CONTROLLER, CLEANING APPARATUS, CONTROL METHOD OF CLEANING APPARATUS, AND CONTROL PROGRAM

Title:

CONTROLLER, CLEANING APPARATUS, CONTROL METHOD OF CLEANING APPARATUS, AND CONTROL PROGRAM

Document Type and Number:

Japanese Patent JP2023047684

Kind Code:

A

Abstract:

To achieve general-purpose moving control of a cleaning apparatus for pipes.SOLUTION: A controller (1) includes: a pipe detection unit (101) that detects a pipe in an image taken by an imaging device (271) attached to a cleaning apparatus (2) which cleans a surface of the pipe; an angle identification unit (102) that identifies an inclination angle of the pipe detected by the pipe detection unit (101); and a moving control unit (104) that performs moving control of the cleaning apparatus (2) on the basis of the inclination angle.SELECTED DRAWING: Figure 1

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Inventors:

YAJI HAYATO
KASAHARA NOBORU
MATSUZAKI HIROKI
MIYAKE TOSHIHIDE

Application Number:

JP2021156745A

Publication Date:

April 06, 2023

Filing Date:

September 27, 2021

Export Citation:

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Assignee:

HITACHI ZOSEN CORP

International Classes:

G05D1/02; B08B9/023; B08B13/00

Attorney, Agent or Firm:

HARAKENZO WORLD PATENT & TRADEMARK

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