensors 71c and 71d satisfies the following equation (2), the cleaning mechanism 3 is in the position range. Judge that it is included.

α1 ≦ ΔS1 ≦ β1 ・ ・ ・ (1)
α2 ≦ ΔS2 ≦ β2 ・ ・ ・ (2)
Here, for example, α1 and α2 are negative values, and β1 and β2 are positive values. That is, the equation (1) means that the first distance difference ΔS1 is within a predetermined range including 0. Similarly, the equation (2) means that the second distance difference ΔS2 is within a predetermined range including 0.

In this example, the first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d have the same arrangement in the arrangement direction with respect to the cleaning mechanism 3, so that α1 and α2 have the same values. , Β1 and β2 are the same value. Further, since the cleaning mechanism 3 is located at the center between the first sensor 71a and the second sensor 71b in the arrangement direction, the absolute values of α1 and β1 are the same. Similarly, since the cleaning mechanism 3 is located at the center between the third sensor 71c and the fourth sensor 71d in the arrangement direction, the absolute values of α2 and β2 are the same. However, the values of α1, β1, α2 and β2 are not limited thereto.

The first distance difference ΔS1 is a parameter related to the arrangement direction position of the cleaning mechanism 3. That is, finding the first distance difference ΔS1 substantially corresponds to finding the position in the arrangement direction of the cleaning mechanism 3. Similarly, the second distance difference ΔS2 is a parameter related to the arrangement direction position of the cleaning mechanism 3. That is, finding the second distance difference ΔS2 substantially corresponds to finding the position in the arrangement direction of the cleaning mechanism 3.

The second inclination calculation unit 95 calculates the inclination of the traveling mechanism 2 in a range that is more detailed than that of the first inclination calculation unit 93. The second inclination calculation unit 95 calculates the inclination of the traveling mechanism 2 based on the detection distances of the first to fourth sensors 71a to 71d. The second inclination calculation unit 95 determines whether or not the inclination of the traveling mechanism 2 is within a predetermined second inclination range including the case where the two pipes P and the traveling direction of the traveling mechanism 2 are parallel to each other. The second inclined range is a range smaller than the first inclined range.

The second inclination calculation unit 95 is based on the arrangement direction position of the cleaning mechanism 3 calculated based on the detection distances of the first and second sensors 71a and 71b and the detection distances of the third and fourth sensors 71c and 71d. The inclination of the traveling mechanism 2 is calculated based on the calculated position in the arrangement direction of the cleaning mechanism 3. Specifically, the second inclination calculation unit 95 calculates the inclination of the traveling mechanism 2 by using the first distance difference ΔS1 and the second distance difference ΔS2.

When the first distance difference ΔS1 and the second distance difference ΔS2 are the same, the second inclination calculation unit 95 determines that the two pipes P and the traveling direction of the traveling mechanism 2 are parallel to each other. When the difference ΔS3 between the first distance difference ΔS1 and the second distance difference ΔS2 (hereinafter referred to as “front-back distance difference ΔS3”) is not 0, the second inclination calculation unit 95 refers to the two pipes P. It is determined that the traveling direction of the traveling mechanism 2 is tilted. The larger the inclination of the traveling mechanism 2, the larger the absolute value of the front-rear distance difference ΔS3. The second inclination calculation unit 95 determines that the inclination of the traveling mechanism 2 is within the second inclination range when the front-rear distance difference ΔS3 satisfies the following equation (3).

γ ≦ ΔS3 ≦ δ ・ ・ ・ (3)
Here, for example, γ is a negative value and δ is a positive value. That is, the equation (3) means that the front-back distance difference ΔS3 is within a predetermined range including 0.

The traveling execution unit 96 calculates the driving force of each of the two crawlers 21 and outputs the calculated driving force to the two crawlers 21. When the traveling mechanism 2 travels straight, the traveling execution unit 96 basically makes the driving force of the two crawlers 21 the same. When turning the traveling mechanism 2, the traveling execution unit 96 makes the driving forces of the two crawlers 21 different. For example, the traveling execution unit 96 sets the output of the crawler 21 located on the inner side in the radial direction to 0 when turning, and sets the output of the crawler 21 located on the outer side in the radial direction to a predetermined value.

The travel execution unit 96 controls the travel mechanism 2 so that the cleaning mechanism 3 falls within the position range and the tilt of the travel mechanism 2 falls within the second tilt range. Specifically, the traveling execution unit 96 first sets the inclination of the traveling mechanism 2 to the first inclination range based on the acquired image of the vision sensor 8 (that is, based on the determination result of the first inclination calculation unit 93). The driving force of the two crawlers 21 is calculated so as to enter, and the driving force is output to the two crawlers 21. Hereinafter, the fact that the inclination of the traveling mechanism 2 falls within the first inclination range is referred to as a "first condition".

When the first condition is satisfied, the traveling execution unit 96 is based on the detection distances of the first to fourth sensors 71a to 71d (that is, based on the determination results of the position calculation unit 94 and the second inclination calculation unit 95). , The driving force of the two crawlers 21 is calculated so that the cleaning mechanism 3 falls within the position range and the tilt of the traveling mechanism 2 falls within the second tilt range, and the driving force is output to the two crawlers 21. .. Hereinafter, the fact that the cleaning mechanism 3 falls within the position range and the tilt of the traveling mechanism 2 falls within the second tilt range is referred to as a "second condition".

The cleaning execution unit 97 executes cleaning control by the cleaning mechanism 3. The cleaning execution unit 97 controls the travel mechanism 2 via the travel execution unit 96 to move the cleaning mechanism 3 to a desired cleaning position on a plurality of pipes P, and lowers and raises the cleaning mechanism 3 at the cleaning position. Clean the pipe P. The cleaning execution unit 97 changes the cleaning position and repeats cleaning by the cleaning mechanism 3.

Hereinafter, the control of the main body controller 9 will be specifically described. FIG. 17 is a flowchart of cleaning control.

First, various settings related to cleaning control (for example, the number of pipes P in the arrangement direction, the pitch of the pipes P in the arrangement direction, the moving distance of the traveling mechanism 2 along the pipe P, and the descent of the cleaning mechanism 3 by the elevating mechanism 14). Distance etc.) is set in the main body controller 9. This setting is made, for example, by the operator via the external controller 98.

Subsequently, the operator places the cleaning device 100 on the pipe P. The operator operates the external controller 98 to move the cleaning device 100 to the cleaning start position. For example, the cleaning start position is such that the two crawler 21s are parallel to the two pipes P, the cleaning mechanism 3 is located at one end of the two pipes P in the U-axis direction, and the cleaning mechanism 3 is located. It is a position located between two tubes P in the arrangement direction of the tubes P (that is, in the V-axis direction).

When the cleaning device 100 moves to the cleaning start position, the operator inputs a cleaning start command via the external controller 98.

When the main body controller 9 receives the command to start cleaning (step St1), the processing unit 91 determines whether or not the second condition is satisfied. Specifically, the traveling execution unit 96 first determines in step St2 whether or not the first condition is satisfied based on the determination result of the first inclination calculation unit 93. If the first condition is not satisfied, the traveling execution unit 96 sets each of the two crawlers 21 so as to satisfy the first condition based on the determination result of the first inclination calculation unit 93 in step St3. The driving force is calculated, and the calculated driving force is output to the two crawlers 21.

After the two crawlers 21 have traveled by the calculated driving force, the traveling execution unit 96 again determines whether or not the first condition is satisfied (step St2). The traveling execution unit 96 repeats steps St2 and St3 until the first condition is satisfied.

When the first condition is satisfied, the traveling execution unit 96 determines in step St4 whether or not the second condition is satisfied based on the determination results of the position calculation unit 94 and the second inclination calculation unit 95. If the second condition is not satisfied, the traveling execution unit 96 sets each of the two crawlers 21 so as to satisfy the second condition based on the determination result of the first inclination calculation unit 93 in step St5. The driving force is calculated, and the calculated driving force is output to the two crawlers 21.

After the two crawlers 21 have traveled by the calculated driving force, the traveling execution unit 96 again determines whether or not the second condition is satisfied (step St4). The traveling execution unit 96 repeats steps St4 and St5 until the second condition is satisfied.

When the second condition is satisfied, the cleaning execution unit 97 rotationally drives the rotary shaft 32 of the cleaning mechanism 3 in step St6, and in this state, the cleaning mechanism 3 is lowered between the two pipes P by the elevating mechanism 14. Let me. The scraper 34 scrapes off the deposits on the surface of the pipe P while changing the spread in the radial direction according to the space in the pipe group Q.

When the cleaning mechanism 3 descends to the set descent distance, the cleaning execution unit 97 raises the cleaning mechanism 3 by the elevating mechanism 14. Even when the cleaning mechanism 3 rises, the scraper 34 contacts the surface of the pipe P while changing the radial spread according to the surface shape of the pipe P, and scrapes off the deposits on the surface of the pipe P. go. That is, the cleaning mechanism 3 cleans the surface of the pipe P with the scraper 34 both when descending and when ascending.

When one round trip of the descent and the ascent of the cleaning mechanism 3 is completed, in step St7, the cleaning execution unit 97 is the other end portion of the two pipes P in the U-axis direction (that is, the end portion where the cleaning is started). It is determined whether or not the end (the end opposite to) has been reached. Whether or not the cleaning mechanism 3 has reached the other ends of the two pipes P is determined based on the moving distance along the pipes P of the traveling mechanism 2 set at the start of the cleaning control. Whether or not the cleaning mechanism 3 has reached the ends of the two pipes P may be determined by using a sensor such as a limit switch.

When the cleaning mechanism 3 does not reach the other end of the two pipes P, in step St8, the cleaning execution unit 97 determines whether or not the second condition is satisfied, and then cleans. It is determined whether or not the number of times of one round trip of the mechanism 3 descent and ascent (hereinafter referred to as "cleaning number") has reached a predetermined number of times.

When the number of descents and ascents of the cleaning mechanism 3 has not reached a predetermined number of times, the cleaning execution unit 97 moves the travel mechanism 2 along the two pipes P via the travel execution unit 96 in step St9. Move by a predetermined amount in the U-axis direction. The predetermined amount corresponds to the dimensions of the three cleaning units 4 in the X-axis direction. After that, the cleaning execution unit 97 lowers and raises the cleaning mechanism 3 again in step St6. As a result, the cleaning mechanism 3 cleans the portion of the pipe P whose position in the U-axis direction is different from that when the cleaning mechanism 3 is lowered and raised.

Thus, when the cleaning execution unit 97 repeats steps St6 to St9, the number of cleanings reaches a predetermined number. When the number of cleanings reaches a predetermined number of times, the traveling execution unit 96 executes the traveling control in steps St2 to St5 again.

That is, it is confirmed whether or not the second condition is satisfied every time the cleaning mechanism 3 makes one round trip of descent and ascent, and a predetermined amount of movement along the two pipes P is performed a predetermined number of times. If the second condition is not satisfied, the arrangement direction position of the cleaning mechanism 3 and the inclination of the traveling mechanism 2 are adjusted so that the second condition is satisfied.

In this way, while the traveling mechanism 2 periodically adjusts the arrangement direction position of the cleaning mechanism 3 and the inclination of the traveling mechanism 2, the position of the cleaning mechanism 3 in the U-axis direction is changed to continue cleaning the pipe P.

Eventually, when the cleaning mechanism 3 reaches the other end of the two pipes P, it is determined as YES in step St7. In that case, in step St10, the cleaning execution unit 97 determines whether or not the cleaning of the gaps of all the pipes P in the arrangement direction is completed. Specifically, the cleaning execution unit 97 determines whether or not the cleaning of the gaps of all the pipes P is completed based on the number of pipes P in the arrangement direction set at the start of the cleaning control.

If the cleaning of the gaps of all the pipes P is not completed, in step St11, the cleaning execution unit 97 moves the cleaning mechanism 3 to the gaps of the adjacent pipes P via the traveling execution unit 96. Specifically, the traveling execution unit 96 turns the two crawlers 21 from a state parallel to the pipe P to a state substantially orthogonal to the two pipes P. Then, the traveling execution unit 96 causes the traveling mechanism 2 to cross the pipe P, and moves the traveling mechanism 2 until the cleaning mechanism 3 is located in the gap next to the gap between the two pipes P for which cleaning has been completed. .. At this time, the traveling execution unit 96 determines whether or not the cleaning mechanism 3 is located in the gap of the adjacent pipe P based on the acquired image of the vision sensor 8. Alternatively, the traveling execution unit 96 may determine the amount of movement of the traveling mechanism 2 based on the pitch of the pipes P in the arrangement direction set at the start of the cleaning control. One of the two new pipes P is one of the two pipes P that has been cleaned first.

When the cleaning mechanism 3 moves to the gap of the adjacent pipe P, the traveling execution unit 96 turns the two crawlers 21 until they are substantially parallel to the pipe P. After turning, the traveling execution unit 96 moves the traveling mechanism 2 so that the cleaning mechanism 3 is located at the end of the two pipes P in the U-axis direction.

When the movement of the cleaning mechanism 3 to the gap of the adjacent pipe P is completed, the traveling execution unit 96 executes the traveling control in steps St2 to St5.

After that, the cleaning execution unit 97 performs the same cleaning as described above in the new gap between the two pipes P by executing the processing after step St6. Also at this time, the travel control by the travel execution unit 96 is periodically executed so that the second condition is satisfied. In this way, the cleaning device 100 cleans the pipes P included in the pipe group Q by repeating the cleaning while changing the two pipes P.

Finally, when the cleaning of the gaps of all the pipes P is completed, the cleaning of the pipe group Q by the cleaning device 100 is completed.

As described above, the cleaning device 100 is provided with the first sensor 71a for detecting the relative distance from the first pipe P1 and the second sensor 71b for detecting the relative distance between the second pipe P2, thereby providing one pipe P. It is possible to obtain the relative position of the cleaning mechanism 3 with respect to the first pipe P1 and the second pipe P2, not the relative position of the cleaning mechanism 3 with respect to the first pipe P1 and the second pipe P2. As a result, the cleaning mechanism 3 can be appropriately arranged between the first pipe P1 and the second pipe P2 in the arrangement direction. As a result, the cleaning mechanism 3 can be appropriately entered into the gap between the first pipe P1 and the second pipe P2.

Here, by adopting the eddy current sensor as the first and second sensors 71a and 71b, the first and second sensors 71a and 71b can be attached to the surface of the tube P even in an environment where dust such as ash is scattered. Can detect the distance to.

Furthermore, deposits such as ash are deposited on the surface of the pipe P on which the traveling mechanism 2 is placed. Therefore, in an optical sensor using a laser or the like, an error is likely to be included in the distance to the surface of the tube P. On the other hand, the eddy current sensor can accurately detect the distance to the surface of the tube P even if the surface of the tube P is covered with deposits.

Further, since the magnetic flux generated from the eddy current sensor has a spread, the eddy current sensor can detect the distance to the tube P existing in a wider range than the optical sensor. In a plurality of tubes P arranged at intervals as described above, it is possible to reduce the situation where the first and second sensors 71a and 71b cannot detect the distance to the tubes P.

Further, the first and second sensors 71a and 71b are arranged so that the first and second sensors 71a and 71b do not simultaneously detect the distances to the tops of the first and second pipes P1 and P2, respectively. For example, when the first and second sensors 71a and 71b detect the distance to the surface of the pipe P vertically downward, the pitch M of the first and second sensors 71a and 71b in the arrangement direction is the arrangement direction. Does not match (that is, deviates) from the pitch N of the first and second pipes P1 and P2 in. As a result, the detection distances S1 and the second sensor 71b of the first sensor 71a are detected according to the change in the relative positions of the first and second sensors 71a and 71b and the first and second pipes P1 and P2 in the arrangement direction. The relative relationship with the distance S2, for example, the first distance difference ΔS1 changes. That is, based on the relative relationship between the detection distance S1 of the first sensor 71a and the detection distance S2 of the second sensor 71b, the first and second sensors 71a and 71b and the first and second tubes P1 and P2 in the arrangement direction. The relative position of can be obtained. Further, depending on the magnitude relationship between the detection distance S1 of the first sensor 71a and the detection distance S2 of the second sensor 71b (that is, the sign of the first distance difference ΔS1), the first and second sensors 71a and 71b are arranged in the arrangement direction. It is possible to determine which side of the first pipe P1 or the second pipe P2 is deviated from the center position.

Further, the cleaning device 100 is further provided with the third and fourth sensors 71c and 71d arranged at different positions in the traveling direction of the traveling mechanism 2 in addition to the first and second sensors 71a and 71b. The inclination of the traveling mechanism 2 can be obtained. As a result, when the cleaning of the pipes P is continued while changing the position of the cleaning mechanism 3 in the direction along the two pipes P due to the traveling of the traveling mechanism 2, the position in the arrangement direction of the cleaning mechanism 3 is out of the appropriate range. You can determine if there is a possibility. That is, by obtaining the inclination of the traveling mechanism 2, it is possible to prevent the position of the cleaning mechanism 3 in the arrangement direction from deviating from an appropriate range in the future.

In addition to that, the cleaning device 100 can accurately determine the inclination of the traveling mechanism 2 by including the vision sensor 8. That is, since the determination of the inclination of the traveling mechanism 2 based on the acquired image of the vision sensor 8 is performed based on the overall image of the two pipes P and the traveling mechanism 2 or the device main body 1, the traveling mechanism is approximate. Suitable for determining the inclination of 2. On the other hand, since the inclination determination of the traveling mechanism 2 based on the detection distances of the first to fourth sensors 71a to 71d is performed based on the relative position of the device main body 1 with respect to the two local pipes P, the detailed traveling mechanism Suitable for determining the inclination of 2. Therefore, the processing unit 91 first determines whether or not the inclination of the traveling mechanism 2 is within the first inclination range based on the acquired image of the vision sensor 8, and the inclination of the traveling mechanism 2 is within the first inclination range. If so, it is determined whether or not the inclination of the traveling mechanism 2 is within the second inclination range smaller than the first inclination range based on the detection distances of the first to fourth sensors 71a to 71d. By doing so, the inclination of the traveling mechanism 2 can be accurately determined.

As described above, the cleaning device 100 descends from the device main body 1, the traveling mechanism 2 provided on the device main body 1 and traveling on a plurality of pipes P arranged in a predetermined arrangement direction, and the device main body 1. A cleaning mechanism 3 that enters between the two pipes P included in the plurality of pipes P to clean the deposits on the surface of the pipes P, and one of the two pipes P provided in the apparatus main body 1. The first sensor 71a for detecting the relative position in the arrangement direction with respect to the first tube P1 which is the tube P of the above, and the arrangement direction of the two tubes P with respect to the second tube P2 which is the other tube P provided in the device main body 1. It is provided with a second sensor 71b for detecting the relative position of the above.

According to this configuration, the relative position of the apparatus main body 1 with respect to the first and second tubes P1 and P2 in the arrangement direction is based on the relative position detected by the first sensor 71a and the relative position detected by the second sensor 71b. Can be asked. Since the cleaning mechanism 3 is provided in the apparatus main body 1, as a result, the relative positions of the cleaning mechanism 3 with respect to the first and second pipes P1 and P2 in the arrangement direction are obtained. In this way, by providing the two sensors of the first sensor 71a and the second sensor 71b, the cleaning mechanism 3 with respect to the first and second pipes P1 and P2 is not the relative position of the cleaning mechanism 3 with respect to one pipe P. The relative position is calculated. Thereby, the cleaning mechanism 3 can be arranged at an appropriate position between the first pipe P1 and the second pipe P2 in the arrangement direction. As a result, the moving accuracy of the traveling mechanism 2 traveling on the pipe P can be improved.

Further, the first sensor 71a detects the distance to the surface of the first tube P1 as a relative position in the arrangement direction with respect to the first tube P1, and the second sensor 71b serves as a relative position in the arrangement direction with respect to the second tube P2. , The distance to the surface of the second pipe P2 is detected.

According to this configuration, the first and second sensors 71a and 71b are distance measuring sensors. Since the first and second sensors 71a and 71b are provided in the device main body 1, if the position of the device main body 1 with respect to the first and second tubes P1 and P2 changes in the arrangement direction, the first sensor with respect to the first tube P1 The relative position of the sensor 71a in the arrangement direction and the relative position of the second sensor 71b with respect to the second tube P2 in the arrangement direction also change. When the relative position of the first sensor 71a in the arrangement direction changes, the distance between the first sensor 71a and the first tube P1 changes, and similarly, when the relative position of the second sensor 71b in the arrangement direction changes, the second sensor The distance between 71b and the second tube P2 also changes. Therefore, based on the detection distance which is the detection result of the first and second sensors 71a and 71b, the relative position of the apparatus main body 1 with respect to the first and second pipes P1 and P2 in the arrangement direction, that is, the arrangement direction of the cleaning mechanism 3. The position can be determined.

Further, the cleaning device 100 obtains the relative position of the cleaning mechanism 3 with respect to the two pipes P in the arrangement direction based on the detection results (that is, the detection distance) by the first and second sensors 71a and 71b (that is, the main body controller 9 (that is, the detection distance). A control unit) is further provided.

According to this configuration, the main body controller 9 obtains the arrangement direction position of the cleaning mechanism 3 based on the detection distances by the first and second sensors 71a and 71b. For example, the main body controller 9 determines whether or not the arrangement direction position of the cleaning mechanism 3 is within a predetermined range based on the detection distances of the first and second sensors 71a and 71b. That is, the user does not need to determine the arrangement direction position of the cleaning mechanism 3 based on the detection distances by the first and second sensors 71a and 71b.

Further, the cleaning device 100 is provided on the device main body 1 at a position where the position of the traveling mechanism 2 in the traveling direction is different from that of the first sensor 71a, and the third sensor 71c for detecting the relative position in the arrangement direction with respect to the first tube P1. The apparatus main body 1 is provided with a position of the traveling mechanism 2 in the traveling direction different from that of the second sensor 71b, and further includes a fourth sensor 71d for detecting a relative position in the arrangement direction with respect to the second tube P2.

According to this configuration, in addition to the first and second sensors 71a and 71b, the third and fourth sensors 71c and 71d are provided. The first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are provided at different positions in the traveling direction of the traveling mechanism 2. Therefore, the positions in the arrangement direction of the cleaning mechanism 3 can be obtained at two locations where the positions of the traveling mechanism 2 in the traveling direction are different. As a result, the position in the arrangement direction of the cleaning mechanism 3 can be accurately obtained.

The main body controller 9 obtains the relative position of the cleaning mechanism 3 with respect to the two pipes P in the arrangement direction based on the detection results by the first, second, third and fourth sensors 71a, 71b, 71c, 71d.

According to this configuration, the accuracy of the arrangement direction position of the cleaning mechanism 3 required by the main body controller 9 is improved.

Further, the main body controller 9 obtains the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction based on the detection results of the first, second, third and fourth sensors 71a, 71b, 71c and 71d.

According to this configuration, the main body controller 9 obtains the inclination of the traveling mechanism 2 in addition to the position in the arrangement direction of the cleaning mechanism 3. As described above, the first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are provided at different positions in the traveling direction of the traveling mechanism 2. Therefore, the traveling mechanism 2 is based on the arrangement direction position of the cleaning mechanism 3 obtained by the first and second sensors 71a and 71b and the arrangement direction position of the cleaning mechanism 3 obtained by the third and fourth sensors 71c and 71d. Can be calculated. If the inclination of the traveling mechanism 2 is known, it is possible to prevent the position of the cleaning mechanism 3 in the arrangement direction from deviating from an appropriate range.

Further, the cleaning device 100 further includes a vision sensor 8 (imaging device) that captures at least one of the traveling mechanism 2 and the device main body 1 mounted on the plurality of tubes P, and the main body controller 9 is a vision sensor. Based on the image acquired by 8, it is determined whether or not the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction is within the predetermined first inclination range, and the first, second, and third Based on the detection results of the fourth sensors 71a, 71b, 71c, and 71d, whether or not the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction is within the second inclination range smaller than the first inclination range. To judge.

According to this configuration, the inclination of the traveling mechanism 2 is determined by two methods. The relatively large inclination of the traveling mechanism 2 is determined based on the image acquired by the vision sensor 8. On the other hand, the inclination of the relatively small traveling mechanism 2 is determined based on the detection distances of the first, second, third and fourth sensors 71a, 71b, 71c, 71d. Since the determination based on the image acquired by the vision sensor 8 is made based on the overall image of the two pipes P and the traveling mechanism 2 or the device main body 1, it is suitable for roughly determining the inclination of the traveling mechanism 2. There is. On the other hand, since the determination based on the detection distances of the first, second, third and fourth sensors 71a, 71b, 71c, 71d is performed based on the relative position of the apparatus main body 1 with respect to the two local tubes P. It is suitable for detailed determination of the inclination of the traveling mechanism 2. By properly using these determinations according to the magnitude of the inclination of the traveling mechanism 2, the inclination of the traveling mechanism 2 can be accurately determined.

Further, the main body controller 9 controls the traveling mechanism 2 based on the detection results of the first and second sensors 71a and 71b so that the cleaning mechanism 3 falls within a predetermined position range in the arrangement direction.

According to this configuration, the main body controller 9 controls the traveling mechanism 2 based on the detection distances of the first and second sensors 71a and 71b. As a result, the position of the cleaning mechanism 3 in the arrangement direction is adjusted so that the cleaning mechanism 3 falls within a predetermined range in the arrangement direction.

The cleaning device 100 is provided on the device main body 1 at a position where the position of the traveling mechanism 2 in the traveling direction is different from that of the first sensor 71a. The apparatus main body 1 is provided at a position where the position of 2 in the traveling direction is different from that of the second sensor 71b, and further includes a fourth sensor 71d for detecting a relative position in the arrangement direction with respect to the second tube P2, and the main body controller 9 is arranged. The traveling mechanism 2 is controlled based on the detection results of the first, second, third and fourth sensors 71a, 71b, 71c and 71d so that the cleaning mechanism 3 falls within a predetermined position range in the direction.

According to this configuration, in addition to the first and second sensors 71a and 71b, the third and fourth sensors 71c and 71d are provided. The first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are provided at different positions in the traveling direction of the traveling mechanism 2. Therefore, it is possible to determine the arrangement direction position of the cleaning mechanism 3 at different positions in the traveling direction of the traveling mechanism 2. As a result, the arrangement direction position of the cleaning mechanism 3 is accurately adjusted.

Further, the cleaning device 100 is provided on the device main body 1 at a position where the position of the traveling mechanism 2 in the traveling direction is different from that of the first sensor 71a, and the third sensor 71c for detecting the relative position in the arrangement direction with respect to the first tube P1. The main body 1 is provided with a position of the traveling mechanism 2 in the traveling direction different from that of the second sensor 71b, and further includes a fourth sensor 71d for detecting a relative position in the arrangement direction with respect to the second tube P2, and the main body controller 9 is provided. , The traveling mechanism 2 is controlled based on the detection results of the first, second, third and fourth sensors 71a, 71b, 71c, 71d to adjust the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction. do.

According to this configuration, the main body controller 9 adjusts the inclination of the traveling mechanism 2 in addition to the arrangement direction position of the cleaning mechanism 3. As described above, the first and second sensors 71a and 71b and the third and fourth sensors 71c and 71d are provided at different positions in the traveling direction of the traveling mechanism 2. Therefore, the traveling mechanism 2 is based on the arrangement direction position of the cleaning mechanism 3 obtained by the first and second sensors 71a and 71b and the arrangement direction position of the cleaning mechanism 3 obtained by the third and fourth sensors 71c and 71d. Can be calculated. If the inclination of the traveling mechanism 2 is known, it is possible to prevent the position of the cleaning mechanism 3 in the arrangement direction from deviating from an appropriate range.

Further, the cleaning device 100 further includes a traveling mechanism 2 mounted on a plurality of tubes P and a vision sensor 8 for capturing at least one of the device main body 1, and the main body controller 9 is a cleaning mechanism 3 in the arrangement direction. Controls the traveling mechanism 2 based on the detection results of the first, second, third and fourth sensors 71a, 71b, 71c, 71d so that The traveling mechanism 2 is controlled based on the image acquired by the vision sensor 8 so that the inclination of the traveling direction of 2 falls within the predetermined first inclination range, and the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction. Controls the traveling mechanism 2 based on the detection results of the first, second, third and fourth sensors 71a, 71b, 71c and 71d so as to enter the second inclination range smaller than the first inclination range.

According to this configuration, in addition to the detection distances of the first and second sensors 71a and 71b, the cleaning mechanism 3 is set in a predetermined position range in the arrangement direction based on the detection distances of the third and fourth sensors 71c and 71d. The traveling mechanism 2 is controlled so as to enter. That is, the traveling mechanism 2 is controlled based on the arrangement direction position of the cleaning mechanism 3 at different positions in the traveling direction of the traveling mechanism 2. As a result, the arrangement direction position of the cleaning mechanism 3 is accurately adjusted. In addition, the tilt of the traveling mechanism 2 is adjusted in two ways. The relatively large inclination of the traveling mechanism 2 is adjusted based on the image acquired by the vision sensor 8. On the other hand, the inclination of the relatively small traveling mechanism 2 is adjusted based on the detection distances of the first, second, third and fourth sensors 71a, 71b, 71c, 71d. Since the adjustment based on the image acquired by the vision sensor 8 is performed based on the overall image of the two pipes P and the traveling mechanism 2 or the device main body 1, it is suitable for roughly adjusting the inclination of the traveling mechanism 2. There is. On the other hand, the adjustment based on the detection distances of the first, second, third and fourth sensors 71a, 71b, 71c, 71d is performed based on the relative position of the apparatus main body 1 with respect to the two local tubes P. , Suitable for detailed tilt adjustment of the traveling mechanism 2. By properly using these adjustments according to the magnitude of the inclination of the traveling mechanism 2, the inclination of the traveling mechanism 2 can be accurately adjusted.

Further, the first, second, third and fourth sensors 71a, 71b, 71c and 71d are eddy current sensors that detect the eddy current generated in the pipe P.

According to this configuration, the distance to the surface of the pipe P can be accurately detected even in an environment where dust such as ash flies, or in a situation where the surface of the pipe P is covered with deposits. Can be done.

Next, a modified example of the cleaning device 100 will be described.

<Modification example 1>
For example, the processing unit 91 may obtain the driving force of the two crawlers 21 by using the traveling model stored in the storage unit 92. Specifically, the traveling model satisfies the second condition when the inclination of the traveling mechanism 2 obtained based on the acquired image of the vision sensor 8 and the detection distances of the first to fourth sensors 71a to 71d are input. The driving force of the two crawlers 21 is output. For example, the traveling model is generated in advance by machine learning or the like and stored in the storage unit 92.

FIG. 18 is a flowchart of cleaning control according to the first modification. In the modified example, the travel execution unit 96 executes travel control in step St12 instead of steps St2 to St5 in the flowchart of FIG. Specifically, the first inclination calculation unit 93 calculates the inclination of the traveling mechanism 2 based on the acquired image of the vision sensor 8. The travel execution unit 96 reads the travel model from the storage unit 92, and inputs the detection distances of the first to fourth sensors 71a to 71d and the inclination of the travel mechanism 2 calculated by the first inclination calculation unit 93 into the travel model. By doing so, the driving force of the two crawlers 21 is obtained. The traveling execution unit 96 outputs the obtained driving force to the two crawlers 21. When the second condition is satisfied, the traveling model does not output the driving force of the two crawlers 21. In that case, the traveling execution unit 96 does not adjust the position in the arrangement direction of the cleaning mechanism 3 and the inclination of the traveling mechanism 2 by the traveling control. Substantially, the traveling model determines whether or not the second condition is satisfied. Other steps are the same as the flowchart of FIG. The position calculation unit 94 and the second inclination calculation unit 95 are omitted.

By using such a traveling model, the driving force of the two crawlers 21 can be directly obtained from the detection distances of the first to fourth sensors 71a to 71d and the inclination of the traveling mechanism 2 calculated by the first inclination calculation unit 93. Can be asked.

The derivation of the driving force of the two crawlers 21 by the processing unit 91 is not limited to the method using the traveling model. For example, the processing unit 91 may obtain the driving force of the two crawlers 21 by fuzzy control (fuzzy inference). The storage unit 92 stores a membership function related to fuzzy control. The membership function may be user adjustable. For example, the processing unit 91 inputs two crawlers 21 by fuzzy inference, using the inclination of the traveling mechanism 2 obtained based on the acquired image of the vision sensor 8 and the detection distances of the first to fourth sensors 71a to 71d as inputs. Outputs the driving force of. The input may be the inclination of the traveling mechanism 2 obtained based on the acquired image of the vision sensor 8, the first distance difference ΔS1, the second distance difference ΔS2, the front-rear distance difference ΔS3, and the like.

<Modification 2>
The traveling mechanism 2 may have another set of crawlers in addition to the above-mentioned two crawlers 21. FIG. 19 is a side view of the cleaning device 100 according to the modified example 2.

The traveling mechanism 2 of the cleaning device 100 according to the modification 2 further has two second crawlers 22. Hereinafter, for convenience of explanation, the crawler 21 will be referred to as a “first crawler 21”.

The traveling direction of the second crawler 22 is orthogonal to the traveling direction of the first crawler 21. Specifically, the second crawler 22 is configured to travel in the Y-axis direction. One second crawler 22 is arranged at one end of the base 11 in the X-axis direction. The other second crawler 22 is arranged at the other end of the base 11 in the X-axis direction.

The second crawler 22 is configured to be able to move up and down with respect to the base 11. Specifically, the second crawler 22 is between the retracted position above the first crawler 21 (two-dot chain line in FIG. 19) and the traveling position below the first crawler 21 (solid line in FIG. 19). It is configured to be able to move up and down. That is, when the device main body 1 moves in the X-axis direction (that is, moves along the tube P), the second crawler 22 is located at the retracted position and is not in contact with the tube P, and the first crawler 22 is not in contact with the tube P. The crawler 21 is in contact with the pipe P. The traveling mechanism 2 travels in the X-axis direction by the first crawler 21. On the other hand, when the apparatus main body 1 moves in the Y-axis direction (that is, crosses the pipe P), the second crawler 22 is located at the traveling position and is in contact with the pipe P, and the first crawler 21 is in contact with the pipe P. Not in contact. The traveling mechanism 2 travels in the Y-axis direction by the second crawler 22.

According to this configuration, even when the apparatus main body 1 crosses the tube P via the second crawler 22, the first and second sensors 71a and 71b are arranged so that the positions of the tubes P in the arrangement direction are different from each other. Will be done. That is, when the apparatus main body 1 crosses the pipe P, it is determined whether or not the cleaning mechanism 3 has entered the gap of the new pipe P in the arrangement direction based on the detection distances of the first and second sensors 71a and 71b. be able to.

<< Embodiment 2 >>
Subsequently, the cleaning device 200 according to the second embodiment will be described. FIG. 20 is a side view of the cleaning device 200.

The cleaning device 200 mainly differs from the cleaning mechanism 3 and the elevating mechanism 14 of the cleaning device 100 in the configurations of the cleaning mechanism 203 and the elevating mechanism 214. Hereinafter, the configuration of the cleaning device 200 different from that of the cleaning device 100 will be mainly described. Of the cleaning devices 200, the same configurations as those of the cleaning device 100 are designated by the same reference numerals, and the description thereof will be omitted.

The cleaning device 200 is placed on a plurality of pipes P arranged in a predetermined arrangement direction in the horizontal direction. The cleaning device 200 includes a device main body 201, a traveling mechanism 2 provided on the device main body 201 and traveling on the pipe P included in the pipe group Q, and a plurality of cleaning devices 200 descending from the device main body 201 and arranged in the horizontal direction. The cleaning mechanism 203 that enters the pipe group Q through the gap between the two pipes P included in the pipe P and cleans the deposits on the surface of the pipe P, and the two pipes P provided in the apparatus main body 201. The first sensor 71a for detecting the relative position in the arrangement direction with respect to one tube P and the second sensor 71b provided in the apparatus main body 1 for detecting the relative position in the arrangement direction with respect to the other tube P of the two tubes P. And have. The cleaning device 200 may further include a main body controller 9 that controls the cleaning device 200. The cleaning device 200 is provided on the device main body 1 at a position where the position of the traveling mechanism 2 in the traveling direction is different from that of the first sensor 71a, and the traveling mechanism is provided with a third sensor 71c for detecting a relative position in the arrangement direction with respect to one of the pipes P. The apparatus main body 1 may be provided at a position where the position of 2 in the traveling direction is different from that of the second sensor 71b, and may further include a fourth sensor 71d for detecting a relative position in the arrangement direction with respect to the other tube P. The cleaning device 200 may further include a vision sensor 8 that captures at least one of the device main body 201 and the traveling mechanism 2 mounted on a plurality of pipes P. In FIG. 20, the second sensor 71b and the fourth sensor 71d are not shown.

The cleaning device 200 lowers and raises the cleaning mechanism 203 in the gap between two pipes P among the plurality of pipes P on which the traveling mechanism 2 is mounted by the elevating mechanism 214, and lowers and raises the two pipes P and below them. Clean the deposits adhering to the pipes P lined up in.

As in the case of the cleaning device 100, for convenience of explanation, the X-axis, the Y-axis, and the Z-axis that are orthogonal to each other with respect to the cleaning device 200 are defined. Specifically, the X-axis is set in the traveling direction of the cleaning device 200 (that is, the traveling direction of the traveling mechanism 2), and the Z-axis is set in the vertical direction of the cleaning device 200 (that is, the elevating direction of the elevating mechanism 214). , The Y-axis is set in the width direction of the cleaning device 200 (that is, the direction orthogonal to both the traveling direction and the vertical direction).

The device main body 201 has a flat plate-shaped base 211 extending on an XY plane, and a frame 212 provided on the base 211 and supporting the elevating mechanism 214. An opening (not shown) penetrating the base 211 is formed substantially in the center of the base 211.

The traveling mechanism 2 is attached to the lower surface of the base 211. The configuration of the traveling mechanism 2 of the cleaning device 200 is substantially the same as the configuration of the traveling mechanism 2 of the cleaning device 100.

The cleaning mechanism 203 has a nozzle 204 for injecting a liquid and a supply unit for supplying the liquid to the nozzle. The nozzle 204 is configured to remove deposits on the surface of the tube P by injecting a fluid. In this example, the liquid to be sprayed is water.

The nozzle 204 has a nozzle body 241 and a plurality of nozzles 242. The nozzle body 241 is formed in a columnar shape having an axial center H extending in the Z-axis direction. The plurality of nozzles 242 are arranged symmetrically with respect to the ZX plane. More specifically, the plurality of nozzles 242 are arranged at equal intervals in the circumferential direction about the axis H in the nozzle body 241. From the nozzle 242, the liquid is ejected in the radial direction about the axis H. That is, the liquid is ejected radially from the nozzle 204 around the axis H. Further, the shape of the nozzle 204 when viewed in the Z-axis direction (that is, the elevating direction of the nozzle 204) is the distance GV in the _V -axis direction of the two pipes P on which the cleaning device 200 is placed (FIGS. 2 and 2). 3) is within the circle whose diameter is. The nozzle 204 is an example of a cleaning unit.

The supply unit has a liquid supply source provided outside the cleaning device 200, and a hose 251 connecting the supply source and the nozzle 204.

The elevating mechanism 214 is a so-called pantograph. The elevating mechanism 214 has a plurality of links 215 constituting the pantograph. Specifically, two links 215 in which the central portions in the longitudinal direction are rotatably connected in an intersecting state are set as one set, and the two links in the longitudinal direction end of one set of two links 215 are two links in another set. It is rotatably connected to each of the longitudinal ends of the 215. A relatively short link 215 is rotatably connected to each of the lowermost set of two links 215 at one end in the longitudinal direction (the end to which another set of links is not connected). A nozzle 204 (specifically, a nozzle body 241) is connected to these short links 215. The elevating mechanism 214 also functions as a support portion for supporting the nozzle 204 in the cleaning mechanism 203.

One end in the longitudinal direction of the two links 215 of the top set (the end to which another set of links is not connected) is connected to the frame 212. The frame 212 has a pair of vertical frames 212a extending in the Z-axis direction from the base 211, and a horizontal frame 212b connected to the upper ends of the pair of vertical frames 212a and extending in the X-axis direction. One of the uppermost sets of links 215 (hereinafter referred to as "first link 215A") is connected to the horizontal frame 212b in a state of being rotatable and non-sliding in the X-axis direction. The other link 215 of the uppermost set (hereinafter referred to as "second link 215B") is connected to the horizontal frame 212b in a state of being rotatable and slidable in the X-axis direction (see the arrow in FIG. 20). ).

The second link 215B is moved in the X-axis direction along the horizontal frame 212b by the drive unit (not shown). When the longitudinal end of the second link 215B is moved away from the longitudinal end of the first link 215A, the Z-axis dimension of the entire pantograph shrinks, resulting in the nozzle 204 rising. On the other hand, when the one end portion in the longitudinal direction of the second link 215B is moved toward the one end portion in the longitudinal direction of the first link 215A, the Z-axis direction dimension of the entire pantograph becomes large, and as a result, the nozzle 204 is lowered.

The dimension of the elevating mechanism 214 in the _Y -axis direction is smaller than the distance GV of the two pipes _P , while the dimension of the elevating mechanism 214 in the X-axis direction is larger than the distance GV of the two pipes P. When the X-axis direction of the cleaning device 200 and the U-axis direction of the pipe group Q coincide with each other, the elevating mechanism 214 can enter between the two pipes P.

Next, the operation of the cleaning device 200 will be described. FIG. 21 is a view of the state in which the cleaning mechanism 203 is cleaning the pipe P as viewed in the Y-axis direction.

The cleaning device 200 cleans the two pipes P and the pipes P arranged below the two pipes P by lowering and raising the cleaning mechanism 203 between the two pipes P. Cleaning is started from a state in which the two crawlers 21 are placed on the two pipes P in a state parallel to the pipes P and the nozzle 204 is located between the two pipes P in the V-axis direction.

The nozzle 204 is lowered between the two pipes P by the elevating mechanism 214. At this time, the liquid is ejected from the nozzle 204. The sprayed liquid removes deposits on the surface of the tube P. Since the nozzle 204 injects the liquid in the direction intersecting the Z axis, the liquid is ejected between the plurality of tubes P arranged along the traveling direction of the nozzle 204 (that is, arranged in the W axis direction). By spraying, the deposits existing between the plurality of tubes P are removed, and the deposits on the surface of the plurality of tubes P are removed. As a result, the nozzle 204 is not only in the portion of the surface of the tube P facing the space through which the nozzle 204 passes, but also in the direction intersecting the traveling direction of the nozzle 204 (for example, the V-axis direction) from the space. It also removes deposits attached to distant parts (that is, deep parts). Since the nozzle 204 injects the liquid radially around the axis H, the deposits on the tubes P on both sides of the nozzle 204 are removed in the V-axis direction.

In this way, the nozzle 204 passes by the side of the tube P in the W-axis direction to remove the deposits on the substantially half circumference of the surface of the tube P.

When the nozzle 204 descends until it passes through the lowermost pipe P among the pipes P to be cleaned, it is raised by the elevating mechanism 214. Even when the nozzle 204 rises, the nozzle 204 injects a liquid into the pipe P to scrape off the deposits on the pipe P. That is, the nozzle 204 cleans the surface of the tube P both when descending and when ascending.

When the vertical reciprocation of the nozzle 204 is completed, the cleaning device 200 moves along the two pipes P in the U-axis direction by a predetermined amount. After that, the nozzle 204 again performs descent and ascent. That is, the nozzle 204 cleans the portion of the pipe P whose U-axis direction position is different from that of the previous nozzle 204 when the nozzle 204 is lowered and raised.

Similar to the cleaning device 100, the cleaning device 200 repeatedly lowers and raises the nozzle 204 while changing the position in the U-axis direction, and the cleaning device 200 is mounted on the two pipes P in the U-axis direction. The movement from one end to the other end is completed. Subsequently, the cleaning device 200 moves in the V-axis direction, arranges the nozzle 204 between two different pipes P, and applies the same to the new two pipes P and the pipe P below the new pipe P as described above. Clean it. In this way, the cleaning device 200 cleans the pipes P included in the pipe group Q by repeating the above-mentioned cleaning while changing the two pipes P on which the cleaning device 200 is placed.

In the cleaning device 200 configured as described above, the first to fourth sensors 71a to 71d are arranged in the same manner as the cleaning device 100. The cleaning device 200 is provided with a first sensor 71a for detecting the relative distance to the first pipe P1 and a second sensor 71b for detecting the relative distance to the second pipe P2, whereby the cleaning mechanism 203 for one pipe P is provided. The relative position of the cleaning mechanism 203 with respect to the first pipe P1 and the second pipe P2 can be obtained instead of the relative position of. As a result, the cleaning mechanism 203 can be appropriately arranged between the first pipe P1 and the second pipe P2 in the arrangement direction. As a result, the cleaning mechanism 203 can be appropriately entered into the gap between the first pipe P1 and the second pipe P2. In addition, the cleaning device 200 is the same as the cleaning device 100 with respect to the relative position of the cleaning mechanism 203 with respect to the first pipe P1 and the second pipe P2 in the arrangement direction and the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction. It plays the action effect of.

As described above, the cleaning device 200 includes the device main body 201 and the traveling mechanism 2 provided in the device main body 201 and traveling on a plurality of pipes P included in the pipe group Q and arranged in a predetermined arrangement direction. , The cleaning mechanism 203 that descends from the device main body 1 and enters the tube group Q through the gaps between the two pipes P included in the plurality of pipes P to clean the deposits on the surface of the pipes P, and the device main body. The first sensor 71a provided in 201 to detect the relative position in the arrangement direction with respect to the first tube P1 which is one tube P of the two tubes P, and the other of the two tubes P provided in the apparatus main body 201. It is provided with a second sensor 71b for detecting a relative position in the arrangement direction with respect to the second tube P2 which is the tube P of the above.

According to this configuration, the relative position of the apparatus main body 201 with respect to the first and second tubes P1 and P2 in the arrangement direction is based on the relative position detected by the first sensor 71a and the relative position detected by the second sensor 71b. Can be asked. Since the cleaning mechanism 203 is provided in the apparatus main body 201, as a result, the relative positions of the cleaning mechanism 203 with respect to the first and second pipes P1 and P2 in the arrangement direction are obtained. In this way, by providing the two sensors of the first sensor 71a and the second sensor 71b, the cleaning mechanism 203 with respect to the first and second pipes P1 and P2 is not the relative position of the cleaning mechanism 203 with respect to one pipe P. The relative position is calculated. Thereby, the cleaning mechanism 203 can be arranged at an appropriate position between the first pipe P1 and the second pipe P2 in the arrangement direction. As a result, the moving accuracy of the traveling mechanism 2 traveling on the pipe P can be improved.

<< Other Embodiments >>
As described above, the above-described embodiment has been described as an example of the technology disclosed in the present application. However, the technique in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, etc. are made as appropriate. It is also possible to combine the components described in the above embodiment to form a new embodiment. In addition, among the components described in the attached drawings and detailed explanations, not only the components essential for problem solving but also the components not essential for problem solving in order to exemplify the above-mentioned technology. Can also be included. Therefore, the fact that those non-essential components are described in the accompanying drawings or detailed description should not immediately determine that those non-essential components are essential.

For example, the configuration of the traveling mechanism 2 or the elevating mechanism 14, 214 is not limited to the above-mentioned configuration. For example, the traveling mechanism 2 may be a wheel instead of a crawler. The elevating mechanism 14 may be a rack and pinion or a pantograph instead of a winch. The elevating mechanism 214 may be a winch or a rack and pinion instead of a pantograph.

The number of cleaning units 4 provided in the cleaning mechanism 3 is not limited to three. The number of cleaning units 4 may be one, two, or four or more. The position of each cleaning unit 4 in the elevating direction of the cleaning mechanism 3, that is, in the Z-axis direction is not limited to the above-mentioned position. For example, the positions of the three cleaning units 4 in the Z-axis direction may be the same. Alternatively, the positions of the three cleaning units 4 in the Z-axis direction may all be different.

The configuration of the cleaning unit 4 is not limited to the above configuration. For example, the number of scrapers 34 included in the cleaning unit 4 is not limited to three, and may be one, two, or four or more. The cleaning unit 4 may not have the disk 35 or the excavation section 36. The cleaning unit 4 described above is provided with a plurality of scrapers 34 in each of the three gaps formed by the four discs 35. That is, three sets of scrapers 34 are provided. However, the number of sets of the scraper 34 may be one set, two sets, or four sets or more.

The shape of the scraper 34 may be, for example, a straight line instead of an arc shape. The scraper 34 may have a sliding configuration instead of a swinging configuration. For example, the scraper 34 may have an elongated hole formed therein, and the scraper 34 may be connected to the pin so that the pin provided between the two discs 35 is inserted into the elongated hole. In this configuration, the scraper 34 is slidable with respect to the pin so that the pin moves relatively in the elongated hole. If the scraper 34 is slidable, when the centrifugal force of the rotating shaft 32 acts on the scraper 34, the scraper 34 slides according to the centrifugal force and expands outward in the radial direction.

The cleaning mechanism 3 is provided with the guide 5, but the guide 5 may not be provided. The configuration of the guide 5 is not limited to the above-mentioned configuration. The guide 5 does not have to have the link 6. For example, the blade 51 may be slidably connected to the frame 31 and may be urged outward in the Y-axis direction by a spring or the like.

The configuration of the nozzle 204 is not limited to the above configuration. The number and arrangement of the nozzles 242 can be arbitrarily set. Further, the cleaning mechanism 203 may have a plurality of nozzles 204. When a plurality of nozzles 204 are provided, the positions of the plurality of nozzles 204 in the Z-axis direction do not have to match. In that case, similarly to the cleaning device 100, when the traveling mechanism 2 travels along the two pipes P, a plurality of nozzles 204 have entered between the two pipes P, and the traveling mechanism 2 turns. At this time, only the nozzle 204 located at the lowermost position may enter between the two pipes P.

Further, the substance sprayed from the nozzle 204 of the cleaning mechanism 203 is not limited to the liquid. For example, the nozzle 204 may inject a gas such as air or particles suitable for cleaning the tube P. Here, the "grain" also includes fine particles such as powder. For example, a "granular material" is a tiny sphere such as metal or ceramic.

The number of sensors 71 is not limited to four. For example, the third and fourth sensors 71c, 71d may be omitted. Alternatively, two more sensors 71 may be provided.

The sensor 71 is not limited to the eddy current sensor. It may be an optical sensor using a laser or the like or an ultrasonic sensor using ultrasonic waves.

The arrangement of the two sensors 71 (first and second sensors 71a, 71b or the third and fourth sensors 71c, 71d) having different positions in the arrangement direction is not limited to the above-mentioned arrangement. For example, the pitch M in the arrangement direction of the two sensors 71 may be larger than the pitch N in the arrangement direction of the two tubes P. Even with such a configuration, the detection distance S1 of the first sensor 71a and the detection distance S1 according to the change in the relative position between the first and second sensors 71a and 71b and the first and second tubes P1 and P2 in the arrangement direction. The relative relationship of the second sensor 71b with the detection distance S2, for example, the first distance difference ΔS1 changes.

The orientation of the sensor 71 is not limited to vertically downward. The sensor 71 may be arranged so as to face diagonally downward.

The two sensors 71 having different positions in the arrangement direction may have different positions in the traveling direction.

The vision sensor 8 may be omitted. The cleaning devices 100 and 200 do not have to adjust the inclination of the traveling mechanism 2. Although it is not possible to prevent the cleaning mechanism 3 from being out of the position range, the arrangement direction position of the cleaning mechanism 3 is adjusted based on the detection distances of the first and second sensors 71a and 71b. By doing so, the cleaning mechanism 3 can be appropriately entered into the gap between the two pipes P. However, by providing the two sensors 71 having different positions in the arrangement direction at a plurality of locations having different positions in the traveling direction, the inclination of the traveling mechanism 2 can be obtained based on the detection distance of the sensors 71. In that case, the cleaning devices 100 and 200 adjust the inclination of the traveling mechanism 2.

Further, instead of the combination of the four sensors 71 and the vision sensor 8, the combination of the two sensors 71 (for example, the first and second sensors 71a and 71b) and the vision sensor 8 may be used. In this case, the arrangement direction position of the cleaning mechanism 3 is determined based on the detection distances of the two sensors 71, and the inclination of the traveling mechanism 2 is determined based on the acquired image of the vision sensor 8.

Further, the first condition and the second condition can be set arbitrarily. For example, the first condition and the second condition are conditions set in stages, and the second condition is a stricter condition than the first condition. Alternatively, the first condition is a condition determined based on the detection result of the vision sensor 8, and the second condition is a condition determined based on the detection results of the first to fourth sensors 71a to 71d.

Before determining the second condition, it may be determined whether or not all of the first to fourth sensors 71a to 71d can detect the distance to the pipe P. If any of the first to fourth sensors 71a to 71d cannot detect the distance to the pipe P, it cannot be determined whether or not the second condition is satisfied. Whether or not all of the first to fourth sensors 71a to 71d detect the distance to the pipe P is determined by the appropriate range of the detection results of the first to fourth sensors 71a to 71d (that is, the sensor 71). The position of the traveling mechanism 2 or the cleaning mechanism 3 that is within the output range when the distance to the pipe P can be detected) or is determined based on the acquired image of the vision sensor 8 is located on the two pipes P. On the other hand, it can be determined by whether or not it is within an appropriate position range (that is, a position range in which the first to fourth sensors 71a to 71d can detect the distance to the pipe P). When any of the first to fourth sensors 71a to 71d cannot detect the distance to the pipe P, the processing unit 91 determines the traveling mechanism 2 or cleaning based on the acquired image of the vision sensor 8. The position of the cleaning mechanism 3 may be adjusted by calculating the driving force of the two crawlers 21 so that the position of the mechanism 3 falls within an appropriate position range with respect to the two pipes P. Alternatively, the main body controller 9 may issue an alarm to urge the user to manually adjust the position of the cleaning mechanism 3.

The timing for adjusting the driving force of the traveling mechanism 2 so that the first condition and the second condition are satisfied is when a predetermined amount of movement along the two pipes P is performed a predetermined number of times (that is, in step St8). Judgment) is not limited. For example, in parallel with the movement of the traveling mechanism 2, it is monitored whether the first condition and the second condition are satisfied, and the driving force of the traveling mechanism 2 is adjusted so that the first condition and the second condition are satisfied. You may.

The main body controller 9 controls the traveling mechanism 2 so that the first condition and the second condition are satisfied, but the present invention is not limited to this. The main body controller 9 does not have to control the traveling mechanism 2 only by obtaining the relative position of the cleaning mechanism 3 with respect to the two pipes P in the arrangement direction. For example, the main body controller 9 is in the arrangement direction based on the detection distance by the first and second sensors 71a, 71b or the detection distance by the first, second, third and fourth sensors 71a, 71b, 71c, 71d. The relative position of the cleaning mechanism 3 with respect to the two pipes P is obtained, and the traveling mechanism 2 with respect to the two pipes P is based on the detection results by the first, second, third and fourth sensors 71a, 71b, 71c, 71d. Even if the inclination of the traveling direction is obtained, or the inclination of the traveling mechanism 2 with respect to the two pipes P is obtained based on the image acquired by the vision sensor 8, and the obtained result is output (for example, displayed). good. Alternatively, the main body controller 9 determines whether or not the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction is within the first inclination range based on the image acquired by the vision sensor 8, and also determines whether or not the inclination is within the first inclination range. , It is determined whether or not the inclination of the traveling mechanism 2 with respect to the two pipes P in the traveling direction is within the second inclination range based on the detection results of the second, third and fourth sensors 71a, 71b, 71c, 71d. You may. The operator may operate the external controller 98 to control the traveling mechanism 2 based on the result obtained by the main body controller 9 or the determined result.

The tube P is not limited to a circular tube. When the sensor 71 is a vortex current sensor, even if it is a square tube, the size of the portion of the tube P that exists in the detection range of the sensor 71 according to the relative position between the sensor 71 and the tube P in the arrangement direction. Since the current changes, the sensor 71 can detect the relative position in the arrangement direction with respect to the tube P. Even if the sensor 71 is not a vortex current sensor (that is, even if the sensor 71 is an optical sensor or the like), the distance from the surface of the tube to the traveling surface of the traveling mechanism 2 depends on the position in the arrangement direction. In the case of a tube having a changing shape, the distance from the sensor 71 to the surface of the tube P changes according to the relative position between the sensor 71 and the tube P in the arrangement direction. Therefore, the sensor 71 can detect the relative position in the arrangement direction with respect to the tube P.

100,200 Cleaning device 1,201 Device main body 2 Traveling mechanism 3,203 Cleaning mechanism 71a 1st sensor 71b 2nd sensor 71c 3rd sensor 71d 4th sensor 9 Main body controller (control unit)
P tube Q tube group

Claims (13)

1. With the main body of the device
   A traveling mechanism provided on the main body of the device and traveling on a plurality of pipes arranged in a predetermined arrangement direction,
   A cleaning mechanism that descends from the main body of the device and enters between the two pipes contained in the plurality of pipes to clean the deposits on the surface of the pipes.
   A first sensor provided in the main body of the apparatus and detecting a relative position in the arrangement direction with respect to one of the two tubes,
   A cleaning device provided in the main body of the device and provided with a second sensor for detecting a relative position in the arrangement direction of the two pipes with respect to the other pipe.
2. In the cleaning device according to claim 1,
   The first sensor detects the distance to the surface of the one tube as a relative position in the arrangement direction with respect to the one tube.
   The second sensor is a cleaning device that detects the distance to the surface of the other tube as a relative position in the arrangement direction with respect to the other tube.
3. In the cleaning device according to claim 1 or 2.
   A cleaning device further comprising a control unit for determining the relative position of the cleaning mechanism with respect to the two pipes in the arrangement direction based on the detection results by the first and second sensors.
4. In the cleaning device according to claim 3,
   A third sensor, which is provided on the main body of the apparatus at a position different from that of the first sensor in the traveling direction of the traveling mechanism and detects a relative position in the arrangement direction with respect to the one tube.
   A cleaning device further provided with a fourth sensor provided on the main body of the apparatus at a position different from the second sensor in the traveling direction of the traveling mechanism and detecting a relative position in the arrangement direction with respect to the other pipe.
5. In the cleaning device according to claim 4,
   The control unit is a cleaning device that determines the relative position of the cleaning mechanism with respect to the two pipes in the arrangement direction based on the detection results of the first, second, third, and fourth sensors.
6. In the cleaning device according to claim 4 or 5.
   The control unit is a cleaning device that obtains the inclination of the traveling mechanism in the traveling direction with respect to the two pipes based on the detection results of the first, second, third, and fourth sensors.
7. In the cleaning device according to claim 6,
   Further provided with an image pickup device that captures at least one of the traveling mechanism and the device body in a state of being mounted on the plurality of tubes.
   Based on the image acquired by the image pickup apparatus, the control unit determines whether or not the inclination of the traveling mechanism with respect to the two tubes in the traveling direction is within a predetermined first inclination range, and the control unit determines whether or not the inclination is within a predetermined first inclination range. Whether the inclination of the traveling mechanism with respect to the two pipes in the traveling direction is within the second inclination range smaller than the first inclination range based on the detection results by the first, second, third and fourth sensors. A cleaning device that determines whether or not.
8. In the cleaning device according to claim 3,
   The control unit is a cleaning device that controls the traveling mechanism based on the detection results of the first and second sensors so that the cleaning mechanism falls within a predetermined position range in the arrangement direction.
9. In the cleaning device according to claim 8,
   A third sensor, which is provided on the main body of the apparatus at a position different from that of the first sensor in the traveling direction of the traveling mechanism and detects a relative position in the arrangement direction with respect to the one tube.
   The apparatus main body is provided with a position of the traveling mechanism in the traveling direction different from that of the second sensor, and further includes a fourth sensor for detecting a relative position in the arrangement direction with respect to the other tube.
   The control unit is a cleaning device that controls the traveling mechanism based on the detection results of the first, second, third, and fourth sensors so that the cleaning mechanism falls within a predetermined position range in the arrangement direction.
10. In the cleaning device according to claim 8,
    A third sensor, which is provided on the main body of the apparatus at a position different from that of the first sensor in the traveling direction of the traveling mechanism and detects a relative position in the arrangement direction with respect to the one tube.
    The apparatus main body is provided with a position of the traveling mechanism in the traveling direction different from that of the second sensor, and further includes a fourth sensor for detecting a relative position in the arrangement direction with respect to the other tube.
    The control unit controls the traveling mechanism based on the detection results of the first, second, third and fourth sensors, and adjusts the inclination of the traveling mechanism with respect to the two pipes in the traveling direction. Device.
11. In the cleaning device according to claim 10,
    Further provided with an image pickup device that captures at least one of the traveling mechanism and the device body in a state of being mounted on the plurality of tubes.
    The control unit
    The traveling mechanism is controlled based on the detection results of the first, second, third and fourth sensors so that the cleaning mechanism falls within a predetermined position range in the arrangement direction.
    The traveling mechanism is controlled based on the image acquired by the imaging device so that the inclination of the traveling mechanism with respect to the two tubes in the traveling direction falls within a predetermined first inclination range.
    Based on the detection results by the first, second, third and fourth sensors so that the inclination of the traveling mechanism with respect to the two pipes in the traveling direction falls within the second inclination range smaller than the first inclination range. A cleaning device that controls the traveling mechanism.
12. In the cleaning device according to any one of claims 1 to 3 and 8.
    The first and second sensors are cleaning devices that are eddy current sensors that detect eddy currents generated in the pipe.
13. In the cleaning device according to any one of claims 4 to 7, 9 to 11.
    The first, second, third, and fourth sensors are cleaning devices that are eddy current sensors that detect eddy currents generated in the pipe.
    
    

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