An intelligent vehicle for cleaning a drilling table and a control method thereof

Abstract

The object of the present invention is to provide an intelligent trolley for cleaning a drilling table and a control method thereof, which can clean the drilling table by itself, reduce personnel risks, reduce labor, improve work efficiency, reduce drilling operation costs, and ensure three standards on site. The intelligent trolley includes a trolley body, a visual detection component, an obstacle avoidance sensor, a control panel and a McLennan motor. A McLennan motor is provided at the bottom of the trolley body, the McLennan motor is connected to the McLennan motor, the visual detection component is provided at the bottom of the front of the trolley body, the obstacle avoidance sensors are distributed on the ring side of the trolley body, the output ends of the visual detection component and the obstacle avoidance sensor are connected to the control panel, and the output end of the control panel is connected to the McLennan motor.

Description

Technical Field

[0001] The invention relates to the field of drilling table cleaning, and in particular to an intelligent vehicle for cleaning a drilling table and a control method thereof. Background Art

[0002] At the drilling site, whether the drilling table is clean is a key factor affecting the work efficiency and personal safety of wellhead operators. Based on field practical experience, common mud spraying situations and causes are summarized as follows: 1. During the drilling operation, there is residual mud in the drill pipe. When the column is removed, there is a pressure difference, which will spray out from the lower single column in the column. Although heavy slurry is filled and blowout preventers are used on site to prevent mud spraying, as the drilling length and drilling time increase, the heavy slurry will eventually fail. The use of blowout preventers by humans will lead to two results due to inaccurate judgment: a. The columns without mud are closed, reducing the drilling time. b. The columns with mud are not closed, and mud sprays. 2. Mud backflows and sprays out from the drill pipe. The mud density is uneven or the well wall collapses due to poor drilling fluid filling. 3. Human error operation, the blowout preventer in the top drive is not closed when the column is removed.

[0003] If the table is cleaned manually, there are the following hazards: 1. The sprayed mud falls on the drilling table, making it sticky and slippery, making it difficult to walk, reducing work efficiency and increasing the risk of escape for wellhead operators in the event of an accident. 2. On-site cleaning mainly uses diesel and towels. People squat on the drilling table for a long time to do cleaning work, resulting in poor blood circulation in the body. Diesel and towels are consumables, which increase the cost of drilling operations. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent trolley for cleaning the drilling table and a control method thereof, which can reduce personnel risks, reduce labor, improve work efficiency, reduce drilling operation costs, and ensure three standards on site.

[0005] The embodiment of the present invention is achieved as follows:

[0006] A smart trolley for cleaning a drilling table surface comprises a trolley body, a visual detection component, an obstacle avoidance sensor, a control board and a McLennan motor. A McLennan motor is provided at the bottom of the trolley body, the McLennan motor is connected to the McLennan motor, the visual detection component is provided at the bottom of the front of the trolley body, the obstacle avoidance sensor is distributed on the ring side of the trolley body, the output ends of the visual detection component and the obstacle avoidance sensor are connected to the control board, and the output end of the control board is connected to the McLennan motor.

[0007] In a preferred embodiment of the present invention, a diesel cleaning device is also provided at the front position of the above-mentioned trolley body.

[0008] In a preferred embodiment of the present invention, the diesel cleaning device comprises a rotary brush assembly, which comprises a rotary brush motor component, a first bevel gear shaft and a rotary brush component which are connected in sequence.

[0009] In a preferred embodiment of the present invention, the above-mentioned diesel cleaning device includes a diesel atomization assembly, which includes a diesel storage component, an isolation pump, a second bevel gear shaft and an oil outlet component. The diesel storage component, the isolation pump and the oil outlet component are connected in sequence, and the rotary brush assembly is connected to the isolation pump through the second bevel gear shaft to pressurize the diesel, and the oil outlet component faces the rotary brush component.

[0010] In a preferred embodiment of the present invention, a negative pressure suction and sweeping device is also provided on the trolley body, and the negative pressure suction and sweeping device is located behind the rotary brush assembly and the diesel atomization assembly.

[0011] In a preferred embodiment of the present invention, the above-mentioned trolley body is also provided with a power supply component, and the power supply component is arranged at the rear part of the trolley body.

[0012] In a preferred embodiment of the present invention, the visual detection component includes a CCD camera and a camera bracket connected to the CCD camera, and the camera bracket is connected to the diesel storage component.

[0013] In a preferred embodiment of the present invention, the obstacle avoidance sensor includes an infrared sensor and a sensor fixing frame connected to the infrared sensor, and the sensor fixing frame is connected to the vehicle body.

[0014] A method for controlling an intelligent vehicle for cleaning a drilling surface, comprising any of the intelligent vehicles for cleaning a drilling surface as described above, the method for controlling the intelligent vehicle comprising the following steps:

[0015] During the operation phase, the control panel issues a command to start the McLen motor, and the smart car moves along the trajectory given by the system; for visual inspection, the CCD camera collects the data of the drilling table in real time and transmits the image data to the control system of the smart car. The control system includes an image data processing module, which determines whether there is mud on the drilling table. If there is mud, the signal is transmitted to the control panel. The control panel controls the diesel cleaning device and the negative pressure suction cleaning device to start, and continuously runs the smart car to clean the oil-based mud; for foreign object detection, an infrared sensor is used to sense the surrounding distance in real time during operation. If the distance exceeds the threshold range given by the system, it is determined that there is a foreign object. The control panel transmits the signal to the control system and sends an alarm to the on-duty personnel. At the same time, the control panel controls the McLen motor to adjust the direction and speed of the smart car. When the on-duty personnel clear the foreign object and pull the smart car back to the route, the cleaning work will continue; after the path is completed, the smart car returns to the origin along the original path to charge.

[0016] In a preferred embodiment of the present invention, the above-mentioned smart car control method also includes a charging maintenance step. When the smart car returns to the origin, the power supply component transmits real-time power data to the control system, and the control system determines whether the power can maintain the next cleaning work; if so, the control panel counts down, and automatically performs the next cleaning work after the time ends; if the power is insufficient, the control system transmits an insufficient power signal to the on-duty personnel to wait for charging. After charging is completed, the control system transmits a sufficient power signal to the on-duty personnel to wait for the next cleaning work instruction to be triggered.

[0017] The beneficial effects of the embodiments of the present invention are as follows: the intelligent vehicle in the present invention is provided with a visual detection component for real-time collection of image data of the drilling table, transmitting the image data to the control system, determining whether there is oil-based mud and whether cleaning activities are performed, and if so, starting the diesel cleaning device to spray pressurized atomized diesel in combination with a rotating brush to clean the mud, and using a negative pressure suction device to clean the mud into the vehicle, and completing the cleaning work autonomously; the obstacle avoidance sensor is used to detect whether there is any foreign matter on the driving path that hinders the operation of the intelligent vehicle when the intelligent vehicle is running; the control panel is used to receive control instructions from the control system, and control the various functional components on the intelligent vehicle to operate in an orderly manner; the wheat wheel motor is used to receive driving instructions and control the operation of the wheat wheel, so that the intelligent vehicle can autonomously clean the drilling table, reduce personnel risks, reduce labor, and improve cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of the structure of an intelligent car according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the smart car according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic structural diagram of a diesel cleaning device according to an embodiment of the present invention;

[0022] Figure 4 This is a flow chart of the cleaning mode of the smart car according to an embodiment of the present invention;

[0023] Figure 5 This is a flow chart of the cleaning and charging mode of the smart car according to an embodiment of the present invention.

[0024] Icons: 100-trolley body; 200-visual detection part; 300-obstacle avoidance sensor; 400-wheel motor; 410-wheat wheel; 500-rotary brush assembly; 510-rotary brush motor part; 520-first bevel gear shaft; 530-rotary brush part; 600-diesel atomization assembly; 610-diesel storage part; 620-isolation pump; 630-second bevel gear shaft; 640-oil outlet part; 511-rotary brush motor; 512-coupling; 531-conical brush disc; 532-conical brush; 612-oil inlet hose; 641-oil outlet high-pressure pipe; 642-atomizing nozzle; 700-negative pressure suction and sweeping device; 710-fan assembly; 720-dustproof net; 730-mud storage box; 740-flat suction head; 110-battery. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] First embodiment

[0032] See also Figure 1-3 The present embodiment provides an intelligent trolley for cleaning a drilling table, comprising a trolley body 100, a visual detection component 200, an obstacle avoidance sensor 300, a control board (not shown) and a wheat wheel motor 400. A wheat wheel 410 is arranged at the bottom of the trolley body 100, and the wheat wheel is connected to the wheat wheel motor 400. The visual detection component 200 is arranged at the bottom of the front of the trolley body 100, and the obstacle avoidance sensor 300 is distributed on the ring side of the trolley body 100. The output ends of the visual detection component 200 and the obstacle avoidance sensor 300 are connected to the control board, and the output end of the control board is connected to the wheat wheel motor 400. The control board in the present embodiment comprises a single-chip microcomputer, and the single-chip microcomputer is communicatively connected to the control system (not shown).

[0033] In this embodiment, the car body 100 drives the wheel to rotate through the wheel motor 400, and the wheel motor 400 receives the command of the control board to control the speed and direction of the smart car; the visual detection component 200 is used for visual tracking, and collects the drilling table information in real time as the car moves, and transmits the image information to the control system; the obstacle avoidance sensor 300 is used to detect whether there are foreign objects on the driving path of the smart car.

[0034] See also Figure 4 More specifically, in this embodiment, a visual inspection component 200 is used, which includes a CCD camera and a camera bracket connected to the CCD camera, and the camera bracket is connected to the diesel storage component; the CCD camera arranged at the bottom of the trolley head collects the drilling table surface information in real time as the trolley moves, and the control system determines whether there is mud in the area. If so, the control panel feeds back the command to the control panel, and then the control panel sends the command to each electrical component of the diesel cleaning device and the negative pressure adsorption device to spray out atomized diesel, loosen the mud, and adsorb the mud into the intelligent trolley; if there is no mud, the trolley moves according to the specified track.

[0035] The mud and dirt identification method in this embodiment includes the following steps: the control system collects the original data of the drilling floor in advance, and matches the grayscale value of the real-time data collected by the CCD camera with the original data. If the matching rate is greater than 50%, the control system determines that cleaning is not required. If the matching rate is less than 50%, there is a large difference with the original data and mud and dirt exists, then the control system determines that cleaning is required, and then sends the cleaning instruction to the control board, and the control board further controls the operation of the functional components.

[0036] More specifically, the obstacle avoidance sensor 300 in this embodiment includes an infrared sensor and a sensor fixing frame connected to the infrared sensor, and the sensor fixing frame is connected to the trolley body 100. Four infrared sensors are arranged in four directions around the cleaning trolley body to sense the surrounding distance. If the distance reaches the set control panel threshold, the control panel will control the direction and speed of the four wheat wheel motors 400 according to the reverse principle, and send an alarm to the duty personnel, who will check whether there is an obstacle and move it. When the cleaning trolley moves away from the distance between the obstacles until it is greater than the threshold, it stops for 2 minutes and then starts working again.

[0037] More specifically, the diesel cleaning device in this embodiment includes a rotary brush assembly 500, which includes a rotary brush motor 510, a first bevel gear shaft 520, and a rotary brush member 530 connected in sequence. The diesel cleaning device includes a diesel atomization assembly 600, which includes a diesel storage member 610, an isolation pump 620, a second bevel gear shaft 630, and an oil outlet member 640. The diesel storage member 610, the isolation pump 620, and the oil outlet member 640 are connected in sequence, and the rotary brush assembly 500 is connected to the isolation pump 620 through the second bevel gear shaft 630 to pressurize the diesel, and the oil outlet member 640 faces the rotary brush member 530.

[0038] More specifically, the rotary brush motor 510 includes a rotary brush motor 511 and a coupling 512 connected in sequence, and the tail end of the coupling 512 is connected to the first bevel gear shaft 520. The rotary brush component 530 includes a conical brush disc 531 and a conical brush 532 connected in sequence, the conical brush disc 531 is connected to the first bevel gear shaft 520, and the conical brush 532 rotates to clean the drilling table. The direction of the atomizing nozzle is the lower front area of ​​the conical brush. If there is mud in this area, atomized diesel will be sprayed first, and then as the trolley moves forward, the conical brush rotates to brush the sprayed area, brushing the mud in this area into a diluted state. The power for the rotation of the conical brush comes from the rotary brush motor 511, and the rotary brush motor 511 is connected to the first bevel gear shaft 520 through the coupling 512, and the first bevel gear shaft 520 is connected to the brush disc, thereby transmitting the rotational motion to the conical brush.

[0039] More specifically, the diesel storage unit 610 includes a diesel storage box and an oil inlet hose 612 connected in sequence, and the oil inlet hose 612 is connected to the isolation pump 620. The oil outlet unit 640 includes an oil outlet high-pressure pipe 641 and an atomizing nozzle 642, and the two ends of the oil outlet high-pressure pipe 641 are respectively connected to the atomizing nozzle 642 and the isolation pump 620, and the atomizing nozzle 642 faces the rotating brush unit 530. The diesel in the diesel storage container enters the isolation pump 620 through the oil inlet hose 612, and the power transmitted by the second bevel gear shaft 630 acts on the isolation pump 620 to operate, compressing the diesel and outputting it, and obtaining high-pressure diesel. After the high-pressure diesel flows through the oil outlet high-pressure pipe 641 and the atomizing nozzle 642, atomized diesel is obtained. Atomization principle: the liquid obtains a large kinetic energy after being pressurized, and the liquid will be ejected at a large speed after passing through the small hole. Under the interaction of the surface tension, viscosity and air resistance of the liquid, the liquid gradually changes from dripping, smooth flow, wavy flow to spray flow. The diesel storage box is provided with a cover.

[0040] This embodiment is also provided with a negative pressure suction sweeping device 700, which is located behind the rotary brush assembly 500 and the diesel atomization assembly 600. The negative pressure suction sweeping device 700 includes a fan assembly 710, a dust net 720, a mud storage box 730 and a flat suction head 740 connected in sequence from top to bottom, and the mud storage box 730 is connected to the diesel storage box. A plurality of flat suction heads 740 are arranged below the mud storage box 730. As the trolley moves, the area after the mud is diluted is sucked and swept by the first flat suction head 740 of the negative pressure suction sweeping device 700, and enters the mud storage container through an external hose. In order to ensure the effect, a second flat suction head 740 is provided to repeat the suction and sweeping.

[0041] The rotary brush assembly 500 in this embodiment is provided with a rotary brush motor component 510, which drives the first bevel gear shaft 520 and the rotary brush component 530 to rotate, so as to clean the oil-based mud on the drilling table. At the same time, the second bevel gear shaft 630 is connected to the first bevel gear shaft 520 to transmit power to the isolation pump 620, thereby compressing the diesel for output, so that the oil outlet component 640 can spray high-pressure diesel, and cooperate with the rotary brush assembly 500 to brush the mud in the area into a diluted state, so as to facilitate the negative pressure suction and sweeping device 700 to remove the oil-based mud on the drilling table.

[0042] More specifically, in this embodiment, the trolley body 100 is further provided with a power supply assembly, which is arranged at the rear of the trolley body 100. The power supply assembly includes a battery 110 and a battery fixing frame, and the battery fixing frame fixes the battery at the rear of the trolley body 100 for convenient charging.

[0043] See also Figure 5After the car completes a round, it returns to the origin (charging point) along the original route and determines whether the power can sustain the next cleaning. If it can, the timer starts counting for 4 hours. After the time is up, the next cleaning will be automatically performed. During the waiting period, the operator can directly start the cleaning mode. If the power is insufficient, an alarm will be issued to the on-duty personnel, waiting for charging. After charging, an alarm will be issued to the on-duty personnel.

[0044] A method for controlling an intelligent vehicle for cleaning a drilling table comprises the following steps:

[0045] During the operation phase, the control panel issues a command to start the McLen motor 400, and the smart car moves along the trajectory given by the system; for visual inspection, the CCD camera collects the data of the drilling table in real time and transmits the image data to the control system of the smart car. The control system includes an image data processing module, which determines whether there is mud on the drilling table. If there is mud, the signal is transmitted to the control panel. The control panel controls the diesel cleaning device and the negative pressure suction and sweeping device 700 to start, and continuously runs the smart car to clean the oil-based mud; for foreign object detection, an infrared sensor is used to sense the surrounding distance in real time during operation. If the distance exceeds the threshold range given by the system, it is determined that there is a foreign object. The control panel transmits the signal to the control system and sends an alarm to the on-duty personnel. At the same time, the control panel controls the McLen motor 400 to adjust the direction and speed of the smart car. When the on-duty personnel clear the foreign object and pull the smart car back to the route, the cleaning work will continue; after the path is completed, the smart car returns to the origin along the original path to charge.

[0046] The smart car control method also includes a charging maintenance step. When the smart car returns to the origin, the power supply component transmits real-time power data to the control system, and the control system determines whether the power can maintain the next cleaning work; if so, the control panel counts down, and automatically performs the next cleaning work after the time ends; if the power is insufficient, the control system transmits an insufficient power signal to the on-duty personnel to wait for charging. After charging is completed, the control system transmits a sufficient power signal to the on-duty personnel to wait for the next cleaning work instruction to be triggered.

[0047] To sum up, the smart car in the present invention is provided with a visual detection component 200, which is used to collect image data of the drilling table in real time, transmit the image data to the control system, determine whether there is oil-based mud and whether to perform cleaning activities, if so, start the diesel cleaning device to spray pressurized atomized diesel combined with the rotating brush component 530 to clean the mud, and use the negative pressure suction device 700 to clean the mud into the car, and complete the cleaning work autonomously; the obstacle avoidance sensor 300 is used to detect whether there is any foreign object on the driving path that hinders the operation of the smart car when the smart car is running; the control panel is used to receive control instructions from the control system, and control the various functional components on the smart car to operate in an orderly manner; the wheat wheel motor 400 is used to receive driving instructions and control the operation of the wheat wheel, so that the smart car can autonomously clean the drilling table, reduce personnel risks, reduce labor, and improve cleaning efficiency.

[0048] This specification describes examples of embodiments of the present invention, and it is not intended that these embodiments illustrate and describe all possible forms of the present invention. It should be understood that the embodiments in the specification can be implemented in a variety of alternative forms. The drawings need not be drawn to scale; some features can be enlarged or reduced to show the details of specific components. The specific structural and functional details disclosed should not be interpreted as limiting, but are merely representative bases for teaching those skilled in the art to implement the present invention in various forms. It should be understood by those skilled in the art that the multiple features illustrated and described with reference to any of the figures can be combined with the features illustrated in one or more other figures to form embodiments that are not explicitly illustrated or described. The illustrated combined features provide representative embodiments for typical applications. However, various combinations and variations of features consistent with the teachings of the present invention can be used for specific applications or implementations as needed.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent vehicle for cleaning a drilling table, characterized in that: It includes a trolley body, a visual detection component, an obstacle avoidance sensor, a control board and a McLennan motor, wherein a McLennan wheel is arranged at the bottom of the trolley body, the McLennan wheel is connected to the McLennan motor, the visual detection component is arranged at the bottom of the front of the trolley body, the obstacle avoidance sensor is distributed on the ring side of the trolley body, the output ends of the visual detection component and the obstacle avoidance sensor are connected to the control board, and the output end of the control board is connected to the McLennan motor; A diesel cleaning device is also provided at the front of the vehicle body; The diesel cleaning device comprises a rotary brush assembly, and the rotary brush assembly comprises a rotary brush motor component, a first bevel gear shaft and a rotary brush component connected in sequence; The diesel cleaning device comprises a diesel atomization assembly, which comprises a diesel storage component, an isolation pump, a second bevel gear shaft and an oil outlet component, wherein the diesel storage component, the isolation pump and the oil outlet component are connected in sequence, the rotary brush assembly is connected to the isolation pump via the second bevel gear shaft to pressurize the diesel, and the oil outlet component faces the rotary brush component; The trolley body is also provided with a power supply component, and the power supply component is arranged at the tail of the trolley body.

2. The intelligent vehicle for cleaning the drilling surface according to claim 1, characterized in that: The trolley body is also provided with a negative pressure suction and sweeping device, which is located behind the rotary brush assembly and the diesel atomization assembly.

3. The intelligent vehicle for cleaning the drilling table according to claim 1, characterized in that: The visual detection component includes a CCD camera and a camera bracket connected to the CCD camera, and the camera bracket is connected to the diesel storage component.

4. The intelligent vehicle for cleaning a drilling surface according to claim 1, characterized in that: The obstacle avoidance sensor comprises an infrared sensor and a sensor fixing frame connected to the infrared sensor, and the sensor fixing frame is connected to the vehicle body.

5. A method for controlling an intelligent vehicle for cleaning a drilling surface, comprising the intelligent vehicle for cleaning a drilling surface as claimed in any one of claims 1 to 4, characterized in that: The control method of the smart car comprises the following steps: During the operation phase, the control panel issues a command to start the McLennan motor, and the smart car moves along the trajectory given by the system; for visual inspection, the CCD camera collects the data of the drilling table in real time, and transmits the image data to the control system of the smart car. The control system includes an image data processing module, which determines whether there is mud on the drilling table. If there is mud, the signal is transmitted to the control panel, and the control panel controls the diesel cleaning device and the negative pressure suction cleaning device to start, and continuously runs the smart car to clean the oil-based mud; for foreign object detection, an infrared sensor is used to sense the surrounding distance in real time during operation. If the distance exceeds the threshold range given by the system, it is determined that there is a foreign object. The control panel transmits the signal to the control system and sends an alarm to the on-duty personnel. At the same time, the control panel controls the McLennan motor to adjust the direction and speed of the smart car. When the on-duty personnel clear the foreign objects and pull the smart car back to the route, the cleaning work will continue; after the path is completed, the smart car returns to the origin along the original path to charge.

6. The intelligent vehicle control method for cleaning a drilling surface according to claim 5, characterized in that: It also includes a charging maintenance step, when the smart car returns to the origin, the power supply component transmits real-time power data to the control system, and the control system determines whether the power can maintain the next cleaning work; If possible, the control panel will count down and automatically perform the next cleaning work after the time is up; if the power is insufficient, the control system will transmit a low power signal to the on-duty personnel to wait for charging. After charging is completed, the control system will transmit a sufficient power signal to the on-duty personnel to wait for the next cleaning work instruction to be triggered.

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