Control device, cleaning device, control method of cleaning device, and storage medium

Abstract

The present application realizes general movement control of a pipe cleaning device. The control device (1) is provided with: a pipe detection unit (101) that detects a pipe based on an image captured by a capturing device (271) installed in a cleaning device (2) that cleans the surface of the pipe; an angle determination unit (102) that determines the inclination angle of the pipe detected by the pipe detection unit (101); and a movement control unit (104) that performs movement control of the cleaning device (2) based on the inclination angle.

Description

Technical Field

[0001] This invention relates to a control device for moving a cleaning apparatus used for piping cleaning. Background Technology

[0002] Boilers used in power generation that utilize waste heat from incinerators have multiple pipes. These pipes are configured to supply exhaust gases generated in the incinerator, and fluids such as water and steam flow through them. Therefore, these pipes are also referred to as boiler water pipes. Furthermore, the heat energy generated by incineration is recovered through heat exchange between the exhaust gases and the fluids flowing through the boiler water pipes.

[0003] Thus, because the boiler water pipes are exposed to exhaust gases, fly ash and other pollutants generated in the incinerator adhere to and accumulate on their surfaces, reducing heat exchange efficiency. Therefore, regular cleaning of the boiler water pipe surfaces is necessary. However, manual cleaning of boiler water pipes is not easy, and research has been ongoing on automated cleaning systems based on cleaning devices.

[0004] For example, Patent Document 1 discloses a cleaning device comprising a water pipe assembly traveling cleaning device equipped with a cleaning clamp and moving along the pipe axis direction of the boiler water pipe assembly. This water pipe assembly traveling cleaning device, lowered between the boiler water pipes to be cleaned, cleans while moving along the side of the boiler water pipes. Since the water pipe assembly traveling cleaning device cannot move in the pipe assembly direction, after moving in a state housed in a pipe assembly direction moving device that moves along the pipe assembly direction of the boiler water pipe assembly, it is lowered between the boiler water pipes to be cleaned next.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2006-138572 Summary of the Invention

[0008] (a) Technical problems to be solved

[0009] The cleaning device in Patent Document 1 can only move along the boiler water pipes when the water pipe group traveling cleaning device has been lowered between the boiler water pipes. Therefore, at the start of cleaning, the water pipe group traveling cleaning device must first be stopped at a position where it can be lowered between the boiler water pipes.

[0010] However, it is difficult to keep the water pipe assembly traveling and cleaning device always stopped in the correct position. Therefore, the cleaning device of Patent Document 1 includes a stop position correction arm for correcting the stopping position of the water pipe assembly traveling and cleaning device.

[0011] Thus, in order for the cleaning device to move automatically, a special mechanism such as a stop position correction arm is required, and in this respect, the cleaning device of Patent Document 1 lacks versatility. One aspect of the present invention aims to achieve universal movement control for a cleaning device used for cleaning pipes.

[0012] (II) Technical Solution

[0013] To address the aforementioned issues, a control device according to one aspect of the present invention comprises: a tube detection unit that detects a tube based on an image captured by an imaging device, the imaging device being mounted on a cleaning device for cleaning the surface of the tube; an angle determination unit that determines the tilt angle of the tube detected by the tube detection unit; and a movement control unit that controls the movement of the cleaning device based on the tilt angle.

[0014] To address the aforementioned issues, a control device according to one aspect of the present invention comprises: an offset calculation unit that calculates an offset of the cleaning device from a predetermined reference position based on detection values ​​from a set of proximity sensors mounted at left-right symmetrical positions of a cleaning device that cleans a plurality of parallel-arranged pipes; and a movement control unit that performs movement control of the cleaning device based on the offset, wherein the set of proximity sensors is configured such that when one proximity sensor is positioned directly above a pipe, another proximity sensor is positioned at the detection limit of a pipe adjacent to that pipe, and the offset calculation unit calculates the offset using an approximation formula obtained by approximating the relationship between the difference of the detection values ​​of the set of proximity sensors and the offset.

[0015] To address the aforementioned issues, one aspect of the present invention provides a control method for a cleaning device executed by a control device, comprising: a pipe detection step, which detects the pipe based on an image captured by an imaging device of the cleaning device installed on the surface of the pipe for cleaning; an angle determination step, which determines the tilt angle of the pipe detected in the pipe detection step; and a movement control step, which performs movement control of the cleaning device based on the tilt angle.

[0016] To address the aforementioned issues, one aspect of the present invention provides a control method for a cleaning device executed by a control device, comprising: an offset calculation step, which calculates an offset of the cleaning device from a predetermined reference position based on detection values ​​from a set of proximity sensors installed at left-right symmetrical positions of the cleaning device for cleaning a plurality of parallel-arranged pipes; and a movement control step, which performs movement control of the cleaning device based on the offset, wherein the set of proximity sensors is configured such that when one proximity sensor is positioned directly above a pipe, another proximity sensor is positioned at the detection limit of a pipe adjacent to that pipe; in the offset calculation step, the offset is calculated using an approximation obtained by approximating the relationship between the difference in detection values ​​of the set of proximity sensors and the offset.

[0017] (III) Beneficial Effects

[0018] According to one aspect of the present invention, universal movement control of the pipe cleaning device can be achieved. Attached Figure Description

[0019] Figure 1 This is a block diagram illustrating an example of the main structure of the control device according to Embodiment 1 of the present invention.

[0020] Figure 2 This is a diagram showing an outline of a cleaning system that includes the aforementioned control device.

[0021] Figure 3 This is a diagram showing the outline of tube detection and tilt angle determination based on the aforementioned control device.

[0022] Figure 4 This is a diagram illustrating a specific example of tube detection based on the aforementioned control device.

[0023] Figure 5 This is a diagram showing an outline of the method for calculating the offset based on the offset calculation unit of the aforementioned control device.

[0024] Figure 6 It is a graph showing the relationship between the positional relationship of the proximity sensor and the tube and the detection value of the proximity sensor.

[0025] Figure 7 This is a diagram illustrating the relationship between the positional relationship of the proximity sensor and the tube, and the approximate formula for the detection value of the proximity sensor.

[0026] Figure 8 It is a graph representing the function used to calculate the offset based on the difference in detection values ​​from the proximity sensor.

[0027] Figure 9 This is a diagram illustrating an example of the operation of a cleaning device during centering.

[0028] Figure 10 This diagram illustrates how the travel time of the cleaning device during centering is calculated.

[0029] Figure 11 This is a flowchart illustrating an example of a control method for a cleaning device based on tilt angle.

[0030] Figure 12 This is a flowchart illustrating an example of a control method for a cleaning device based on offset.

[0031] Figure 13 This is a diagram illustrating an example of calculating the offset in Embodiment 2 of the present invention. Detailed Implementation

[0032] [Implementation Method 1]

[0033] (Overview of the cleaning system)

[0034] based on Figure 2 An overview of the cleaning system 5 of this embodiment will be described. Figure 2 This is a diagram showing the general outline of the cleaning system 5. The cleaning system 5 is a system for cleaning the surface of the pipe PI, and includes a control device 1 and a cleaning device 2. The control device 1 is a device that controls the operation of the cleaning device 2. The cleaning device 2 is a cleaning device for the pipe PI that operates according to the control of the control device 1. Figure 2 The top of the figure shows a perspective view of the cleaning device 2, and the bottom of the figure shows a side view of the cleaning device 2.

[0035] Pipes PI are straight pipes arranged in multiple rows at equal intervals along the horizontal direction. Additionally, pipes PI are arranged in multiple segments along the vertical direction. In this embodiment, the example described is of pipes in a boiler (not shown) used for power generation utilizing waste heat from an incinerator, specifically the aforementioned boiler water pipes. Of course, the cleaning system 5, as long as it has sufficient strength to allow the cleaning device 2 to travel on it, and at least a portion of it is straight, can also be used for cleaning pipes other than boiler water pipes.

[0036] As shown in the figure, the cleaning device 2 includes a main body 21, a track 22, a hose reel 23, and a hose 24. A pantograph 25 is housed inside the main body 21. Additionally, as... Figure 2 As shown in the side view, a drain outlet 26 is provided at the front end of the pantograph 25. In addition, a receiving part 27 is provided at the front end of the main body 21.

[0037] exist Figure 2Only the left track 22 is shown, but a set of tracks 22 is arranged symmetrically on both sides of the main body 21. The tracks 22 function as a traveling device for the sweeping device 2 to move forward, backward, and rotate in the horizontal plane. Other types of traveling devices, such as wheels, can also be used instead of the tracks 22.

[0038] The hose reel 23 is a device for winding the hose 24, which is the pipe that delivers cleaning liquid (e.g., water) for the PI pipe to the drain outlet 26. The pantograph 25 is configured to extend and retract via a linkage mechanism, allowing it to extend downwards towards the main body 21 during cleaning and retract during movement. Furthermore, the drain outlet 26 is connected to the hose 24, releasing the cleaning liquid delivered from the hose 24 to the side.

[0039] That is, the cleaning device 2 is configured such that the pantograph 25 is extended and the drain outlet 26 is located to the side of the pipe PI to be cleaned. In this state, the cleaning liquid delivered from the hose 24 is fed into the drain outlet 26, thereby cleaning the pipe PI with water pressure. In addition, the method of cleaning the pipe PI is arbitrary. For example, it can also be configured to press a cleaning tool such as a brush against the pipe PI for cleaning.

[0040] The cleaning device 2 performs cleaning by lowering the pantograph 25 between the pipes PI to be cleaned. As a preliminary stage of cleaning, it needs to move to the pipe PI to be cleaned. To automate this movement, a camera and a proximity sensor are installed inside the housing 27 of the cleaning device 2. Figure 2 (None of which are illustrated in the text).

[0041] Then, the control device 1 acquires the image captured by the imaging device and the detection value of the proximity sensor, and controls the cleaning device 2 based on them. Thus, the cleaning device 2 is configured to automatically move between the tubes PI to be cleaned, thereby cleaning the tubes PI.

[0042] (Structure of the control device)

[0043] based on Figure 1 Explain the structure of control device 1. Figure 1 This is a block diagram illustrating an example of the main structure of the control device 1. As shown, the control device 1 includes a control unit 10 for unified control of all components of the control device 1, and a storage unit 11 for storing various data used by the control device 1. Furthermore, the control device 1 includes: a communication unit 12 for communication between the control device 1 and other devices; an input unit 13 for receiving various data inputs to the control device 1; and an output unit 14 for outputting various data from the control device 1. Moreover, the control unit 10 includes a tube detection unit 101, an angle determination unit 102, an offset calculation unit 103, and a movement control unit 104.

[0044] The tube detection unit 101 detects the tube PI based on the image captured by the imaging device installed on the cleaning device 2. This can be achieved simply by acquiring the image via the communication unit 12 or the input unit 13. Then, the angle determination unit 102 determines the tilt angle of the tube PI detected by the tube detection unit 101.

[0045] The offset calculation unit 103 calculates the offset of the cleaning device 2 from a predetermined reference position based on the detection values ​​of a set of proximity sensors installed at symmetrical positions on the left and right sides of the cleaning device 2 to detect the pipe PIs. In this embodiment, the following example will be described: the reference position is the center position of two parallel and adjacent pipe PIs (located at an equal distance from the two pipe PIs), and the offset calculation unit 103 calculates the offset between the center position of the cleaning device 2 in the left and right directions and the center position of the two pipe PIs.

[0046] Of course, the reference position can be determined appropriately in advance and is not limited to this example. For example, the center position of a tube PI can also be set as the reference position, and the offset between the center position of the cleaning device 2 in the left and right directions and the center position of the tube PI can be calculated.

[0047] The movement control unit 104 controls the movement of the cleaning device 2 based on either or both of the tilt angle determined by the angle determination unit 102 and the offset calculated by the offset calculation unit 103. For example, the movement control unit 104 performs rotational control to change the orientation of the cleaning device 2, or controls to move the cleaning device 2 to the center position of an adjacent pipe PI; details will be described later. Furthermore, rotational control that keeps the position of the control device 2 unchanged is also included within the scope of movement control.

[0048] As described above, the control device 1 includes: a tube detection unit 101, which detects the tube PI by an image captured by an imaging device of the cleaning device 2 mounted on the surface of the cleaning tube PI; an angle determination unit 102, which determines the tilt angle of the tube PI detected by the tube detection unit 101; and a movement control unit 104, which performs movement control of the cleaning device 2 based on the determined tilt angle.

[0049] The tilt angle of tube PI, as reflected in the image captured by the imaging device installed on the cleaning device 2, reflects the orientation of the cleaning device 2 relative to tube PI. Furthermore, once the orientation of the cleaning device 2 relative to tube PI can be determined, the direction of the cleaning device 2 can be changed in a manner that ensures a predetermined orientation relative to tube PI. Additionally, the cleaning device 2 can be moved along tube PI or in a direction perpendicular to tube PI.

[0050] Therefore, based on the above structure, movement control of the cleaning device 2 based on images captured by the imaging device can be achieved. Furthermore, the above structure does not require special structures such as a stop position correction arm, making it more versatile than the technology in Patent Document 1. Thus, the above structure enables universal movement control of the cleaning device 2.

[0051] (Summary of pipe inspection and tilt angle determination)

[0052] Figure 3 This is a diagram showing a summary of pipe detection and tilt angle determination based on control device 1. Figure 2 The image shows a top view of the cleaning device 2 located on the pipe PI and an IMG image captured by the imaging device 271 provided with the cleaning device 2. Furthermore, the appearance of the cleaning device 2 is compared to... Figure 2 It has been simplified. This simplification is... Figure 3 The same applies to the accompanying diagrams.

[0053] At once Figure 3 Regarding the cleaning device 2 shown, the front side of the cleaning device 2 is inclined to the left relative to the extending direction of the pipe PI. Furthermore, a camera 271 is provided at the front of the cleaning device 2. This camera 271 is housed within... Figure 2 The imaging device 271 is arranged below the imaging and cleaning device 2 within the housing 27. The imaging device 271 can be any device capable of capturing an image of the outline of the recognizable tube PI, such as a depth camera.

[0054] In this state, the image IMG captured by the imaging device 271 of the cleaning device 2 shows that the tube PI is tilted to the upper right, as shown in the figure. The tube detection unit 101 detects the line segment L1 constituting the outer edge of the tube PI based on the image IMG, as detailed later. Then, the angle determination unit 102 determines the tilt angle of the tube PI as the tilt angle of the line segment L1 detected by the tube detection unit 101 relative to the line segment L2. Furthermore, the line segment L2 is a line segment perpendicular to the top and bottom edges of the image IMG.

[0055] When the forward and backward direction of the cleaning device 2 is parallel to the extension direction of the pipe PI, that is, when the detected line segment constituting the outer edge of the pipe is parallel to line segment L2, Δθ is zero. Using this direction where Δθ is zero as a reference, for example, the tilt angle of the pipe can be represented by setting the right-hand tilt as positive and the left-hand tilt as negative. In this case, such as... Figure 3 As shown, Δθ is a positive value when the front side of the cleaning device 2 tilts to the left, and a negative value when the front side of the cleaning device 2 tilts to the right.

[0056] (Specific examples of tube testing)

[0057] Figure 4 This is a diagram illustrating a specific example of tube detection based on control device 1. Figure 4 The IMG1 shown is an image captured by the imaging device 271. In this image IMG1, the outer edges of the tubes, which should be straight in areas A1 and A2, are distorted into curves. This distortion occurs when the lens of the imaging device 271 is a wide-angle lens. Furthermore, proximity sensors are reflected in the lower left and lower right corners of the image IMG1.

[0058] Because distortion can become an obstacle to tube detection, therefore, in Figure 4 In the example, before tube inspection, the tube inspection unit 101 performs distortion correction on image IMG1 to generate a distorted image IMG2. In image IMG2, the outer edges of the tubes in regions A1' and A2', which correspond to regions A1 and A2, become straight lines. Since the resulting distortion pattern depends on the imaging device 271, it is possible to pre-capture the inspection pattern using the imaging device 271 and pre-create correction parameters to eliminate the distortion of the captured inspection pattern. If such correction parameters are used, distortion correction can be performed.

[0059] in addition, Figure 4 The IMG3 shown is also an image captured by the imaging device 271, but interference fringes are generated in area A3 and other regions of the IMG3 image. Such noise can sometimes be an obstacle to tube inspection. Therefore, the tube inspection unit 101 can also remove noise before tube inspection. Figure 4 Image IMG4 shown is an image after noise removal processing of image IMG3. Image IMG4 is a clear image without interference fringes.

[0060] Any method can be applied as a noise removal method. For example, noise can be removed using a bilateral filter. Since a bilateral filter removes noise and significantly preserves edge portions in the image, it is preferred as a noise removal filter used in the preprocessing of tube detection.

[0061] The tube detection unit 101 detects line segments constituting the outer edge of the tube from an image that has undergone distortion correction and noise removal as described above. Various edge detection methods can be applied to detect these line segments. For example, the tube detection unit 101 can perform edge detection using the Canny method. In the Canny method, after converting the image of the target image to a grayscale image, portions of the converted image whose brightness changes above a threshold are detected as edges.

[0062] exist Figure 4The image shown is IMG5, representing the edge image after edge detection from image IMG4 using the Canny method. IMG5 is a binarized image where white line segments represent various edges including the outer edge of the tube, and the portion outside the edges forms a black background.

[0063] Next, the pipe detection unit 101 detects straight lines from the edge image IMG5. Since the detected straight lines also include the edge of the outer edge of the pipe, it can be said that the process of detecting straight lines is the process of detecting pipes.

[0064] The method for detecting straight lines from the edge image IMG5 is arbitrary. For example, the tube detection unit 101 can also detect straight lines using the Hough transform. In this case, the tube detection unit 101 expresses the formula for the line to be detected as ρ = xcosθ + ysinθ, and finds the (ρ, θ) set of straight lines whose edge pixels (white pixels in the edge image IMG5) are greater than or equal to a specified amount, i.e., polar coordinates.

[0065] Therefore, polar coordinates (ρ, θ) are used to represent each straight line (composed of a predetermined number or more white pixels) that extends beyond a specified length in the edge image IMG5. Furthermore, to minimize the detection of straight lines outside the outer edge of the tube to be detected, it is preferable to avoid detecting the image ends of the edge image IMG5 that contain portions other than the outer edge of the tube. This can be achieved by pre-determining the target area for line detection.

[0066] Next, the angle determination unit 102 determines the tilt angle of the pipe based on the straight line detected by the pipe detection unit 101. More specifically, the angle determination unit 102 determines the slope of the straight line represented by polar coordinates (ρ, θ) in the xy coordinate system, i.e., the orthogonal coordinate system. Specifically, the angle determination unit 102 finds two points on the straight line represented by polar coordinates (ρ, θ) and calculates the distance x1 in the x-axis direction and the distance y1 in the y-axis direction between these two points. Here, if the slope to be determined is φ, then tanφ = y1 / x1 holds, so the angle determination unit 102 can determine the slope φ from the calculated values ​​of x1 and y1. Here, 0 < φ < 180° is assumed.

[0067] The angle determination unit 102 performs the above-described processing on all the straight lines detected by the tube detection unit 101 to determine the slope of each detected straight line. Here, the angle determination unit 102 excludes angles that exceed a threshold from the determined angles. Then, the angle determination unit 102 determines the average value of the angles that are not excluded as the tilt angle of the tube.

[0068] Furthermore, the tube detection and tilt angle determination can be performed multiple times in a time sequence, and the moving average of each determination result can be used to determine the tube tilt angle. In this case, for example, the tube can be detected and the tilt angle determined based on the imaging device 271 at a predetermined period (e.g., from a few Hz to tens of Hz), and the moving average of the determination results over multiple periods can be used to determine the tube tilt angle over those multiple periods.

[0069] (Example of control: rotation)

[0070] As described above, the movement control unit 104 rotates the cleaning device 2 based on the tilt angle determined by the angle determination unit 102, enabling the cleaning device 2 to face the desired direction. Specifically, the movement control unit 104 only needs to set the target tilt angle Δθ. T Based on this, the tilt angle Δθ = Δθ is determined by the angle determining unit 102. T The cleaning device 2 can be rotated in such a way that its forward and backward directions are parallel to the extension direction of the pipe. For example, when the cleaning device 2 is rotated so that its forward and backward directions are parallel to the extension direction of the pipe, the movement control unit 104 sets Δθ. T =0 is sufficient. Furthermore, the movement control unit 104 only needs to rotate the cleaning device 2 to the tilt angle Δθ = Δθ determined by the angle determination unit 102. T Keep it until it equals 0.

[0071] However, there is a time lag between the control device 1 sending a control signal to the cleaning device 2 and the cleaning device 2 performing an action based on the control signal. Therefore, the movement control unit 104 preferably performs rotation control that takes this time lag into account.

[0072] For example, the movement control unit 104 may also use the tilt angle Δθ, expressed by the following formula. S Rotation control is performed using a threshold. Furthermore, t d The useless time is from the transmission of the control signal to the start of the cleaning device 2's operation. γ is the angular velocity of the cleaning device 2 during rotation, V is the travel speed of the cleaning device 2 (the speed at which it travels at the rotational speed of the motor), and a is the travel acceleration of the cleaning device 2 (the acceleration during travel at the rotational speed of the motor). Furthermore, the coefficient (1 / 2) of γ in the following formulas is a coefficient set assuming that the angular velocity decreases linearly during the period from rotation to its stop. The coefficient of γ is not limited to 1 / 2, as long as it corresponds to the change pattern of the angular velocity during the period until rotation stops.

[0073] Δθ S =t d *γ+V / a*γ / 2

[0074] Specifically, the motion control unit 104 outputs control signals for right rotation, left rotation, and stop (rotation end) according to the following conditions. Furthermore, depending on the method of determining the reference axis, the sign of Δθ in the following conditional expression, and the Δθ on the right side... S The symbol will change.

[0075] Δθ>Δθ T -Δθ S Rotate right

[0076] Δθ<Δθ T +Δθ S Left rotation

[0077] |Δθ|=Δθ T +Δθ S Stop (rotation ends)

[0078] The process for handling rotation is as follows, for example. Furthermore, the following describes the rotation control when the cleaning device 2 is parallel to the pipe, i.e., Δθ. T The rotation control when =0 will be explained.

[0079] First, the motion control unit 104 calculates the angular velocity γ of the cleaning device 2. Then, the motion control unit 104 multiplies the angular velocity γ by a predetermined idle time t. d Calculate the angle of change during the time lag period, i.e., the aforementioned Δθ. S The value of the first term on the right-hand side of the formula is calculated. Furthermore, the movement control unit 104 calculates the aforementioned Δθ based on the travel speed V and acceleration a of the cleaning device 2. S Calculate the value of the second term on the right-hand side of the formula, and then determine Δθ. S The value of .

[0080] Next, the motion control unit 104 determines whether the magnitude (|Δθ|) of the tilt angle determined by the angle determination unit 102 is greater than Δθ. S Large. Here, if |Δθ|≤Δθ S Then the motion control unit 104 outputs a stop signal for rotation. This is because if |Δθ|≤Δθ S Then the required accuracy is met.

[0081] On the other hand, if |Δθ|>Δθ S Then the movement control unit 104 causes the cleaning device 2 to rotate. The condition for determining the direction of rotation is as described above. That is, for the movement control unit 104, if Δθ > Δθ S Then output a control signal for right rotation, if Δθ < -Δθ S Then, a control signal for left rotation is output. Afterwards, the movement control unit 104 returns to check if |Δθ| > Δθ. SThe determination is made by repeatedly performing this process until |Δθ|≤Δθ. S So far, consider the useless time t. d Changes in tilt angle during the period (t) d The rotation achieves the required precision by varying the tilt angle (V / a*γ / 2) from the time the stop signal is sent until the stop is reached.

[0082] (An overview of the method for calculating the offset)

[0083] Figure 5 This is a diagram illustrating an outline of the method for calculating the offset based on the offset calculation unit 103. Figure 5 The diagram shows a top view of the cleaning device 2 located on the pipes PIL and PIR, and a sectional view along line A-A' in the top view. Furthermore, components other than the proximity sensors 272L and 272R of the cleaning device 2, and the pipes PIL and PIR, are omitted from the sectional view.

[0084] As described above, the offset is calculated using the detection values ​​of a set of proximity sensors installed at symmetrical positions on the left and right sides of the cleaning device 2 to detect the pipe PI. Figure 5 In this example, proximity sensors 272L and 272R are provided at the front of the cleaning device 2. Furthermore, proximity sensor 272L is positioned on the left side relative to the center line L3 that bisects the cleaning device 2 in the left-right direction, and proximity sensor 272R is positioned on the right side relative to the center line L3. These sensors are housed within the housing 27 (see reference 27). Figure 2 ).

[0085] As shown in the top view, the center line L3 is parallel to pipes PIL and PIR, but offset to the left by Δy relative to the center line L4, which indicates the center position of pipes PIL and PIR. The offset calculation unit 103 calculates this offset Δy based on the detection values ​​of proximity sensors 272L and 272R.

[0086] More specifically, the offset calculation unit 103 calculates Δy by utilizing the fact that the difference between the detection value of the proximity sensor 272L and the detection value of the proximity sensor 272R is zero when Δy is zero, and that the difference between them is not zero when Δy is other than zero.

[0087] For example, in Figure 5In the example shown in the cross-sectional view, the distance from proximity sensor 272L to tube PIL is shorter than the distance from proximity sensor 272R to tube PIR. Therefore, the difference between the detection value of proximity sensor 272L and the detection value of proximity sensor 272R is not zero. For example, when using proximity sensors 272L and 272R, where the detection value decreases as the distance to the object decreases, the difference in detection values ​​is negative.

[0088] Therefore, since the difference between the detection values ​​of proximity sensors 272L and 272R is negative, it can be deduced that the straight line L5, representing the center position of proximity sensors 272L and 272R, is offset to the left relative to the straight line L6, representing the center position of tubes PIL and PIR. Furthermore, since the magnitude of the difference in detection values ​​reflects the magnitude of the offset, Δy can be calculated based on the magnitude of the difference in detection values.

[0089] (Proximity sensor configuration)

[0090] For a set of proximity sensors 272L and 272R, it is preferably configured such that when one is positioned directly above the tube, the other is positioned at the detection limit of the tube adjacent to it. Based on Figure 6 as well as Figure 7 The rationale for this configuration will be explained.

[0091] Figure 6 This is a diagram illustrating the positional relationship between proximity sensor 272 and tube PI, and the relationship between the detection value of proximity sensor 272. Furthermore, proximity sensor 272 is the same sensor as proximity sensors 272L and 272R.

[0092] exist Figure 6 The diagram shows the relationship between the offset (in mm) of the proximity sensor 272 from its initial position and the measured value (in volts) of the proximity sensor 272. Furthermore, the initial position is approximately 5 mm to the left of the position directly above the PI tube.

[0093] As shown in the figure, the proximity sensor 272 moves to the right from its initial position. When the proximity sensor 272 is directly above the tube PI, that is, when the proximity sensor 272 is closest to the tube PI, the detected value is approximately 1.2V. This value is the minimum output value of the proximity sensor 272.

[0094] Subsequently, as the proximity sensor 272 moves further to the right, its detection value gradually increases. When transistor PI is outside the detection range, the detection value (voltage value) is approximately 5.0V. This value is the maximum output value of the proximity sensor 272 and represents the boundary of its detection range. In other words, if the detection value (voltage value) is less than 5.0V, it can be said that the proximity sensor 272 has detected transistor PI; if it is 5.0V, it can be said that transistor PI has not been detected.

[0095] The relationship between the position of proximity sensor 272 and the detected value exhibits different patterns depending on whether it is close to the tube PI or near the boundary of the detection range. Specifically, for the case where the distance to the tube PI is relatively close, the relationship between the position of proximity sensor 272 and the detected value can be approximated as a function. This function is then applied... Figure 6 The curve is represented as an "approximate curve".

[0096] exist Figure 6 In this approximate curve, D represents the difference between the offset at a voltage value outside the detection range (approximately 5.0V) and the offset when the proximity sensor 272 is closest to tube PI (when the proximity sensor 272 is directly above tube PI). When the proximity sensor 272 moves a distance D to the right from the state where it is directly above tube PI, the detection value of the proximity sensor 272, although not reaching the maximum value, is close to the maximum value.

[0097] Therefore, considering D as the detection limit distance, when the proximity sensor 272 is located within the interval from the position directly above tube PI to a position moving away from D in the right direction, it is possible to use... Figure 6 The approximate curve shown approximates the relationship between the detection value of proximity sensor 272 and the offset. Moreover, when the tube PI is located at a position further than the detection limit of proximity sensor 272, the detection value of proximity sensor 272 can be approximated to a certain value (approximately 5.0V).

[0098] Furthermore, although experiments were conducted by varying the distance between the proximity sensor 272 and the tube PI when the proximity sensor 272 was closest to the tube PI, the shorter the distance, the smaller the detection value at the closest point, and the detection limit position remained unchanged. Based on these experimental results, it can be said that using... Figure 6 It is appropriate to approximate the approach portion with the approximation curve shown, and it is also appropriate to set the detection value at a position further than the detection limit obtained from the function representing the approximation curve to a certain value (the maximum value of the proximity sensor 272).

[0099] Figure 7This is a diagram illustrating the positional relationship between proximity sensors 272L and 272R and tubes PIL and PIR, and the approximate formula for the detection values ​​of proximity sensors 272L and 272R. Figure 7 In the diagram, the offset of the left-side proximity sensor 272L when it is positioned directly above the left-side pipe PIL among two adjacent pipes is zero. Furthermore, an approximate formula is shown that represents the relationship between the offset x from the aforementioned position when the proximity sensors 272L and 272R are moved horizontally to the right from this position and the respective detection values ​​V1 and V2 of the proximity sensors 272L and 272R.

[0100] As shown in the figure

[0101] V1 = a(xp) 2 +q

[0102] V2 = a(xpD) 2 +q.

[0103] Furthermore, a, p, and q are constants determined by the distance between proximity sensors 272, the diameter of tube PI, the spacing between tubes PI, and the distance between proximity sensors 272 and tube PI. Additionally, D is an approximation of V1 in the curve where V1 = V 1MAX The offset at approximately 5.0V and V1 = V 1MIN The difference in offset at approximately 1.2V.

[0104] The proximity sensors 272L and 272R are configured using the distance D calculated above. Specifically, D is defined as the horizontal distance from the proximity sensor 272R directly above the tube PIR when the proximity sensor 272L is positioned directly above the tube PIL. Similarly, D is also defined as the horizontal distance from the proximity sensor 272L directly above the tube PIL when the proximity sensor 272R is positioned directly above the tube PIR. To achieve this positional relationship, the distance between the proximity sensors 272L and 272R is d = (PD), where P is the distance between the tubes PIL and PIR.

[0105] With this configuration, when the proximity sensor 272L is directly above the tube PIL, the detected value V1 is the minimum value V. 1MIN (Approximately 1.2V). At this point, the proximity sensor 272R is at the detection limit of the PIR tube, therefore V2 is the maximum value V. 2MAX (Approximately 5.0V). On the other hand, when the proximity sensor 272R is directly above the tube PIR, the detected value V2 is at its minimum value V. 2MIN (Approximately 1.2V). At this point, the proximity sensor 272L is at the detection limit of the PIL tube, therefore V1 is the maximum value V. 1MAX(Approximately 5.0V).

[0106] Furthermore, within the interval from the state where proximity sensor 272L is directly above tube PIL to the state where proximity sensor 272R is directly above tube PIR, the state is characterized by proximity sensor 272L detecting tube PIL and proximity sensor 272R detecting tube PIR. The difference between the detection values ​​of proximity sensors 272L and 272R within this interval can be represented as follows.

[0107] V1-V2={a(xp) 2 +q}-{a(xpD) 2 +q}

[0108] =2aDx-a(2pD+D) 2 ) 2

[0109] Here, as in Figure 5 As explained earlier, when the detection values ​​of proximity sensors 272L and 272R are equal, that is, when V1-V2=0, the offset is also zero. Therefore, in terms of the function representing the offset, the second term on the right side of the above equation is made zero, and it is expressed as a linear function as follows.

[0110] x=(V1-V2) / 2aD

[0111] Here, we assume that starting from the state where proximity sensor 272R is directly above tube PIR, proximity sensors 272L and 272R move further to the right. In this state, proximity sensor 272L is outside the detection range of tube PIL, therefore V1 = V 1MAX A constant of approximately 5.0V. On the other hand, the proximity sensor 272R, within the detection range of the PIR tube, is expressed as V² = a(xpD). 2 +q. Therefore, the difference between the detection values ​​of proximity sensors 272L and 272R in this state can be expressed as follows.

[0112] V1-V2=V 1MAX -a(xpD) 2 -q

[0113] As mentioned above, the offset is zero when V1-V2 = 0. That is, -a(2pD+D) is made zero. 2 ) 2 =0. a≠0 and D≠0, therefore 2p+D=0. Thus, when the proximity sensor 272L is outside the detection range of tube PIL and the proximity sensor 272R is within the detection range of tube PIR, the function representing the offset is expressed as follows.

[0114] x={-(V1-V2+qV 1MAX ) / a} 1 / 2 +D / 2

[0115] As described above, the difference between the detection values ​​of proximity sensors 272L and 272R can be expressed by simple approximations for the cases where only one of the proximity sensors 272L and 272R detects the tube, and for the cases where both sensors detect the tube. Furthermore, by using these approximations, a function for calculating the offset based on the difference between the detection values ​​of proximity sensors 272L and 272R can be derived.

[0116] Figure 8 This is a graph representing the function used to calculate the offset based on the difference (V1-V2) between the detection values ​​of proximity sensors 272L and 272R. Figure 8 The vertical axis of the graph represents the offset (in mm) of the proximity sensor 272L from its position directly above the tube PIL, and the horizontal axis represents the difference (voltage difference, in V) between the detection values ​​of the proximity sensors 272L and 272R.

[0117] At once Figure 8 For the function shown, the offset is a straight line (a linear function) in the interval from approximately 0 to 15 mm. Specifically, the function within this interval is as follows: Figure 8 As shown in equation (1), the offset increases proportionally to the voltage difference (V1-V2) as a linear function.

[0118] in addition, Figure 8 The function shown is a curve within an offset range of approximately 15 to 45 mm. Specifically, the function within this range is as follows: Figure 8 As shown in equation (2), the offset is based on (V1-V2). 1 / 2 The value of the function decreases. Furthermore, in Figure 8 In the middle, let V 1MAX =5. That is, the "5" in (V1-V2+q-5) of the expression (2) is V. 1MAX .

[0119] That is, the offset calculation unit 103 calculates the offset when both proximity sensors 272L and 272R detect the tube (V1≠V). 1MAX And V2≠V 2MAX When the tube is detected by only one of the proximity sensors 272L and 272R, the offset x is calculated using the above formula (1). Additionally, when the offset calculation unit 103 detects the tube only when one of the proximity sensors 272L and 272R detects the tube, the offset x is calculated using the above formula (2). Here, "when only one of the proximity sensors 272L and 272R detects the tube" means (V1 = V...). 1MAX And V2≠V 2MAX ) or (V2 = V 2MAX And V1≠V1MAX )hour.

[0120] Thus, by configuring proximity sensors 272L and 272R such that proximity sensor 272L is at the detection limit of tube PIR when proximity sensor 272L is directly above tube PIL, and proximity sensor 272R is at the detection limit of tube PIL when proximity sensor 272R is directly above tube PIR, the offset can be calculated using simple functions such as equations (1) and (2).

[0121] Furthermore, depending on the distances between proximity sensors 272L and 272R and tubes PIL and PIR, the square root of equation (2) may sometimes be negative. In this case, the offset calculation unit 103 sets the first term on the right side of equation (2) to zero. Additionally, by determining the sign of the value of (V1-V2), or the relationship between the magnitudes of V1 and V2, it is possible to determine the left or right direction of the offset of the center positions of adjacent tubes and proximity sensors 272L and 272R. Specifically, it can be determined as follows: if V1 > V2, the offset is to the right; if V2 > V1, the offset is to the left.

[0122] As described above, the control device 1 includes an offset calculation unit 103, which calculates the offset of the cleaning device 2 from a predetermined reference position based on the detection values ​​of a set of proximity sensors 272L and 272R installed on the cleaning device 2 and used to detect the tube. Furthermore, the movement control unit 104 performs movement control of the cleaning device 2 based on the tilt angle determined by the angle determination unit 102 and the offset calculated by the offset calculation unit 103.

[0123] More specifically, a set of proximity sensors 272L and 272R are configured such that when one is directly above the tube, the other is at the detection limit of the tube adjacent to it. Furthermore, the offset calculation unit 103 calculates the offset using an approximation formula (2) obtained by approximating the relationship between the difference in detection values ​​of the set of proximity sensors 272L and 272R and the offset.

[0124] As described above, when proximity sensors 272L and 272R are installed symmetrically on the left and right sides of the cleaning device 2, and each sensor detects two parallel pipes, when the cleaning device 2 is located in the center of the two pipes, the distance from proximity sensor 272L to pipe PIL is equal to the distance from proximity sensor 272R to pipe PIR. In this case, the output values ​​of proximity sensors 272L and 272R are the same or approximately the same.

[0125] On the other hand, when the cleaning device 2 is located at a position offset from the center position of the two tubes, the output values ​​of proximity sensors 272L and 272R are different. In this case, the difference between the output values ​​of proximity sensors 272L and 272R corresponds to the magnitude of the offset between the center position of the cleaning device 2 in the left-right direction and the center position between tubes PIL and PIR.

[0126] Therefore, based on the detection values ​​of proximity sensors 272L and 272R, which are installed at symmetrical positions on the left and right sides of the cleaning device 2, the offset of the cleaning device 2 from the reference position can be calculated. For example, the offset between the center position of the cleaning device 2 in the left and right directions and the center position between the multiple tubes arranged in parallel can also be calculated.

[0127] Furthermore, by using this offset for movement control, the cleaning device 2 can be aligned with the pipe to a predetermined position. For example, by controlling the movement of the cleaning device 2 to make the offset zero, the cleaning device 2 can also be aligned to the center position between the pipes.

[0128] Here, as Figure 6 As shown, the output characteristics of the proximity sensor 272 differ when the object being detected is near the proximity sensor 272 compared to when the object is far from the proximity sensor 272, i.e., near the detection limit. Therefore, while a quadratic formula is used to approximate the output characteristics when the object is near the proximity sensor 272, strictly speaking, another formula is needed to approximate the output characteristics when the object is near the detection limit.

[0129] However, in this case, the output characteristics of proximity sensor 272 can be categorized into three types: quadratic, other than those mentioned above, and constant. Furthermore, when using two proximity sensors, 272L and 272R, the formula representing the difference between their detected values ​​becomes more complex, and the number of possible divisions increases, making the calculations more complicated.

[0130] Therefore, the proximity sensors 272L and 272R of the cleaning device 2 are configured such that when one is directly above the pipe, the other is at the detection limit of the pipe adjacent to it. Furthermore, the detection value at the detection limit is approximated as the maximum value. Thus, the offset can be calculated using the following simple calculation: formula (1) is used when both proximity sensors 272L and 272R detect the pipe, and formula (2) is used when only one of the proximity sensors 272L and 272R detects the pipe.

[0131] Furthermore, in this embodiment, an example of proximity sensors 272L and 272R being installed in symmetrical positions on the left and right sides of the cleaning device 2 has been described, but this is not a limitation. The proximity sensors 272L and 272R can be configured in a predetermined direction and at a predetermined distance relative to a reference position (e.g., the center position) of the cleaning device 2. For example, one proximity sensor can be configured at a predetermined distance in front of the center position of the cleaning device 2, and the other proximity sensor can be configured at a predetermined distance behind the center position.

[0132] Furthermore, the detector used for detecting the tube is not limited to the proximity sensor 272. For example, any detector capable of non-contact detection of the tube, such as a range sensor (e.g., a laser range sensor) or an ultrasonic sensor, can be used. Additionally, the number of detectors is not limited to two; there can be three or more, or multiple detectors can be used together.

[0133] Furthermore, the approximation obtained by approximating the relationship between the difference in the detection values ​​of the proximity sensor and the offset is not limited to the examples of equations (1) and (2). For example, depending on the type and configuration of the detector used for the detection tube, it is also possible to approximate the relationship using higher-order functions (including quadratic and cubic functions), exponential functions, logarithmic functions, or combinations thereof. However, the structure using the above equations (1) and (2) has the advantage of being able to calculate the offset through simple calculations, and is therefore preferred.

[0134] (Example of control: calming the mind)

[0135] As an example of the control of the cleaning device 2 based on the aforementioned offset and tilt angle, the centering control of the cleaning device 2 will be explained here. Centering refers to moving the cleaning device 2 to the center position between the pipes, thereby achieving a state where the pantograph 25 can be lowered between these pipes for cleaning (see reference). Figure 2 ).

[0136] Figure 9 This is a diagram illustrating an example of the operation of the cleaning device 2 during centering. Furthermore, in Figure 9 The image shows a view from above of the cleaning devices 2 on the parallel and equally spaced pipes PI1 to PI3. Additionally, in... Figure 9 In the diagram, dashed line L7 represents the center position of pipes PI1 and PI2. Centering is complete when dashed line L8, which bisects the cleaning device 2 in the left-right direction, aligns with dashed line L7.

[0137] During centering, firstly, the movement control unit 104 positions the cleaning device 2 parallel to the pipes PI1 to PI3. Specifically, the movement control unit 104 acquires the latest tilt angle Δθ determined by the angle determination unit 102, and sets the tilt angle Δθ as the target.T Set the threshold value to zero and calculate the threshold Δθ. S Determine whether |Δθ| = Δθ S (ST1). In Figure 9 In the example, |Δθ|>Δθ S In this case, the movement control unit 104 rotates the cleaning device 2 to the left until |Δθ| = Δθ. S Up to (ST2).

[0138] When |Δθ|=Δθ S At that time, the motion control unit 104 obtains the latest offset Δy calculated by the offset calculation unit 103 and determines whether |Δy| = y. S (ST3). y S For example, you can set it to 0 and add the specified margin to get the value. The margin is determined by the pipe spacing, pipe diameter, and pantograph width, etc. It is generally considered to be around a few millimeters. Figure 9 In the example, |Δy|>Δy S In this case, the movement control unit 104 performs control to bring Δy close to zero.

[0139] Specifically, the movement control unit 104 moves the cleaning device 2 forward or backward in a direction inclined relative to the extension direction of pipes PI1 to PI3, bringing Δy close to zero. At this point, it is conceivable that centering by only moving forward or only backward would result in deviation from the starting position of straight-line travel. Therefore, centering is preferably achieved by alternately and repeatedly performing multiple stages of forward and backward movement.

[0140] When repeatedly moving forward and backward, the movement control unit 104 determines whether the previous movement was based on forward or backward movement. Furthermore, based on the value of Δy, it determines whether to move to the left or to the right. For example, if the value of Δy at a position to the right of Δy=0 is output as positive, and the value of Δy at a position to the left of Δy=0 is output as negative, the movement control unit 104 determines whether to move to the left if the value of Δy is positive, or to move to the right if the value of Δy is negative.

[0141] Then, the movement control unit 104 determines the rotation direction based on these determination results. Specifically, if the movement is to the left and the previous movement was forward, the movement control unit 104 decides to rotate to the right. Conversely, if the movement is to the left and the previous movement was backward, the movement control unit 104 decides to rotate to the left. The same applies to the rightward movement: if the previous movement was forward, the movement control unit 104 decides to rotate to the left; if the previous movement was backward, it decides to rotate to the right. Figure 9In the example, since it is assumed that the movement needs to be to the right and the last movement was forward, the movement control unit 104 decides to perform a left rotation (ST4).

[0142] The movement control unit 104, which determines the rotation direction, sends a rotation instruction in the determined direction to the cleaning device 2. The target rotation angle Δθ T This can be determined in advance. That is, after the motion control unit 104 sends a rotation instruction, the angle Δθ determined by the angle determination unit 102 is used.

[0143] =Δθ T The moment indicated to the cleaning device 2 is the end of rotation (ST5).

[0144] After the aforementioned rotation is completed, the movement control unit 104 causes the cleaning device 2 to move forward or backward. Specifically, if the previous movement was forward-based, a backward instruction is sent to the cleaning device 2; if the movement was backward-based, a forward instruction is sent to the cleaning device 2 (ST6). The method for determining the forward or backward time, i.e., the travel time of the cleaning device 2, is based on... Figure 10 To be described later.

[0145] (Method for calculating travel time)

[0146] Figure 10 This diagram illustrates the method for calculating the travel time of the cleaning device 2 during centering. Figure 10 The image shows a top-down view of the cleaning device 2. Furthermore, the cleaning device 2 is depicted as relatively small. Figure 10 In the diagram, dashed line L9 represents the center position of the parallel pipes PIL and PIR, and dashed line L10 represents the line that bisects the cleaning device 2 in the left and right directions.

[0147] As shown in the figure, the angle between the dashed lines L9 and L10 is Δθ. T The offset of the cleaning device 2 from the dashed line L9 is Δy. Furthermore, the distance the cleaning device 2 travels along the dashed line L10 from its center position to its position on the dashed line L9 is L. P .

[0148] At this time, the motion control unit 104 can also be used. Figure 10 The travel time of the sweeping device 2 is calculated using the equation (3) shown. Furthermore, V in equation (3) represents the travel speed of the sweeping device 2. Additionally, Δy / sin(Δθ) in equation (3)... T ) = L P In other words, equation (3) assumes that the travel distance of the sweeping device 2 is not set to L. P Instead, set L to P Multiply by (1+k) b L obtained after ) timesP *(1+k b )=Δy / sin(Δθ T )*(1+k b The formula for calculating the travel time is then used. Since sliding is common on pipes, the travel time can be calculated by increasing the travel distance, thus allowing the travel time to be closer to L. P The driving distance.

[0149] The above k b It is the bias value. For example... Figure 10 As shown, k b =(k p +k n ) / 2, that is, the offset value k from the last move. p The offset value k during this movement n Let the arithmetic mean be k. b In addition, such as Figure 10 As shown, the bias value k this time n It is the position offset Δy after the most recent movement. n The offset Δy from the position before the movement p The ratio (Δy) n / Δy p ).

[0150] For example, in Figure 10 In EX1, an example of centering is shown by moving from a state with a position offset of Δy1 through three stages. Furthermore, in EX1, point P1 represents the center position of the cleaning device 2 when the position offset is Δy1. Additionally, Δy2 represents the position offset after the first stage of movement, point P2 represents the center position of the cleaning device 2 at this point, Δy3 represents the position offset after the second stage of movement, and point P3 represents the center position of the cleaning device 2 at this point.

[0151] During the first phase of movement, the movement control unit 104 uses the default bias value k. d The travel time is calculated using equation (3). Here, Δy1 is substituted into Δy in equation (3). As k d For example, the last used bias value k can be applied. b Alternatively, a predetermined value can be applied. Furthermore, to ensure that centering is performed in multiple stages, a predetermined constant smaller than Δy1 can be substituted into Δy. This constant represents the upper limit of the width during a stage of movement and can be predetermined based on factors such as the space on the pipe. The travel time is calculated using this constant until the offset calculated by the offset calculation unit 103 falls below this constant.

[0152] In the second phase of movement, the movement control unit 104 uses the ratio (Δy2 / Δy1) of the position offset Δy2 after the first phase of movement to the position offset Δy1 before the movement as the offset value k for this movement. n Calculate it. Then, the motion control unit 104 will calculate the k. n The bias value k compared to the last application d The arithmetic mean of the values ​​is used as the offset value for the second-stage movement. Thus, in the second-stage movement, the movement distance corresponding to the offset before and after the first-stage movement is controlled.

[0153] In the third stage of movement, the movement control unit 104 uses the ratio (Δy3 / Δy2) of the position offset Δy3 after the second stage movement to the position offset Δy2 before the movement as the offset value k for this movement. n Calculate it. Then, the motion control unit 104 will calculate the k. n The bias value k compared to the last application b The arithmetic mean of the values ​​is used as the offset value for the third-stage movement. Thus, in the third-stage movement, the movement distance corresponding to the offset before and after the second-stage movement is controlled.

[0154] In EX1, the movement reaches the dashed line L9, that is, the central position of tubes PIL and PIR, through three stages of movement. However, if the movement control unit 104 fails to reach the dashed line L9 through the third stage of movement, it will perform the fourth stage of movement in the same way.

[0155] In this way, the movement control unit 104 can also perform centering while repeatedly moving forward and backward, updating the offset value. Furthermore, depending on the state of the tube, it may exceed the dashed line L9. In such cases, the sign of the offset Δy is reversed before and after movement, and k... n =(Δy) n / Δy p The value becomes negative. In this case, the movement control unit 104 can also be set to k. n =0 and movement control is performed.

[0156] As described above, the movement control unit 104 can also move the cleaning device 2 a predetermined distance in multiple stages. Moreover, in this case, it is preferable that the movement control unit 104 adjusts the movement distance in the next stage based on the offset before and after the previous stage of movement.

[0157] When the cleaning device 2 moves on the pipe, even when controlled to move at the same set speed for the same amount of time, deviations in the moving distance can sometimes occur due to the slipperiness of the pipe surface. Therefore, according to the above structure, when the cleaning device 2 moves a predetermined distance, it moves that predetermined distance in multiple stages, adjusting the moving distance in the next stage based on the offset before and after the previous stage. Thus, regardless of the surface condition of the pipe on which the cleaning device 2 moves, the cleaning device 2 can be moved stably a predetermined distance.

[0158] In addition, Figure 10 In the example, adjustments were made based on the offsets before and after the previous move, but adjustments could also consider offsets from previous moves. For example, in the third phase of the move in EX1, the offset values ​​used in the first phase adjustment, the offset values ​​used in the second phase adjustment, and the newly calculated b could be combined. n The arithmetic mean is used as the bias value b. b Use it. Alternatively, you can use a weighted average or similar value instead of the arithmetic mean.

[0159] (Example of control: driving straight)

[0160] After centering and cleaning at the center position between pipes, the movement control unit 104 keeps the cleaning device 2 moving straight while maintaining the center position between pipes. This allows for cleaning of other positions on the same pipes.

[0161] In controlling the cleaning device 2 to travel straight while maintaining the central position of the pipes, for example, an inclination angle determined by the angle determining unit 102 can be used. This is because if the inclination angle can be maintained at zero, the central position of the pipes is also maintained.

[0162] Furthermore, if the offset between the sweeping device 2 and the center position before straight-line travel is zero or close to it, it is not difficult to control the final offset within the allowable range. On the other hand, if the offset between the sweeping device 2 and the center position before straight-line travel is within the allowable range but is relatively large, it becomes more difficult to control the final offset within the allowable range.

[0163] Therefore, before proceeding straight, the motion control unit 104 determines whether the offset calculated by the offset calculation unit 103 is below a threshold. Different controls can be applied depending on whether the offset is below or exceeds the threshold. For example, in the former case, the motion control unit 104 can apply a high-speed straight-moving mode that moves the sweeping device 2 at high speed, and in the latter case, it can apply a low-speed straight-moving mode with a slower movement speed than the high-speed straight-moving mode.

[0164] (Highway Straight-Ahead Mode)

[0165] When using the high-speed straight-line mode, the movement control unit 104 can calculate the travel time as L / V, obtained by dividing the distance to be traveled L by the travel speed V. Then, after the sweeping device 2 starts moving, the movement control unit 104 determines whether the tilt angle determined by the angle determination unit 102 exceeds the allowable value. If the movement control unit 104 determines that the allowable value has been exceeded, it adjusts the travel direction of the sweeping device 2.

[0166] For example, the cleaning device 2 has Figure 2 In the case of the track 22 shown, the movement control unit 104 can adjust the direction of travel of the cleaning device 2 by increasing or decreasing the speed of one of the left and right track 22.

[0167] Here, suppose that the tilt angle Δθ determined by the angle determination unit 102 exceeds the allowable value after straight-line driving begins. In this case, if the tilt angle is positive (i.e., as...) Figure 3 As shown in the example, when the cleaning device 2 is tilted to the left, the movement control unit 104 can multiply the speed of the left track 22 by α (α = 1 + |Δθ|). Additionally, if the tilt angle is negative (i.e., compared to...), the speed of the left track 22 can be multiplied by α. Figure 3 Conversely, if the cleaning device 2 is tilted to the right, the movement control unit 104 can multiply the speed of the right track 22 by α.

[0168] Furthermore, when the cleaning device 2 is moved backward, for the opposite control described above, if the tilt angle is positive, the movement control unit 104 multiplies the speed of the right track 22 by α; if the tilt angle is negative, it multiplies the speed of the left track 22 by α. By repeating this process until a distance L has been moved, relatively high-speed movement is possible while maintaining the central position between the pipes.

[0169] (Low-speed straight driving mode)

[0170] When using the low-speed straight-line mode, the movement control unit 104 performs the same control as in the high-speed straight-line mode: setting the travel time to L / V, confirming the tilt angle before completing the distance L, and controlling the speed of one track 22 to α times if the tilt angle exceeds the allowable value. However, when using the low-speed straight-line mode, the movement control unit 104 preferably also confirms the offset, and adjusts the travel direction of the sweeping device 2 if the offset exceeds the allowable value.

[0171] For example, the movement control unit 104 can perform the aforementioned control if the tilt angle determined by the angle determination unit 102 exceeds the allowable value. On the other hand, if the tilt angle determined by the angle determination unit 102 is below the allowable value, it can confirm the offset calculated by the offset calculation unit 103. Furthermore, the movement control unit 104 can also perform a movement towards the center position if the offset exceeds the allowable value. In addition, if the offset is below the allowable value, the movement control unit 104 can simply return to the tilt angle confirmation process.

[0172] During the approaching action, when the aforementioned offset represents the sweeping device 2 moving to the left relative to the center position, the movement control unit 104 can multiply the speed of the left track 22 by β (β > α). Then, after the sweeping device 2 has traveled for a predetermined time with the speed of the left track 22 multiplied by β, the movement control unit 104 can also multiply the speed of the right track 22 by β and restore the vehicle angle. Similarly, when the aforementioned offset represents the sweeping device 2 moving to the right relative to the center position, the movement control unit 104 can multiply the speed of the right track 22 by β. Then, after the sweeping device 2 has traveled for a predetermined time with the speed of the right track 22 multiplied by β, the movement control unit 104 can also multiply the speed of the left track 22 by β and restore the vehicle angle. Furthermore, when the sweeping device 2 is moved backward, the control is the opposite of the above. That is, when the movement control unit 104 moves to the left, it makes the cleaning device 2 travel for a predetermined time by multiplying the speed of the left track 22 by β, and when it moves to the right, it makes the cleaning device 2 travel for a predetermined time by multiplying the speed of the right track 22 by β.

[0173] As described above, by traveling for a predetermined time with the left and right tracks 22 at different speeds, the offset of the cleaning device 2 can be reduced or reduced to zero. Then, after the movement control unit 104 has traveled the cleaning device 2 for a predetermined time with the left and right tracks 22 at different speeds, it restores the speeds of the left and right tracks 22 to the same speed and returns to the tilt angle confirmation process.

[0174] (Example of control: column movement)

[0175] When the cleaning of two adjacent pipes is completed, the movement control unit 104 causes the cleaning device 2 to move in a column. Furthermore, in column movement, a column refers to the portion between a particular pipe and the pipe adjacent to it.

[0176] During column movement, the movement control unit 104 first rotates the cleaning device 2 to the target angle Δθ based on the tilt angle determined by the angle determination unit 102. TAfter rotation, it is moved forward. The travel time during this forward movement can be calculated, for example, by the following formula (4). In addition, P is the distance between adjacent pipes, and V is the travel speed of the cleaning device 2.

[0177] (Travel time) = P * sin(Δθ) T ) / V (4)

[0178] Next, the movement control unit 104 restores the tilt angle of the cleaning device 2 to zero based on the tilt angle determined by the angle determination unit 102. Here, it is assumed that the cleaning device 2 is located in the center of the column before moving, and that the cleaning device 2 advances by P*sin(Δθ) using the aforementioned travel control. T In this case, the offset of the cleaning device 2 from the center position of the moved column at the moment when the tilt angle is restored to zero is P*{cos(Δθ)}. T )} 2 .

[0179] Next, the movement control unit 104 rotates the cleaning device 2 by (90-Δθ) based on the tilt angle determined by the angle determination unit 102. T In this way, the movement control unit 104 can rotate the cleaning device 2 with a rotation angle difference of 90° between the first and second rotations. Moreover, after the above-mentioned rotation is completed, the movement control unit 104 causes the cleaning device 2 to move backward.

[0180] Here, it is assumed that before the column moves, the cleaning device 2 is located in the center of the column, and the cleaning device 2 advances by P*sin(Δθ) during the first forward movement. T In this case, if the cleaning device 2 is moved back by P*cos(Δθ) T The position of the sweeping device 2 after reversing is located at a position P that has been moved to the side from the position of the sweeping device 2 before moving from the column. Therefore, the travel time during reversing is calculated by the following formula (5).

[0181] (Travel time) = P * cos(Δθ) T ) / V (5)

[0182] The column movement is achieved through a combination of rotation, forward movement, rotation, and backward movement as described above. Furthermore, the cleaning device 2 can be moved backward after the first rotation, and then moved forward after the second rotation. The direction of rotation depends on which column the cleaning device 2 is moving towards and its direction of travel. For example, if moving towards a left-hand column and moving forward after the first rotation, the rotation can be to the left.

[0183] Furthermore, even if the cleaning device 2 is moved forward or backward for the aforementioned travel time, it may not be able to move to the desired position due to the slipperiness of the pipe surface. Therefore, the offset calculation unit 103 can calculate the offset Δy from the center position of the moved column after the initial travel. Then, the movement control unit 104 can adjust the second travel time based on the offset Δy calculated by the offset calculation unit 103. That is, the movement control unit 104 can also use the offset Δy calculated after the first travel to calculate the second travel time.

[0184] Furthermore, at the end of the process described above, the offset calculation unit 103 calculates the offset Δy from the center position of the moved column. Here, if the offset Δy exceeds the allowable range, the centering described above is performed.

[0185] (Preparation before the cleaning device is controlled)

[0186] For example, if the shooting based on the shooting device 271 does not proceed normally, the angle determination unit 102 cannot determine a proper tilt angle, and the movement control unit 104 cannot perform proper control.

[0187] Therefore, before the various controls described above, the movement control unit 104 can acquire the tilt angle determined by the angle determination unit 102 and determine whether the tilt angle is within a preset invalid range. Furthermore, the movement control unit 104 can also send an abnormal signal and terminate the control of the cleaning device 2 when the tilt angle acquired sequentially from the angle determination unit 102 is within the invalid range for a predetermined number of consecutive times. This prevents accidental control from occurring.

[0188] (Decision regarding the actions performed by the cleaning device)

[0189] As described above, control device 1 is capable of performing actions such as centering, column movement, and straight-line travel. Which of these actions to perform can be determined by control device 1 itself, or it can be determined by another control device located upstream of control device 1. In the latter case, the upstream control device, for example, determines the action to be performed by the cleaning device 2 based on the operator's operation and notifies control device 1 of the determined action. Control device 1 then operates the cleaning device 2 according to this notification and sends a completion notification to the upstream control device upon completion of the action. After receiving the completion notification, the upstream control device determines the next action to be performed and notifies control device 1 of the determined action. By repeating this process, cleaning of the pipe based on the cleaning device 2 can be achieved. Furthermore, controls such as the extension and retraction of the pantograph 25 and the control of water discharge, which do not use offset or tilt angles, can be performed by control device 1 or by the upstream control device.

[0190] (Process flow: based on tilt angle control)

[0191] based on Figure 11 The control of the tilt angle determined by the angle determination unit 102 in the processing performed by the control device 1 will be explained. Figure 11 This is a flowchart illustrating an example of a control method for a cleaning device 2 based on an tilt angle. Furthermore, it is assumed here that the cleaning device 2 is arranged on multiple water pipes arranged in parallel, and that the water pipes are photographed by a photographing device 271 mounted on the cleaning device 2.

[0192] In S11, the pipe detection unit 101 acquires an image captured by the imaging device 271 installed on the cleaning device 2. Then, in S12, the pipe detection unit 101 inspects the water pipe based on the image acquired in S11. The method for inspecting the water pipe has already been explained, so it will not be repeated here.

[0193] In S13, the angle determination unit 102 determines the tilt angle of the tube detected in S12. The method for determining the tilt angle of the tube detected in the image has already been explained, so it will not be repeated here.

[0194] In S14, the movement control unit 104 determines whether to control the cleaning device 2 based on the tilt angle determined in S13. If the determination is that control should not be performed (no in S14), the process ends. Figure 11 The processing continues. On the other hand, if it is determined that control should be performed (yes in S14), the process proceeds to S15, and the movement control unit 104 controls the cleaning device 2 based on the tilt angle determined in S13, thereby ending the process. Figure 11 The processing.

[0195] Furthermore, various control contents can be applied to S15, and the judgment criteria of S14 can be appropriately set according to the control contents of S15. For example, the movement control unit 104 performs S15 to adjust the tilt angle of the cleaning device 2 to Δθ. T In the case of rotational control, in S14, the tilt angle determined in S13 is if it is related to Δθ T If the difference is within the allowable range, it is determined that no control is needed; if it is related to Δθ... T If the difference is outside the allowable range, it is determined that control is required.

[0196] Additionally, for example, when the sweeping device 2 is traveling straight, in S14, if the tilt angle determined in S13 is within the allowable value, it is determined that no control is needed; if it exceeds the allowable value, it is determined that control is needed. Then, in S15, the movement control unit 104 adjusts the speed of the track 22 so that the tilt angle determined in S13 is zero or close to zero.

[0197] As described above, the control method for the cleaning device 2 executed by the control device 1 includes: a pipe detection step (S12), which detects the pipe based on an image captured by the imaging device 271 of the cleaning device 2, which is installed on the surface of the pipe for cleaning; an angle determination step (S13), which determines the tilt angle of the pipe detected in the pipe detection step; and a movement control step (S15), which performs movement control of the cleaning device 2 based on the tilt angle. According to this control method, general movement control of the cleaning device 2 based on the image captured by the imaging device 271 can be achieved.

[0198] (Processing flow: offset-based control)

[0199] based on Figure 12 The control of the offset determined by the offset calculation unit 103 in the processing performed by the control device 1 will be explained. Figure 12 This is a flowchart illustrating an example of a control method for the cleaning device 2 based on offset. Furthermore, it is assumed here that the cleaning device 2 is located between adjacent sets of water pipes in a plurality of parallel-arranged water pipes.

[0200] In step S21, the offset calculation unit 103 acquires the detection values ​​of a set of proximity sensors 272L and 272R installed at symmetrical positions on the left and right sides of the cleaning device 2. Then, in step S22, the offset calculation unit 103 calculates the offset of the cleaning device 2 from a predetermined reference position based on the detection values ​​acquired in step S21. For example, the offset calculation unit 103 calculates the offset of the center position in the left-right direction of the cleaning device 2 and the offset of the center position between the multiple parallel tubes.

[0201] In calculating this offset, as described above, the approximate formula used by the offset calculation unit 103 to calculate the offset differs between the case where both proximity sensors 272L and 272R detect the water pipe (when the detection values ​​of both sensors are less than the maximum value) and the case where only one sensor detects the water pipe (when the detection value of one sensor is the maximum value).

[0202] Specifically, when the detection values ​​of both proximity sensors 272L and 272R are less than the maximum value, the offset calculation unit 103 substitutes the difference between their detection values ​​into the above formula (1) to calculate the offset. On the other hand, when the detection value of one of the proximity sensors 272L and 272R is the maximum value and the detection value of the other is less than the maximum value, the offset calculation unit 103 substitutes the difference between their detection values ​​into the above formula (2) to calculate the offset.

[0203] In S23, the motion control unit 104 determines whether to control the cleaning device 2 based on the offset calculated in S22. If the determination is that no control should be performed (no in S23), the process ends. Figure 12 The processing continues. On the other hand, if it is determined that control should be performed (yes in S23), the process proceeds to S24, and the movement control unit 104 controls the cleaning device 2 based on the offset calculated in S22, thereby ending the process. Figure 12 The processing.

[0204] Furthermore, various control contents can be applied to S24, and the judgment criteria of S23 can be appropriately set according to the control contents of S24. For example, when the movement control unit 104 is performing centering, in S23, if the offset calculated in S22 is within the allowable value, it is determined that no control is needed; if it exceeds the allowable value, it is determined that control is needed. Then, in S24, the movement control unit 104 performs control to reduce the offset. For example, the movement control unit 104 controls the cleaning device 2 to move forward or backward based on a predetermined tilt angle, or controls the speed of one of the left or right tracks 22 to increase or decrease.

[0205] As described above, the control method for the cleaning device 2 executed by the control device 1 includes: an offset calculation step (S22), which calculates the offset of the cleaning device 2 from a predetermined reference position based on the detection values ​​of a set of proximity sensors 272L and 272R installed at symmetrical positions on the left and right sides of the cleaning device 2, which cleans multiple parallel pipes; and a movement control step (S24), which performs movement control of the cleaning device 2 based on the offset. Furthermore, the set of proximity sensors 272L and 272R is configured such that when one is directly above a pipe, the other is at the detection limit position of a pipe adjacent to that pipe. Moreover, in the offset calculation step, the offset is calculated using an approximation formula (2) obtained by approximating the relationship between the difference in detection values ​​of the set of proximity sensors 272L and 272R and the offset, or an approximation formula (1) obtained by approximating the relationship between the difference in detection values ​​of the proximity sensors 272L and 272R and the offset using a linear function. Therefore, universal movement control of the cleaning device 2 can be achieved. Furthermore, the offset can be calculated using a simple approximation formula through simple calculations.

[0206] [Implementation Method 2]

[0207] Other embodiments of the present invention will be described below. Furthermore, for ease of explanation, components having the same function as those described in the above embodiments will be given the same reference numerals, and their descriptions will be omitted.

[0208] In this embodiment, based on Figure 13 An example will be given of the offset calculation unit 103 calculating the offset of the cleaning device 2 from a predetermined reference position based on the detection result of the tube detection unit 101 rather than the detection value of the proximity sensor 272. Figure 13 This is a diagram showing an example of calculating the offset based on the detection result of the tube detection unit 101.

[0209] Furthermore, since the structure of the control device in this embodiment is different only in the content of the processing performed by the offset calculation unit 103, the structure of the control device 1 in embodiment 1 (see reference) is different. Figure 1 Since the cleaning device in this embodiment is the same as that in embodiment 1, it is also referred to as cleaning device 2. Furthermore, the cleaning device in this embodiment is also the same as the cleaning device 2 in embodiment 1, therefore it is also referred to as cleaning device 2. However, the cleaning device 2 in this embodiment differs from the cleaning device 2 in embodiment 1 in that it does not require a proximity sensor 272.

[0210] As described in Embodiment 1, the tube detection unit 101 detects the tube based on images captured by the imaging device 271 installed in the cleaning device 2. Figure 13In the example, the outlines of the four tubes were detected based on the image IMG6 captured by the imaging device 271.

[0211] More specifically, in image IMG6, tubes PI11 to PI14 are reflected, with tubes PI11 and PI14 located at the contact surface with the cleaning device 2 (uppermost section), and tubes PI12 and PI13 located inside it (second section). Furthermore, the contour line of the right end of tube PI1 and its upper endpoint p1, the contour line of the right end of tube PI12 and its upper endpoint p2, the contour line of the left end of tube PI13 and its upper endpoint p3, and the contour line of the left end of tube PI14 and its upper endpoint p4 are detected.

[0212] When the imaging device 271 is positioned at the center of the cleaning device 2 in the left-right direction, the offset of the center position in the left-right direction of the area sandwiched between the uppermost tubes PI and PI14 (hereinafter referred to as the inter-tube area) from the center position in the left-right direction of the image IMG6 represents the offset of the cleaning device 2. Therefore, when calculating the offset, the offset calculation unit 103 can determine the inter-tube area based on the image IMG6.

[0213] To determine the inter-pipe region, the offset calculation unit 103 uses the tilt angle determined by the angle determination unit 102 and the coordinate values ​​of the upper endpoints p1 to p4 to determine the lower endpoints corresponding to the upper endpoints p1 to p4, and then determines the rectangular region defined by the upper and lower endpoints. The offset calculation unit 103 then determines whether the determined rectangular region is the inter-pipe region.

[0214] For example, in Figure 13 In IMG7, after determining the lower endpoint p6 corresponding to the upper endpoint p4, the offset calculation unit 103 determines the lower endpoint p5 corresponding to the upper endpoint p3 adjacent to the upper endpoint p4, thereby determining the rectangular area defined by the four points p3, p4, p6, and p5.

[0215] Next, as shown in IMG8, ​​the offset calculation unit 103 covers the portion outside the defined rectangular area with black and converts it to a grayscale image. Then, the offset calculation unit 103 calculates the histogram of pixel values ​​within the rectangular area, and if the central value is less than a threshold (e.g., 100), it is determined to be an inter-tube region. Typically, the region reflecting the uppermost tubes PI11 and PI14 has higher pixel values ​​than the inter-tube region, so the above determination can distinguish the region reflecting the uppermost tubes PI11 and PI14 from the inter-tube region. In this example, the rectangular area defined by the four points p3, p4, p6, and p5 is determined to be an inter-tube region.

[0216] Similarly, in Figure 13In IMG9, the offset calculation unit 103 determines the lower endpoint p7 corresponding to the upper endpoint p1. Here, after determining the lower endpoint p7, the offset calculation unit 103 does not determine the lower endpoint corresponding to the upper endpoint p2, but determines the lower endpoint p8 corresponding to the upper endpoint p3 next to the upper endpoint p2, thereby determining the rectangular area defined by the four points p1, p3, p8, and p7.

[0217] In this way, if the distance between a certain upper endpoint and its adjacent upper endpoint is less than a threshold, the offset calculation unit 103 may determine the lower endpoint only for a certain upper endpoint instead of the adjacent upper endpoint. This is because the probability that two adjacent endpoints are both ends of the pipe is low.

[0218] After determining the rectangular region defined by the four points p1, p3, p8, and p7, the offset calculation unit 103, similar to IMG8, ​​covers the portion outside the defined rectangular region with black and converts it to a grayscale image (IMG10). Then, the offset calculation unit 103 calculates a histogram of the pixel values ​​within the rectangular region; if the central value is less than a threshold, it is determined to be an inter-pipe region. In this example, the rectangular region defined by the four points p1, p3, p8, and p7 is determined to be an inter-pipe region. This processing is performed on all rectangular regions formed based on the detected upper endpoints.

[0219] As described above, after determining the rectangular region based on the detected upper endpoint and determining whether the rectangular region is a pipe-to-pipe region, the offset calculation unit 103 merges the determined pipe-to-pipe regions. Specifically, the offset calculation unit 103 determines the coordinates of the top left, bottom left, bottom right, and top right of the vertices of the determined pipe-to-pipe region, and uses the area defined by these coordinates as the final pipe-to-pipe region.

[0220] For example, in Figure 13 In the example, the offset calculation unit 103, as described above, determines the four points p1, p7, p6, and p4 from the vertices of the two determined inter-pipe regions ("p3, p4, p6, p5" and "p1, p3, p8, p7"), as shown in IMG11. Thus, the final inter-pipe region is determined to be a rectangular region defined by these four points p1, p7, p6, and p4.

[0221] Finally, the offset calculation unit 103 is as follows: Figure 13 As shown in the image IMG12, find the midpoints between points p1 and p4, and between points p7 and p6. Calculate the distance Δy between the line segment L11 connecting these midpoints and the line segment L12 that bisects the image IMG12 in the left and right directions, and use it as the offset.

[0222] As described above, the control device 1 includes an offset calculation unit 103 that calculates the offset of the cleaning device 2 from the reference position based on the detection result of the tube detection unit 101, and the movement control unit 104 can be structured to control the movement of the cleaning device 2 based on the tilt angle determined by the angle determination unit 102 and the offset calculated by the offset calculation unit 103.

[0223] The position of the tube reflected in the image captured by the imaging device 271 installed on the cleaning device 2 reflects the positional relationship between the cleaning device 2 and the tube. Therefore, by detecting the tube based on this image, the offset of the cleaning device 2 can be calculated. Furthermore, by using this offset for movement control, the cleaning device 2 can be aligned with the tube to a predetermined position.

[0224] [Variation Example]

[0225] The execution entity of each process described in the above embodiments is arbitrary and not limited to the examples described above. That is, the device structure is arbitrary as long as it can execute each process described in the above embodiments. For example, the processes of determining the tilt angle, calculating the offset, and controlling the movement of the cleaning device 2, which are performed by the control device 1, can be distributed to other information processing devices for execution. Alternatively, for example, the first control device 1 can perform the processes of determining the tilt angle and controlling the movement of the cleaning device 2 based on the determined tilt angle, while the second control device 1 performs the processes of calculating the offset and controlling the movement of the cleaning device 2 based on the calculated offset.

[0226] Alternatively, the control device 1 can be mounted on the cleaning device 2. That is, the cleaning device 2, which is equipped with the control device 1 and moves under the control of the control device 1, is also included in the scope of the present invention. With the cleaning device 2 equipped with the control device 1, it is possible to move to a predetermined position on the tube as a single unit.

[0227] [Software-based implementation example]

[0228] The function of the control device 1 (hereinafter referred to as the "device") is to enable the computer to function as the device, which can be achieved by a program (control program) that enables the computer to function as each control block of the device (especially each component included in the control unit 10).

[0229] In this case, the aforementioned device, as hardware for executing the aforementioned program, includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory). The program is executed via the control device and the storage device, thereby realizing the functions described in the above embodiments.

[0230] The aforementioned program may not be temporary, but rather recorded on one or more computer-readable recording media. The aforementioned device may or may not have such a recording medium. In the latter case, the aforementioned program may be provided to the aforementioned device via any wired or wireless transmission medium.

[0231] Furthermore, some or all of the functions of the aforementioned control blocks can also be implemented using logic circuits. For example, integrated circuits that form the logic circuits that enable the functions of the aforementioned control blocks are also included within the scope of this invention. In addition, the functions of the aforementioned control blocks can also be implemented using a quantum computer, for example.

[0232] This invention is not limited to the various embodiments described above. Various modifications can be made within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of this invention.

[0233] Explanation of reference numerals in the attached figures

[0234] 1 Control device

[0235] 101 Pipe Inspection Department

[0236] 102 Angle Determination Section

[0237] 103 Offset Calculation Section

[0238] 104 Motion Control Department

[0239] 2. Cleaning device

[0240] 271 Filming Device

[0241] 272 (272R, 272L) proximity sensor.

Claims

1. A control device comprising: The tube inspection unit inspects the tubes based on images captured by an imaging device, which is mounted on a cleaning device that cleans the surface of the tubes. An angle determining unit determines the tilt angle of the tube detected by the tube detection unit, which is the angle between the extension direction of the tube and the front-rear direction of the cleaning device; as well as The movement control unit controls the movement of the cleaning device based on the tilt angle. The movement control unit uses a threshold and the tilt angle determined by the angle determination unit to perform rotation control of the cleaning device, wherein the threshold is calculated using the tilt angle of the cleaning device that changes over a period of time from when a control signal is sent to the cleaning device until the cleaning device performs an action.

2. The control device according to claim 1, characterized in that, It includes an offset calculation unit that calculates the offset of the cleaning device from a predetermined reference position based on the detection results of the tube detection unit. The movement control unit controls the movement of the cleaning device based on the tilt angle and the offset.

3. The control device according to claim 1, characterized in that, It includes an offset calculation unit that calculates the offset of the cleaning device from a predetermined reference position based on the detection values ​​of a set of detectors installed on the cleaning device and detecting the pipe. The movement control unit controls the movement of the cleaning device based on the tilt angle and the offset.

4. The control device according to claim 3, characterized in that, When the cleaning device moves a predetermined distance, the movement control unit moves that predetermined distance in multiple stages, and adjusts the movement distance in the next stage according to the offset before and after the previous stage.

5. A control device comprising: The offset calculation unit calculates the offset of the cleaning device from a predetermined reference position based on the detection values ​​of a set of proximity sensors installed at symmetrical positions on both sides of the cleaning device that cleans multiple parallel pipes; and The movement control unit controls the movement of the cleaning device based on the offset. The set of proximity sensors is configured such that when one proximity sensor is positioned directly above the tube, another proximity sensor is positioned at the detection limit of a tube adjacent to the tube. The offset calculation unit calculates the offset using an approximation formula obtained by approximating the relationship between the difference of the detection values ​​of a set of proximity sensors and the offset.

6. A cleaning device comprising a control device according to any one of claims 1 to 5, which moves under the control of the control device.

7. A control method for a cleaning device, comprising: The tube inspection step involves inspecting the tube based on images captured by a photographing device from a cleaning apparatus installed on the surface of the tube. An angle determination step determines the tilt angle of the tube detected in the tube detection step, which is the angle between the extension direction of the tube and the front-rear direction of the cleaning device. as well as The movement control step involves controlling the movement of the cleaning device based on the tilt angle. In the movement control step, the rotation control of the cleaning device is performed using a threshold and the tilt angle determined in the angle determination step, wherein the threshold is calculated using the tilt angle of the cleaning device that varies over a period of time from when a control signal is sent to the cleaning device until the cleaning device performs an action.

8. A control method for a cleaning device, comprising: The offset calculation step, based on the detection values ​​of a set of proximity sensors installed at left-right symmetrical positions of the cleaning device that cleans multiple parallel pipes, calculates the offset of the cleaning device from a predetermined reference position; and The movement control step involves controlling the movement of the cleaning device based on the offset. The set of proximity sensors is configured such that when one proximity sensor is positioned directly above the tube, another proximity sensor is positioned at the detection limit of a tube adjacent to the tube. In the offset calculation step, the offset is calculated using an approximation obtained by approximating the relationship between the difference of the detection values ​​of a set of proximity sensors and the offset.

9. A computer-readable storage medium storing a control program, wherein, The control program is used to enable the computer to function as the control device as described in claim 1, and to enable the computer to function as the tube detection unit, the angle determination unit, and the movement control unit.

10. A computer-readable storage medium storing a control program, wherein, The control program is used to enable the computer to function as the control device as described in claim 5, and to enable the computer to function as the offset calculation unit and the movement control unit.

Images