Automatic deviation rectification control method for pipeline cleaning device

Abstract

The invention discloses an automatic deviation rectification control method for a pipeline cleaning device. The automatic deviation rectification control method for the pipeline cleaning device mainly comprises the following steps that (1) basic parameters including a deviation distance d and a deviation angle alpha are set, the minimum tolerance and the maximum tolerance of the deviation distance d and the minimum tolerance and the maximum tolerance of the deviation angle alpha are defined respectively, the pipeline cleaning device is started, and the speed of caterpillar tracks on the two sides of the pipeline cleaning device is initialized; (2) a distance measuring device obtains return values of laser distance measuring sensors at the head end and the tail end of the pipeline cleaning device in real time, and the deviation distance d and the deviation angle alpha of the pipeline cleaning device are calculated; (3) whether the deviation distance d and the deviation angle alpha are within the ranges of the minimum tolerances or not respectively is judged, if the deviation distance d and the deviation angle alpha are smaller than the minimum tolerances respectively, the step (2) is executed again, and if the deviation distance d and the deviation angle alpha are larger than the minimum tolerances respectively, whether the deviation distance d and the deviation angle alpha are within the ranges of the maximum tolerances or not respectively is judged, if the deviation distance d and the deviation angle alpha are smaller than the maximum tolerances respectively, a small-tolerance rectification scheme is implemented, and if the deviation distance d and the deviation angle alpha are larger than the maximum tolerances respectively, a large-tolerance rectification scheme is implemented. The automatic deviation rectification control method for the pipeline cleaning device is high in deviation rectification efficiency and high in deviation rectification precision, and it is ensured that the pipeline cleaning device can move along the central axis basically.

Description

technical field [0001] The invention relates to the technology of correcting the deviation of the pipeline cleaning device during the running process, in particular to the technology of crawler track compensation driving control within a certain tolerance range, and the technology of automatic return and deviation correction when the deviation is large. Background technique [0002] A large number of air ducts and oil fume ducts exist in various public facilities. The maintenance and care of these ducts are directly related to the normal use of public facilities, and also related to the safety and sustainability of each duct, so it is particularly important. [0003] A fully automatic cleaning device has appeared in the prior art. However, in the whole process of automatic cleaning, the automatic cleaning device is required to be located on the central axis of the square oil fume pipe as much as possible to ensure the symmetry of the action. In practice, if no measures are t...

AI Technical Summary

Problems solved by technology

However, in the prior art, the degree of difficulty in operation is relatively high, and the cleaning efficiency is low due to the need for frequent pauses.

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