| 摘要 |
PURPOSE:To make it possible to correct the slanting of a cleaning device, monitoring the movement of the device through a camera when the cleaning device is slanted inside a pipeline by halting the operation of a motor when the vertical position of a suction nozzle is detected by a slanting sensor installed to the suction nozzle. CONSTITUTION:A suction pipe 2 having a suction nozzle 5 oscillated in a circumferential direction by a motor 22, is laid out at the axial center of a pipeline 3. There are also installed drive wheels 11 and 13 outside the suction pipeline 2, which turn around at a front and rear running position running in a longitudinal direction of the pipeline 2 and at a circumferential running position running in a circumferential direction of the pipeline 2. Then, a slanting sensor 25 is mounted to the suction nozzle 5 where the slanting sensor 25 is designed to detect a slanted angle of the suction nozzle 5 against the vertical position of the pipeline 2. furthermore, a camera 26, which is capable of confirming the position of the suction nozzle 5, is installed to the side of the suction nozzle 5. When it is necessary to stop the movement of the suction nozzle 5, the operating status is monitored with the camera 26 and controlled. When the slanting sensor 25 detects the vertical position of the suction nozzle 5, the motor 22 is stopped. |
