Automatic pipeline cleaning robot control method based on torque control

Abstract

The invention provides an automatic pipeline cleaning robot control method based on torque control. A robot comprises a spray rod, a spray nozzle connected to the spray rod and a monitoring camera arranged on the robot. The control method includes the following steps that a robot parameter configuration file is read, and the monitoring camera is started; an automatic pipeline cleaning signal is obtained; control signals for a first servo motor and a second servo motor are output to control a vertical rotating shaft of the spray rod and a horizontal rotating shaft of the spray rod to operate; whether the received return speed of the horizontal rotating shaft or the vertical rotating shaft of the spray rod is zero and continues for certain time T or not and whether a cleaning cycle is completed or not are judged; if yes, the robot moves by a preset advancing distance along a current pipeline; and whether the moved distance of the robot is larger than or equal to the set total distance or not is judged, if yes, the cleaning work is terminated, and if not, the next cleaning cycle is carried out. By the adoption of the scheme, the failure rate of a drive motor of the automatic pipeline cleaning robot in the pipeline work is lowered effectively, and meanwhile, the effect of cleaning oil stains on the pipeline is improved effectively.

Description

technical field [0001] The invention relates to a pipeline cleaning motion control technology and the design of a control system thereof, in particular to a control method of a pipeline automatic cleaning robot based on torque control. Background technique [0002] The flue is the infrastructure of hotels, restaurants, and restaurant kitchens. It is easy to hide dirt and is a dead end for cleaning. At the same time, the flue is the key area for inspection by the fire department, sanitation department and epidemic prevention department. At the same time, rats and cockroaches are easy to parasitize the inner wall of the smoke hood, which does not meet the national hygiene standards. The greasy jelly sticks to the metal surface for a long time, and it will also corrode the metal material and shorten the service life of the flue. There are a lot of oil stains on the range hood and the flue surface for a long time, which will affect the use of the range hood and the flue, makin...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the technical problems that the existing pipeline automatic cleaning robot is easy to burn out the motor to stop working and the cleaning effect on the pipeline is not good in the process of cleaning the pipeline, and to provide a control of the pipeline automatic cleaning robot based on torque control method

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