CN109967409A - A kind of tunnel lamp automatic flushing device and method - Google Patents
A kind of tunnel lamp automatic flushing device and method Download PDFInfo
- Publication number
- CN109967409A CN109967409A CN201910185373.3A CN201910185373A CN109967409A CN 109967409 A CN109967409 A CN 109967409A CN 201910185373 A CN201910185373 A CN 201910185373A CN 109967409 A CN109967409 A CN 109967409A
- Authority
- CN
- China
- Prior art keywords
- lamps
- lanterns
- cleaning
- axis
- light output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000011010 flushing procedure Methods 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 158
- 241001465382 Physalis alkekengi Species 0.000 claims abstract description 131
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 57
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 239000007788 liquid Substances 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 6
- 239000000428 dust Substances 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000000746 purification Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 13
- 239000010865 sewage Substances 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 12
- 230000004807 localization Effects 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000010438 heat treatment Methods 0.000 claims description 7
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000004304 visual acuity Effects 0.000 claims description 3
- 230000004438 eyesight Effects 0.000 claims 1
- 230000006698 induction Effects 0.000 claims 1
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 239000012459 cleaning agent Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000013020 steam cleaning Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000005238 degreasing Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 239000006210 lotion Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000009834 vaporization Methods 0.000 description 1
- 230000008016 vaporization Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Cleaning In General (AREA)
- Non-Portable Lighting Devices Or Systems Thereof (AREA)
Abstract
The present invention relates to a kind of tunnel lamp automatic flushing devices, belong to tunnel cleaning field.Including voluntarily chassis, the voluntarily chassis includes lifting platform truck, generator, water tank, cleaning liquid case and dirt-collecting treatment box, the lifting platform truck includes driver's cabin and hoistable platform, and lamps and lanterns positioning system and lamps and lanterns cleaning system are provided on the hoistable platform；Lamps and lanterns positioning system is used to position lamps and lanterns, including front end sensing device and processing system；Lamps and lanterns cleaning system includes the multi-joint mechanical arm and cleaning device being arranged on hoistable platform, it further include cleaning device alignment system, video monitoring system, the configuration of the present invention is simple, it is that mobile continuous productive process is easy to operate, the effectively save labour of energy, labor intensity of operating staff is not only reduced, and the security risk for operation of ascending a height can be effectively eliminated.The present invention also provides a kind of tunnel lamp auto-cleaning methods.
Description
Technical field
The invention belongs to tunnel cleaning technique field, it is related to a kind of tunnel lamp automatic flushing device and method.
Background technique
With the continuous development of traffic route, city inner tunnel is more and more.Due to tunnel internal space relative closure, wear
The vehicle in row tunnel is easy to produce fugitive dust and a large amount of tail gas of discharge, is easy to be deposited on the metope of tunnel internal, manual cleaning
It is time-consuming and laborious, and work in tunnel and seem extremely dangerous, so more and more common, the phase of tunnel cleaning device application now
There is tunnel cleaning device in that answers.Currently, there are mainly two types of tunnel cleaning devices, it is another one is roller brush type tunnel cleaning vehicle
Kind is high pressure water tunnel cleaning vehicle.
High pressure water tunnel cleaning vehicle generally includes pump motor, pressurization pump motor and unloading solenoid valve etc..Tunnel cleaning vehicle
At work, in order to guarantee that high pressure pump water inlet is unobstructed, pressure increases suddenly when preventing high-pressure pump from starting, need to by pump motor, plus
Press pump motor and unloading solenoid valve are used cooperatively.Pump motor prestart, pressurization pump motor should start in advance, and unloading solenoid valve needs
It fully opens, and guarantees pressure value in the normal range, in closed state, pump motor could rise high and low pressure pressure switch
It is dynamic.Meanwhile if cistern water level is too low, all motors in addition to make-up water pump motor cannot be run；If cleaning agent liquid level is too low, clearly
Lotion pump motor cannot then be run, and cleaning agent, which is pumped, provides pressure to cleaning agent system, and cleaning agent flows to cleaning dress after mixing with water
It sets, cleans tunnel wall.
Tunnel lamp light output surface Various Types of Dams has flat glass bell-type, lens protrusion type, hollow out array and module group
Box-like etc., the lamps and lanterns that current tunnel cleaning device does not comprehensively consider various types are designed, and do not have versatility.
Summary of the invention
In view of this, shining the purpose of the present invention is to provide a kind of tunnel lamp automatic flushing device and method tunnel
Bright lamp tool carries out not parking automatic cleaning.
In order to achieve the above objectives, on the one hand, the present invention provides a kind of tunnel lamp automatic flushing device, including voluntarily bottom
Disk, the voluntarily chassis include lifting platform truck, water tank and generator, and the lifting platform truck includes that driver's cabin and lifting are flat
Platform is provided with lamps and lanterns positioning system and lamps and lanterns cleaning system on the hoistable platform；
The lamps and lanterns positioning system is used to position lamps and lanterns, including front end sensing device and processing system, before described
Hold sensing device for acquiring the range information of lamps and lanterns light output surface and near zone to front end sensing device, the processing in real time
System is for being according to the collected data accurately positioned lamps and lanterns；
The lamps and lanterns cleaning system includes the multi-joint mechanical arm being arranged on hoistable platform, and the multi-joint mechanical arm connects
It is connected to cleaning device alignment system, for controlling the mobile contraposition of multi-joint mechanical arm according to the positioning result of lamps and lanterns positioning system,
Cleaning device is equipped at the top of the multi-joint mechanical arm, the cleaning device is connect with water tank, for cleaning lamps and lanterns；
It further include video monitoring system, for monitoring lamp position and lamps and lanterns cleaning system alignment situation.
Further, the voluntarily chassis further includes cleaning liquid case and dirt-collecting treatment box, the cleaning device include edge
Voluntarily chassis traffic direction is successively provided with dry type cleaning brush, cleansing solution sprayer, wet cleaning brush and high pressure water purification backward
Flusher is provided with dust collecting installation below the dry type cleaning brush, is equipped with below the high pressure water purification flusher
Sewage collection equipment, the dust collecting installation and sewage collection equipment connect dirt-collecting treatment box by connecting tube；It is described
Dry type cleaning brush and wet cleaning brush are used to carry out cleaning works to lamps and lanterns light output surface, and the cleansing solution sprayer is connected with
Liquid case is cleaned, for spraying cleaning solution to lamps and lanterns light output surface, the high pressure water purification flusher connect with water tank, is used for pair
Lamps and lanterns light output surface carries out high pressure water flushing.
Further, the cleaning device includes high-pressure water heating flusher, is equipped with heating device in the water tank, is used for
Water is heated, the high-pressure water heating flusher is connect with water tank, for carrying out high temperature and pressure to lamps and lanterns light output surface
Water rinses.
Further, the cleaning device includes high-temperature steam cleaning machine.
Further, it is provided with pressure sensor in the dry type cleaning brush and wet cleaning brush, for perceiving cleaning device
Contact pressure during contraposition between cleaning device and lamps and lanterns light output surface；Rotation is provided on the wheel of the lifting platform truck
Encoder, for providing vehicle movement data in cleaning device contraposition process.
Further, the video monitoring system includes the camera being arranged on lamp cleaning device and is arranged in driver's cabin
Interior display.
Further, the dry type cleaning brush and wet cleaning brush are rotary cleaning brush, including swivel base and setting
Brush body on swivel base, the swivel base drive brush body to rotate by motor, the swivel base and multi-joint machine
It is fixedly connected at the top of tool arm.
On the other hand, the present invention also provides a kind of tunnel lamp auto-cleaning methods, comprising the following steps:
S1: voluntarily chassis is at the uniform velocity advanced for starting；
S2: lamps and lanterns are positioned；
S3: according to lamps and lanterns positioning result, multi-joint mechanical arm movement is controlled, cleaning device contraposition is made to go out light table to lamps and lanterns
Face；
S4: first of dust cleaning works is carried out to lamps and lanterns light output surface by dry type cleaning brush, preliminary lamps and lanterns of clearing away go out
The less firm floating ash of optical surface adherency, and dust is collected into filth disposal collecting box by dust collecting installation；
S5: cleaning solution is sprayed to lamps and lanterns light output surface by cleansing solution sprayer；
S6: the lamps and lanterns light output surface with cleaning solution is further cleaned by wet cleaning brush；
S7: being rinsed lamps and lanterns light output surface by high pressure water purification flusher, and will be dirty by sewage collection equipment
Water is collected into filth disposal collecting box.
Further, according to the difference of front end sensing device in step S2, can be divided into positioning based on laser scanning and ranging and
Based on machine vision+laser ranging positioning, wherein the localization method based on laser scanning and ranging the following steps are included:
S21: scanning lamps and lanterns light output surface and its near zone along tunnel direction of traffic using laser range finder based on synchronized scanner,
Each scanned point is obtained in inclusion region to the raw measurement data of sensor distance information；
S22: using the luminous point of laser range finder based on synchronized scanner as origin, light-emitting axis be Z axis, direction of traffic is X-axis, vertical
It is that Y-axis establishes location coordinate in the axis of X-axis and Z axis intersecting plane, according to sensor scanning speed, measurement angle and resolving power
Etc. information, from raw measurement data parsing obtain matrix A, wherein matrix element A (yk,xk) value zkFor in scanning area
Scanned distance of the point k to X-axis and Y-axis intersecting plane, (xk,yk) it is scanned point k in the projection position of X-axis and Y-axis intersecting plane
It sets；
S23: making row calculus of differences to the element of matrix A and obtain matrix B, searches particular row y downwards from the first trip of Bup, so that
yupThe element value of the continuous several rows started is respectively less than given threshold value thedy, while particular row is searched upwards from the footline of B
ydown, so that ydownThe element value of the continuous several rows started is respectively less than given threshold value thedy；
S24: making column calculus of differences to the element of matrix A and obtain Matrix C, first from C searches to the right particular column xleft, make
Obtain xleftThe element value of the continuous several columns started is respectively less than given threshold value thedx, while searching to the left from the terminal column of C specific
Arrange xright, so that xrightThe element value of the continuous several columns started is respectively less than given threshold value thedx；
S25: according to above-mentioned localization method, position of four angle points of lamps and lanterns light output surface in X-axis and Y-axis intersecting plane is sat
It is designated as: upper left (xleft, yup), lower-left (xleft, ydown), upper right (xright, yup) and bottom right (xright, ydown)；
S26: according to A (ydown,xleft:xright) average value and A (yup,xleft:xright) average value absolute difference with
And laser range finder based on synchronized scanner measurement angle etc., the angle of lamps and lanterns light output surface and vertical direction is calculated.
Further, step S2 based on machine vision+laser ranging localization method the following steps are included:
S21: laser ranging module is tightly attached to installation above industrial camera lens, keeps its emission shaft and camera optical axis basic
In parallel；
S22: include the original image of lamps and lanterns light output surface by the acquisition of industrial camera front, and surveyed using laser ranging module
The distance d of amount front lamps and lanterns light output surface；
S23: successively pre-processing original image, edge detection, binaryzation, Hough transform and lines detection, obtains
Expression function of the lamps and lanterns light output surface upper and lower, left and right contour line in image coordinate system, and then calculate lamps and lanterns light output surface
The position coordinates of four angle points in the picture；
S24: using the launch hole of laser ranging module as origin, emission shaft be Z axis, direction of traffic for X-axis, perpendicular to X-axis
Axis with Z axis intersecting plane is that Y-axis establishes location coordinate, is represented between physical length and d according to pixel each in image
The position coordinates of four angle points of lamps and lanterns light output surface in the picture are converted to the position in X-axis and Y-axis intersecting plane and sat by relationship
Mark: upper left (x1, y1), lower-left (x2, y2), upper right (x3, y3) and bottom right (x4, y4), realize that lamps and lanterns are accurately positioned；
S25: according to (x2-x1) absolute value, (x4-x3) absolute value and industrial camera shooting angle etc., calculate lamps and lanterns
The angle of light output surface and vertical direction.
Further, step S3 the following steps are included:
S31: using certain fixed point on platform truck as origin, straight up be Z axis, direction of traffic for X-axis, perpendicular to X-axis and Z
The axis of axis intersecting plane is that Y-axis establishes platform coordinate system, and the position of four angle points of lamps and lanterns light output surface in location coordinate is sat
Mark is converted to the position coordinates in platform coordinate system；
S32: by current location in platform coordinate system of lamps and lanterns, cleaning device and lamps and lanterns light output surface and vertical direction
Angle and vehicle movement data need when calculating cleaning device contraposition in real time to vertical lamps and lanterns light output surface in platform coordinate
The relative displacement carried out in system along X, Y and Z axis；
S33: according to the relative displacement demand of cleaning device, the Motion Control Strategies of each mechanical arm are solved；
S34: controlling each manipulator motion, and if only if cleansing solution sprayer, high pressure water purification flusher with a spacing
When being tightly attached to lamps and lanterns light output surface from face lamps and lanterns light output surface or cleaning brush with certain pressure, the automatic of cleaning device is determined
Mobile alignment operation success；
S35: low latitude operator automatically moves alignment situation by video monitoring system observation cleaning device, once hair
Now repeatedly contraposition failure or contraposition accumulated error are excessive, then provide reset signal, each mechanical arm will be under Automatic Control Strategy
It executes and resets operation and return step S31.
The characteristics of the beneficial effects of the present invention are: the present invention to have design rationally, and structure is simple, mobile continuous productive process,
Operation Van completes lamps and lanterns washing and cleaning operation in moving process, and while ensuring that clean-up performance is high, cleaning a lamps and lanterns only needs 1-3
Second, cleaning time is greatly saved；The present invention only needs a people to can be operated in driver's cabin, easy to operate, can effectively save labour
Power not only reduces labor intensity of operating staff, and can effectively eliminate the security risk for operation of ascending a height.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing excellent
The detailed description of choosing, in which:
Fig. 1 is tunnel lamp automatic flushing device structural schematic diagram of the present invention；
Fig. 2 is tunnel lamp auto-cleaning method flow chart of the present invention.
Appended drawing reference: voluntarily chassis 1, cleaning liquid case 2, water tank 3, dirt-collecting treatment box 4, generator 5, multi-joint machine
Tool arm 6, dry type cleaning brush 7, dust collecting installation 8, cleansing solution sprayer 9, wet cleaning brush 10, high pressure water purification flusher
11, sewage collection equipment 12, video camera 13, lamps and lanterns positioning system 14, display 15.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in following embodiment is only to show
Meaning mode illustrates basic conception of the invention, and in the absence of conflict, the feature in following embodiment and embodiment can phase
Mutually combination.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of invention；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is understood that.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right", "front", "rear"
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore is described in attached drawing
The term of positional relationship only for illustration, is not considered as limiting the invention, for the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Referring to Fig. 1, on the one hand, the present invention provides a kind of tunnel lamp automatic flushing device, including voluntarily chassis 1, institute
Stating voluntarily chassis 1 includes lifting platform truck, generator 5 and water tank 3, and the lifting platform truck includes that driver's cabin and lifting are flat
Platform is provided with lamps and lanterns positioning system 14 and lamps and lanterns cleaning system on the hoistable platform；
The lamps and lanterns positioning system 14 is used to position lamps and lanterns, including front end sensing device and processing system, described
Front end sensing device for acquiring the range information of lamps and lanterns light output surface and near zone to front end sensing device, the place in real time
Reason system is for being according to the collected data accurately positioned lamps and lanterns；
The lamps and lanterns cleaning system includes the multi-joint mechanical arm 6 being arranged on hoistable platform, the multi-joint mechanical arm 6
It is connected with cleaning device alignment system, it is mobile for controlling multi-joint mechanical arm 6 according to the positioning result of lamps and lanterns positioning system 14
It aligns, cleaning device is equipped at the top of the multi-joint mechanical arm 6, the cleaning device is connect with water tank, for cleaning lamps and lanterns；
It further include video monitoring system, for monitoring lamp position and lamps and lanterns cleaning system alignment situation.
Need that there are certain room and times in view of the component that automatic cleaning system includes is more, and between a few procedures
Interval, therefore voluntarily chassis 1 intends selecting lifting platform truck, also needs design configurations generator 5, clean water water tank 3 and dirt on vehicle
Object collects treatment box 4.Vehicle-mounted lifting platform, which rises limit level, must not be lower than 7m, and land lengths direction must not be lower than 2m.Automatically
Cleaning system is mounted on hoistable platform.Generator 5, clean water water tank 3 and the setting of dirt-collecting treatment box 4 are onboard.Hair
Motor 5 is mainly video monitoring system, lamps and lanterns automatic station-keeping system and the power supply of lamps and lanterns automatic cleaning system.Clean water water tank 3
Predominantly high pressure water purification flushing offer water source needs certain volume since water consumption is relatively large.Dirt-collecting treatment box 4
It is mainly used for collecting dust and sewage that automatic cleaning system is collected, and by the emissions being collected into trackside ground.
Optionally, voluntarily chassis further includes cleaning liquid case 2 and dirt-collecting treatment box 4, and wherein cleaning device may include
It is successively provided with dry type cleaning brush 7, cleansing solution sprayer 9, wet cleaning brush 10 and height backward along voluntarily 1 traffic direction of chassis
Water purification flusher 11 is pressed, the lower section of the dry type cleaning brush 7 is provided with dust collecting installation 8, and dress is rinsed in the high pressure water purification
It sets 11 lower sections and is equipped with sewage collection equipment 12, the dust collecting installation 8 connects dirt by connecting tube with sewage collection equipment 12
Object collects treatment box 4；The dry type cleaning brush 7 and wet cleaning brush 10 are used to carry out cleaning works, institute to lamps and lanterns light output surface
It states cleansing solution sprayer 9 and is connected with cleaning liquid case 2, for spraying cleaning solution, the high pressure water purification punching to lamps and lanterns light output surface
Cleaning device 11 is connect with water tank 3, for carrying out high pressure water flushing to lamps and lanterns light output surface.
Cleaning device can also be high-pressure water heating flusher, and heater is installed in water tank, heat to water, then
High-temperature high pressure water flushing is carried out to lamps and lanterns light output surface by high-pressure water heating flusher, cleaning solution is eliminated and repeatedly scrubs
Stage utilizes hot water and the degreasing dust of high pressure effect cleaning lamps and lanterns.
Optionally, cleaning device can also be high-temperature steam cleaning machine, using the high temperature and plus high-pressure of saturated vapor, clearly
Wash the grease stain dirt of piece surface, and by a kind of cleaning equipment of its vaporization.Can also clean any tiny gap and
Grease stain and residue are removed and removed to hole, can achieve the requirement of efficient, water-saving, clean, dry low cost, reduces each
The use of kind detergent, Environmental Safety.
Cleaning device automatically moves the multi-joint mechanical arm 6 of alignment device proposed adoption comparative maturity currently on the market as holding
Row mechanism using corresponding perception device and controls the secondary development of software to realize the function of automatic aligning.
It is connected between cleaning device and vehicle-mounted lifting platform by multi-joint mechanical arm 6, each mechanical arm can the independently-controlled fortune
It is dynamic.Wherein, the mechanical arm bottom end connecting with hoistable platform plane internal rotation, remaining mechanical arm should be able to then answer where hoistable platform
It can be in the plane internal rotation perpendicular to hoistable platform.
It, need to be in the rotation of cleaning device for the contact pressure during perception contraposition between cleaning device and lamps and lanterns light output surface
Pressure sensor is installed in cleaning brush.Simultaneously, it is contemplated that platform truck is still in low speed row during lamps and lanterns navigate to cleaning device contraposition
It sails, rotary encoder need to be also installed on platform truck wheel and to be automatically positioned process offer vehicle movement data to cleaning device.
Optionally, the video monitoring system includes the camera being arranged on lamp cleaning device and is arranged in driver's cabin
Interior display 15.
Optionally, the dry type cleaning brush 7 and wet cleaning brush 10 are rotary cleaning brush, including swivel base and are set
The brush body on swivel base is set, the swivel base drives brush body to rotate by motor, the swivel base and multi-joint
It is fixedly connected at the top of mechanical arm 6.
On the other hand, as shown in Fig. 2, the present invention also provides a kind of tunnel lamp auto-cleaning methods, comprising the following steps:
S1: voluntarily chassis 1 is at the uniform velocity advanced for starting；
S2: lamps and lanterns are positioned；
S3: according to lamps and lanterns positioning result, the movement of multi-joint mechanical arm 6 is controlled, cleaning device contraposition is made to go out light table to lamps and lanterns
Face；
S4: first of dust cleaning works is carried out to lamps and lanterns light output surface by dry type cleaning brush 7, preliminary lamps and lanterns of clearing away go out
The less firm floating ash of optical surface adherency, and dust is collected into filth disposal collecting box by dust collecting installation 8；
S5: cleaning solution is sprayed to lamps and lanterns light output surface by cleansing solution sprayer 9；
S6: the lamps and lanterns light output surface with cleaning solution is further cleaned by wet cleaning brush 10；
S7: being rinsed lamps and lanterns light output surface by high pressure water purification flusher 11, and passes through sewage collection equipment 12
By sewage collecting into filth disposal collecting box.
Optionally, according to the difference of front end sensing device in step S2, can be divided into positioning based on laser scanning and ranging and
Based on machine vision+laser ranging positioning, wherein the localization method based on laser scanning and ranging the following steps are included:
S21: scanning lamps and lanterns light output surface and its near zone along tunnel direction of traffic using laser range finder based on synchronized scanner,
Each scanned point is obtained in inclusion region to the raw measurement data of sensor distance information；
S22: using the luminous point of laser range finder based on synchronized scanner as origin, light-emitting axis be Z axis, direction of traffic is X-axis, vertical
It is that Y-axis establishes location coordinate in the axis of X-axis and Z axis intersecting plane, according to sensor scanning speed, measurement angle and resolving power
Etc. information, from raw measurement data parsing obtain matrix A, wherein matrix element A (yk,xk) value zkFor in scanning area
Scanned distance of the point k to X-axis and Y-axis intersecting plane, (xk,yk) it is scanned point k in the projection position of X-axis and Y-axis intersecting plane
It sets；
S23: making row calculus of differences to the element of matrix A and obtain matrix B, searches particular row y downwards from the first trip of Bup, so that
yupThe element value of the continuous several rows started is respectively less than given threshold value thedy, while particular row is searched upwards from the footline of B
ydown, so that ydownThe element value of the continuous several rows started is respectively less than given threshold value thedy；
S24: making column calculus of differences to the element of matrix A and obtain Matrix C, first from C searches to the right particular column xleft, make
Obtain xleftThe element value of the continuous several columns started is respectively less than given threshold value thedx, while searching to the left from the terminal column of C specific
Arrange xright, so that xrightThe element value of the continuous several columns started is respectively less than given threshold value thedx；
S25: according to above-mentioned localization method, position of four angle points of lamps and lanterns light output surface in X-axis and Y-axis intersecting plane is sat
It is designated as: upper left (xleft, yup), lower-left (xleft, ydown), upper right (xright, yup) and bottom right (xright, ydown)；
S26: according to A (ydown,xleft:xright) average value and A (yup,xleft:xright) average value absolute difference with
And laser range finder based on synchronized scanner measurement angle etc., the angle of lamps and lanterns light output surface and vertical direction is calculated.
Optionally, step S2 based on machine vision+laser ranging localization method the following steps are included:
S21: laser ranging module is tightly attached to installation above industrial camera lens, keeps its emission shaft and camera optical axis basic
In parallel；
S22: include the original image of lamps and lanterns light output surface by the acquisition of industrial camera front, and surveyed using laser ranging module
The distance d of amount front lamps and lanterns light output surface；
S23: successively pre-processing original image, edge detection, binaryzation, Hough transform and lines detection, obtains
Expression function of the lamps and lanterns light output surface upper and lower, left and right contour line in image coordinate system, and then calculate lamps and lanterns light output surface
The position coordinates of four angle points in the picture；
S24: using the launch hole of laser ranging module as origin, emission shaft be Z axis, direction of traffic for X-axis, perpendicular to X-axis
Axis with Z axis intersecting plane is that Y-axis establishes location coordinate, is represented between physical length and d according to pixel each in image
The position coordinates of four angle points of lamps and lanterns light output surface in the picture are converted to the position in X-axis and Y-axis intersecting plane and sat by relationship
Mark: upper left (x1, y1), lower-left (x2, y2), upper right (x3, y3) and bottom right (x4, y4), realize that lamps and lanterns are accurately positioned；
S25: according to (x2-x1) absolute value, (x4-x3) absolute value and industrial camera shooting angle etc., calculate lamps and lanterns
The angle of light output surface and vertical direction.
Optionally, step S3 the following steps are included:
S31: using certain fixed point on platform truck as origin, straight up be Z axis, direction of traffic for X-axis, perpendicular to X-axis and Z
The axis of axis intersecting plane is that Y-axis establishes platform coordinate system, and the position of four angle points of lamps and lanterns light output surface in location coordinate is sat
Mark is converted to the position coordinates in platform coordinate system；
S32: by current location in platform coordinate system of lamps and lanterns, cleaning device and lamps and lanterns light output surface and vertical direction
Angle and vehicle movement data need when calculating cleaning device contraposition in real time to vertical lamps and lanterns light output surface in platform coordinate
The relative displacement carried out in system along X, Y and Z axis；
S33: according to the relative displacement demand of cleaning device, the Motion Control Strategies of each mechanical arm are solved；
S34: controlling each manipulator motion, and if only if cleansing solution sprayer, high pressure water purification flusher with a spacing
When being tightly attached to lamps and lanterns light output surface from face lamps and lanterns light output surface or cleaning brush with certain pressure, the automatic of cleaning device is determined
Mobile alignment operation success；
S35: low latitude operator automatically moves alignment situation by video monitoring system observation cleaning device, once hair
Now repeatedly contraposition failure or contraposition accumulated error are excessive, then provide reset signal, each mechanical arm will be under Automatic Control Strategy
It executes and resets operation and return step S31.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of tunnel lamp automatic flushing device, it is characterised in that: including voluntarily chassis, the voluntarily chassis includes that lifting is flat
Trolley, water tank and generator, the lifting platform truck include driver's cabin and hoistable platform, are provided with lamp on the hoistable platform
Have positioning system and lamps and lanterns cleaning system；
The lamps and lanterns positioning system is used to position lamps and lanterns, including front end sensing device and processing system, and the front end passes
Induction device for acquiring the range information of lamps and lanterns light output surface and near zone to front end sensing device, the processing system in real time
For lamps and lanterns to be accurately positioned according to the collected data；
The lamps and lanterns cleaning system includes the multi-joint mechanical arm being arranged on hoistable platform, and the multi-joint mechanical arm is connected with
Cleaning device alignment system, it is described for controlling the mobile contraposition of multi-joint mechanical arm according to the positioning result of lamps and lanterns positioning system
Cleaning device is equipped at the top of multi-joint mechanical arm, the cleaning device is connect with water tank, for cleaning lamps and lanterns；
It further include video monitoring system, for monitoring lamp position and lamps and lanterns cleaning system alignment situation.
2. tunnel lamp automatic flushing device according to claim 1, it is characterised in that: the voluntarily chassis further includes clear
Clean liquid case and dirt-collecting treatment box, the cleaning device are clear including being successively provided with dry type backward along voluntarily chassis traffic direction
Brush, cleansing solution sprayer, wet cleaning brush and high pressure water purification flusher are provided with ash below the dry type cleaning brush
Dirt collection device, the high pressure water purification flusher lower section are equipped with sewage collection equipment, and the dust collecting installation and sewage are received
Acquisition means connect dirt-collecting treatment box by connecting tube；The dry type cleaning brush and wet cleaning brush are for going out light table to lamps and lanterns
Face carries out cleaning works, and the cleansing solution sprayer is connected with cleaning liquid case, for spraying cleaning solution to lamps and lanterns light output surface,
The high pressure water purification flusher is connect with water tank, for carrying out high pressure water flushing to lamps and lanterns light output surface.
3. tunnel lamp automatic flushing device according to claim 1, it is characterised in that: the cleaning device includes high pressure
Hot water flusher is equipped with heating device in the water tank, for being heated to water, the high-pressure water heating flusher with
Water tank connection, for carrying out high-temperature high pressure water flushing to lamps and lanterns light output surface.
4. tunnel lamp automatic flushing device according to claim 1, it is characterised in that: the cleaning device includes high temperature
Steam cleaner.
5. tunnel lamp automatic flushing device according to claim 2, it is characterised in that: the dry type cleaning brush and wet type
Pressure sensor is provided in cleaning brush, for perceiving during cleaning device aligns between cleaning device and lamps and lanterns light output surface
Contact pressure；It is provided with rotary encoder on the wheel of the lifting platform truck, for providing vehicle in cleaning device contraposition process
Displacement data.
6. tunnel lamp automatic flushing device according to claim 2, it is characterised in that: the dry type cleaning brush and wet type
Cleaning brush is rotary cleaning brush, and including swivel base and the brush body being arranged on swivel base, the swivel base passes through
Motor drives brush body rotation, is fixedly connected at the top of the swivel base and multi-joint mechanical arm.
7. a kind of tunnel lamp auto-cleaning method, it is characterised in that: the following steps are included:
S1: voluntarily chassis is at the uniform velocity advanced for starting；
S2: lamps and lanterns are positioned；
S3: according to lamps and lanterns positioning result, multi-joint mechanical arm movement is controlled, makes cleaning device contraposition to lamps and lanterns light output surface；
S4: first of dust cleaning works is carried out to lamps and lanterns light output surface by dry type cleaning brush, preliminary lamps and lanterns of clearing away go out light table
The less firm floating ash of face adherency, and dust is collected into filth disposal collecting box by dust collecting installation；
S5: cleaning solution is sprayed to lamps and lanterns light output surface by cleansing solution sprayer；
S6: the lamps and lanterns light output surface with cleaning solution is further cleaned by wet cleaning brush；
S7: lamps and lanterns light output surface is rinsed by high pressure water purification flusher, and is received sewage by sewage collection equipment
Collect in filth disposal collecting box.
8. tunnel lamp auto-cleaning method according to claim 7, it is characterised in that: using based on laser in step S2
The localization method of scanning ranging positions lamps and lanterns, comprising the following steps:
S21: lamps and lanterns light output surface and its near zone are scanned along tunnel direction of traffic using laser range finder based on synchronized scanner, obtained
Raw measurement data of each scanned point to sensor distance information in inclusion region；
S22: using the luminous point of laser range finder based on synchronized scanner as origin, light-emitting axis be Z axis, direction of traffic for X-axis, perpendicular to X
The axis of axis and Z axis intersecting plane is that Y-axis establishes location coordinate, according to sensor scanning speed, measurement angle and resolving power etc.
Information, parsing obtains matrix A from raw measurement data, wherein matrix element A (yk,xk) value zkFor quilt in scanning area
Distance of the scanning element k to X-axis and Y-axis intersecting plane, (xk,yk) it is scanned point k in the projection position of X-axis and Y-axis intersecting plane
It sets；
S23: making row calculus of differences to the element of matrix A and obtain matrix B, searches particular row y downwards from the first trip of Bup, so that yupIt opens
The element value of the continuous several rows to begin is respectively less than given threshold value thedy, while particular row y is searched upwards from the footline of Bdown, make
Obtain ydownThe element value of the continuous several rows started is respectively less than given threshold value thedy；
S24: making column calculus of differences to the element of matrix A and obtain Matrix C, first from C searches to the right particular column xleft, so that
xleftThe element value of the continuous several columns started is respectively less than given threshold value thedx, while particular column is searched to the left from the terminal column of C
xright, so that xrightThe element value of the continuous several columns started is respectively less than given threshold value thedx；
S25: according to above-mentioned localization method, position coordinates of four angle points of lamps and lanterns light output surface in X-axis and Y-axis intersecting plane
Are as follows: upper left (xleft, yup), lower-left (xleft, ydown), upper right (xright, yup) and bottom right (xright, ydown)；
S26: according to A (ydown,xleft:xright) average value and A (yup,xleft:xright) average value absolute difference and swash
Optical scanning distance measuring sensor measurement angle etc., is calculated the angle of lamps and lanterns light output surface and vertical direction.
9. tunnel lamp auto-cleaning method according to claim 7, it is characterised in that: using based on machine in step S2
Vision+laser ranging localization method carries out lamps and lanterns positioning, comprising the following steps:
S21: laser ranging module is tightly attached to installation above industrial camera lens, puts down its emission shaft and camera optical axis substantially
Row；
S22: including the original image of lamps and lanterns light output surface by the acquisition of industrial camera front, and before utilization laser ranging module measurement
The distance d of square lamps and lanterns light output surface；
S23: successively pre-processing original image, edge detection, binaryzation, Hough transform and lines detection, and lamps and lanterns are obtained
Expression function of the light output surface upper and lower, left and right contour line in image coordinate system, and then calculate lamps and lanterns light output surface four
The position coordinates of angle point in the picture；
S24: using the launch hole of laser ranging module as origin, emission shaft be Z axis, direction of traffic for X-axis, perpendicular to X-axis and Z axis
The axis of intersecting plane is that Y-axis establishes location coordinate, represents the relationship between physical length and d according to pixel each in image,
The position coordinates of four angle points of lamps and lanterns light output surface in the picture are converted into the position coordinates in X-axis and Y-axis intersecting plane: left
Upper (x1, y1), lower-left (x2, y2), upper right (x3, y3) and bottom right (x4, y4), realize that lamps and lanterns are accurately positioned；
S25: according to (x2-x1) absolute value, (x4-x3) absolute value and industrial camera shooting angle etc., calculate lamps and lanterns and go out light
The angle on surface and vertical direction.
10. according to any tunnel lamp auto-cleaning method of claim 8 or 9, it is characterised in that: step S3 include with
Lower step:
S31: using certain fixed point on platform truck as origin, straight up be Z axis, direction of traffic is X-axis, perpendicular to X-axis and Z axis phase
The axis for handing over plane is that Y-axis establishes platform coordinate system, and the position coordinates of four angle points of lamps and lanterns light output surface in location coordinate are turned
The position coordinates being changed in platform coordinate system；
S32: by the folder of the current location and lamps and lanterns light output surface and vertical direction of lamps and lanterns, cleaning device in platform coordinate system
Angle and vehicle movement data need when calculating cleaning device contraposition in real time to vertical lamps and lanterns light output surface in platform coordinate system
The middle relative displacement carried out along X, Y and Z axis；
S33: according to the relative displacement demand of cleaning device, the Motion Control Strategies of each mechanical arm are solved；
S34: controlling each manipulator motion, at a certain distance just and if only if cleansing solution sprayer, high pressure water purification flusher
When being tightly attached to lamps and lanterns light output surface to lamps and lanterns light output surface or cleaning brush with certain pressure, automatically moving for cleaning device is determined
Alignment operation success；
S35: low latitude operator automatically moves alignment situation by video monitoring system observation cleaning device, once discovery is more
Secondary contraposition failure or contraposition accumulated error are excessive, then provide reset signal, each mechanical arm will execute under Automatic Control Strategy
Reset operation and return step S31.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185373.3A CN109967409B (en) | 2019-03-12 | 2019-03-12 | Automatic cleaning device and method for tunnel lamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910185373.3A CN109967409B (en) | 2019-03-12 | 2019-03-12 | Automatic cleaning device and method for tunnel lamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109967409A true CN109967409A (en) | 2019-07-05 |
| CN109967409B CN109967409B (en) | 2022-05-20 |
Family
ID=67078639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910185373.3A Expired - Fee Related CN109967409B (en) | 2019-03-12 | 2019-03-12 | Automatic cleaning device and method for tunnel lamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109967409B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378956A (en) * | 2019-07-23 | 2019-10-25 | 招商局重庆交通科研设计院有限公司 | For the clean tunnel lamp localization method of Tunnel Lamp and system |
| CN110696702A (en) * | 2019-11-13 | 2020-01-17 | 华南理工大学广州学院 | Chassis device of tunnel cleaning machine |
| CN111254858A (en) * | 2020-03-06 | 2020-06-09 | 西南交通大学 | Liquid carbon dioxide cleaning machine and cleaning method |
| CN111687114A (en) * | 2020-06-23 | 2020-09-22 | 张良信 | Camera screen rainwater dirt cleaning device |
| CN111703522A (en) * | 2020-05-29 | 2020-09-25 | 重庆首讯科技股份有限公司 | Tunnel street lamp washs car with wash arm |
| CN111717306A (en) * | 2020-05-29 | 2020-09-29 | 重庆首讯科技股份有限公司 | Tunnel street lamp cleaning vehicle capable of avoiding cleaning obstacle and obstacle avoiding method |
| CN112108426A (en) * | 2020-10-12 | 2020-12-22 | 招商局重庆交通科研设计院有限公司 | Tunnel lamp cleaning device |
| CN112191580A (en) * | 2020-10-12 | 2021-01-08 | 招商局重庆交通科研设计院有限公司 | Full-automatic cleaning method for tunnel lamp |
| CN112775074A (en) * | 2020-12-22 | 2021-05-11 | 苏州立创致恒电子科技有限公司 | Automatic positioning and cleaning system and cleaning control method for tunnel lamp |
| CN112792004A (en) * | 2020-12-16 | 2021-05-14 | 山东工商学院 | Display device for digital media |
| CN114146978A (en) * | 2021-11-17 | 2022-03-08 | 庆铃汽车（集团）有限公司 | Automatic cleaning method for tunnel lamp |
| CN115110459A (en) * | 2022-08-30 | 2022-09-27 | 哈尔滨学院 | Cleaning assembly and community cleaning robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286787A (en) * | 2013-06-28 | 2013-09-11 | 招商局重庆交通科研设计院有限公司 | Full-automatic road and tunnel lamp cleaning device |
| CN103738308A (en) * | 2013-11-29 | 2014-04-23 | 余姚市宏骏铜业有限公司 | Intelligent vehicle washing system with vehicle model automatic identification function and intelligent vehicle washing method |
| CN103925872A (en) * | 2013-12-23 | 2014-07-16 | 中国神华能源股份有限公司 | Laser scanning measurement device and method for acquiring spatial distribution of target objects |
| CN104289476A (en) * | 2014-09-22 | 2015-01-21 | 山东理工大学 | Street lamp pole scrubbing device |
| CN105381980A (en) * | 2015-12-14 | 2016-03-09 | 陕西龙辉视频监控运行管理有限公司 | Automatic dust detection and cleaning vehicle for high-altitude electronic equipment |
| CN205628714U (en) * | 2016-04-27 | 2016-10-12 | 长安大学 | Street lamp self - cleaning car |
| CN205816240U (en) * | 2016-05-30 | 2016-12-21 | 连江巧通工业设计有限公司 | A kind of intelligent small advertisement cleaning machine |
| CN107458420A (en) * | 2017-09-15 | 2017-12-12 | 北京新联铁集团股份有限公司 | Locomotive roof reorganizes and outfit robot, apparatus for work and system |
| CN108775863A (en) * | 2018-03-27 | 2018-11-09 | 广州大学 | Spectral Confocal displacement sensor positioning device and localization method |
-
2019
- 2019-03-12 CN CN201910185373.3A patent/CN109967409B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286787A (en) * | 2013-06-28 | 2013-09-11 | 招商局重庆交通科研设计院有限公司 | Full-automatic road and tunnel lamp cleaning device |
| CN103738308A (en) * | 2013-11-29 | 2014-04-23 | 余姚市宏骏铜业有限公司 | Intelligent vehicle washing system with vehicle model automatic identification function and intelligent vehicle washing method |
| CN103925872A (en) * | 2013-12-23 | 2014-07-16 | 中国神华能源股份有限公司 | Laser scanning measurement device and method for acquiring spatial distribution of target objects |
| CN104289476A (en) * | 2014-09-22 | 2015-01-21 | 山东理工大学 | Street lamp pole scrubbing device |
| CN105381980A (en) * | 2015-12-14 | 2016-03-09 | 陕西龙辉视频监控运行管理有限公司 | Automatic dust detection and cleaning vehicle for high-altitude electronic equipment |
| CN205628714U (en) * | 2016-04-27 | 2016-10-12 | 长安大学 | Street lamp self - cleaning car |
| CN205816240U (en) * | 2016-05-30 | 2016-12-21 | 连江巧通工业设计有限公司 | A kind of intelligent small advertisement cleaning machine |
| CN107458420A (en) * | 2017-09-15 | 2017-12-12 | 北京新联铁集团股份有限公司 | Locomotive roof reorganizes and outfit robot, apparatus for work and system |
| CN108775863A (en) * | 2018-03-27 | 2018-11-09 | 广州大学 | Spectral Confocal displacement sensor positioning device and localization method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378956A (en) * | 2019-07-23 | 2019-10-25 | 招商局重庆交通科研设计院有限公司 | For the clean tunnel lamp localization method of Tunnel Lamp and system |
| CN110696702A (en) * | 2019-11-13 | 2020-01-17 | 华南理工大学广州学院 | Chassis device of tunnel cleaning machine |
| CN111254858A (en) * | 2020-03-06 | 2020-06-09 | 西南交通大学 | Liquid carbon dioxide cleaning machine and cleaning method |
| CN111703522A (en) * | 2020-05-29 | 2020-09-25 | 重庆首讯科技股份有限公司 | Tunnel street lamp washs car with wash arm |
| CN111717306A (en) * | 2020-05-29 | 2020-09-29 | 重庆首讯科技股份有限公司 | Tunnel street lamp cleaning vehicle capable of avoiding cleaning obstacle and obstacle avoiding method |
| CN111687114A (en) * | 2020-06-23 | 2020-09-22 | 张良信 | Camera screen rainwater dirt cleaning device |
| CN112108426A (en) * | 2020-10-12 | 2020-12-22 | 招商局重庆交通科研设计院有限公司 | Tunnel lamp cleaning device |
| CN112191580A (en) * | 2020-10-12 | 2021-01-08 | 招商局重庆交通科研设计院有限公司 | Full-automatic cleaning method for tunnel lamp |
| CN112792004A (en) * | 2020-12-16 | 2021-05-14 | 山东工商学院 | Display device for digital media |
| CN112775074A (en) * | 2020-12-22 | 2021-05-11 | 苏州立创致恒电子科技有限公司 | Automatic positioning and cleaning system and cleaning control method for tunnel lamp |
| CN114146978A (en) * | 2021-11-17 | 2022-03-08 | 庆铃汽车（集团）有限公司 | Automatic cleaning method for tunnel lamp |
| CN115110459A (en) * | 2022-08-30 | 2022-09-27 | 哈尔滨学院 | Cleaning assembly and community cleaning robot |
| CN115110459B (en) * | 2022-08-30 | 2023-09-22 | 哈尔滨学院 | Cleaning assembly and community cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109967409B (en) | 2022-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109967409A (en) | A kind of tunnel lamp automatic flushing device and method | |
| CN103286787B (en) | Full-automatic road and tunnel device for cleaning lamp | |
| CN105212844B (en) | A kind of unmanned plane having cleaning function | |
| WO2019179407A1 (en) | Automatic vehicle washing device | |
| CN107386730A (en) | A kind of intelligent underground parking garage and its parking method | |
| CN209094074U (en) | A kind of airframe laser automatic cleaning system | |
| CN110030459B (en) | Remote pipeline local annular repair equipment and repair method thereof | |
| CN102078169A (en) | Floor cleaning robot | |
| CN105964577A (en) | Multi-degree-of-freedom automatic cleaning device for recessed lamps of airport runways and control method | |
| CN109965789B (en) | Ground drying device and system | |
| CN106585573A (en) | Electric automobile chassis cleaning device and cleaning method | |
| JP2014232795A (en) | Solar battery panel washing system | |
| WO2023040916A1 (en) | Intelligent vehicle-cleaning device and system | |
| CN112319429B (en) | Control system and control method for automatically cleaning front windshield of bullet train | |
| CN107380130A (en) | Integral tunnel type full-automatic car washer system | |
| CN111959453A (en) | Car washer for washing car | |
| JP2004358451A (en) | Spray type washing robot which recognizes profile automatically | |
| CN109965780B (en) | Ground cleaning device and system | |
| CN116388668B (en) | Photovoltaic module cleaning robot with straddle travelling mechanism and cleaning method | |
| CN110194128A (en) | A kind of interconnection cooperating type digitlization maintenance equipment | |
| CN112336250A (en) | Intelligent cleaning method and device and storage device | |
| CN214202459U (en) | Intelligent robot dust pelletizing system based on machine vision | |
| CN115648256A (en) | Control method and device for surface cleaning robot | |
| CN206202258U (en) | Double gantry full-automatic car washers | |
| CN205436124U (en) | A full automotive vehicle dust collector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220520 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |