CN109967409B - Automatic cleaning device and method for tunnel lamp - Google Patents
Automatic cleaning device and method for tunnel lamp Download PDFInfo
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- CN109967409B CN109967409B CN201910185373.3A CN201910185373A CN109967409B CN 109967409 B CN109967409 B CN 109967409B CN 201910185373 A CN201910185373 A CN 201910185373A CN 109967409 B CN109967409 B CN 109967409B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 139
- 238000000034 method Methods 0.000 title claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 27
- 239000000243 solution Substances 0.000 claims description 25
- 239000000428 dust Substances 0.000 claims description 20
- 239000010865 sewage Substances 0.000 claims description 14
- 238000005406 washing Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000011010 flushing procedure Methods 0.000 claims description 10
- 238000005108 dry cleaning Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 9
- 238000002347 injection Methods 0.000 claims description 8
- 239000007924 injection Substances 0.000 claims description 8
- 238000000746 purification Methods 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 7
- 238000011217 control strategy Methods 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 abstract description 14
- 241001465382 Physalis alkekengi Species 0.000 description 6
- 239000012459 cleaning agent Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000008213 purified water Substances 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000013020 steam cleaning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
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- 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
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- 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
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- Non-Portable Lighting Devices Or Systems Thereof (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to an automatic cleaning device for tunnel lamps, and belongs to the field of tunnel cleaning. The automatic cleaning device comprises a self-propelled chassis, wherein the self-propelled chassis comprises a lifting platform vehicle, a generator, a water storage tank, a cleaning liquid tank and a dirt collecting and processing tank, the lifting platform vehicle comprises a cab and a lifting platform, and a lamp positioning system and a lamp cleaning system are arranged on the lifting platform; the lamp positioning system is used for positioning the lamp and comprises a front-end sensing device and a processing system; the lamp cleaning system comprises the multi-joint mechanical arm and the cleaning device which are arranged on the lifting platform, and further comprises the cleaning device aligning system and the video monitoring system. The invention further provides an automatic cleaning method of the tunnel lamp.
Description
Technical Field
The invention belongs to the technical field of tunnel cleaning, and relates to an automatic cleaning device and method for a tunnel lamp.
Background
With the continuous development of traffic lines, more and more tunnels are arranged in cities. Because the tunnel inner space is sealed relatively, the vehicle that walks the tunnel produces raise dust easily and discharges a large amount of tail gases, deposits easily on the inside wall in tunnel, and the manual cleaning is wasted time and energy, and work seems very insecure in the tunnel, so tunnel cleaning device uses more and more generally now, the corresponding tunnel cleaning device that has appeared. At present, the tunnel cleaning device mainly has two kinds, one kind is the roller brush formula tunnel cleaning car, and the other kind is high pressure water tunnel cleaning car.
The high-pressure water tunnel cleaning vehicle generally comprises a water pump motor, a pressurizing pump motor, an unloading electromagnetic valve and the like. When the tunnel cleaning vehicle works, in order to ensure smooth water inlet of the high-pressure pump and prevent sudden pressure rise when the high-pressure pump is started, a water pump motor, a pressure pump motor and an unloading electromagnetic valve are matched for use. Before the water pump motor is started, the pressure pump motor is started in advance, the unloading electromagnetic valve is required to be opened completely, the pressure value is ensured to be within a normal range, the high-pressure switch and the low-pressure switch are both in a closed state, and the water pump motor can be started. Meanwhile, if the water level of the water tank is too low, all motors except the water pump motor cannot operate; if the liquid level of the cleaning agent is too low, the motor of the cleaning agent pump cannot operate, the cleaning agent pump provides pressure for the cleaning agent system, and the cleaning agent and water are mixed and then flow to the cleaning device to clean the tunnel wall.
The tunnel lamps have different light emitting surface types, such as a plane glass cover type, a lens protrusion type, a hollow array type, a module combination type and the like, and the conventional tunnel cleaning device is not designed by comprehensively considering various types of lamps and has no universality.
Disclosure of Invention
In view of the above, the present invention provides an automatic cleaning device and method for a tunnel lamp, which automatically cleans a tunnel lighting lamp without stopping a vehicle.
In order to achieve the above object, in one aspect, the invention provides an automatic tunnel lamp cleaning device, which comprises a self-propelled chassis, wherein the self-propelled chassis comprises a lifting platform car, a water storage tank and a generator, the lifting platform car comprises a cab and a lifting platform, and a lamp positioning system and a lamp cleaning system are arranged on the lifting platform;
the lamp positioning system is used for positioning a lamp and comprises a front-end sensing device and a processing system, wherein the front-end sensing device is used for acquiring distance information from a light-emitting surface of the lamp and a nearby area to the front-end sensing device in real time, and the processing system is used for accurately positioning the lamp according to acquired data;
the lamp cleaning system comprises a multi-joint mechanical arm arranged on the lifting platform, the multi-joint mechanical arm is connected with a cleaning device alignment system and used for controlling the multi-joint mechanical arm to move and align according to a positioning result of the lamp positioning system, a cleaning device is arranged at the top of the multi-joint mechanical arm and connected with a water storage tank and used for cleaning the lamp;
the system also comprises a video monitoring system for monitoring the position of the lamp and the alignment condition of the lamp cleaning system.
The self-propelled chassis further comprises a cleaning solution tank and a dirt collecting and processing tank, the cleaning device comprises a dry cleaning brush, a cleaning solution injection device, a wet cleaning brush and a high-pressure water purification flushing device which are sequentially arranged backwards along the running direction of the self-propelled chassis, a dust collecting device is arranged below the dry cleaning brush, a dirt collecting device is arranged below the high-pressure water purification flushing device, and the dust collecting device and the dirt collecting device are connected with the dirt collecting and processing tank through connecting pipes; the dry-type brush cleaner and the wet-type brush cleaner are used for cleaning the light-emitting surface of the lamp, the cleaning solution injection device is connected with the cleaning solution box and used for injecting the cleaning solution to the light-emitting surface of the lamp, and the high-pressure water purification flushing device is connected with the water storage tank and used for flushing the light-emitting surface of the lamp with high-pressure water.
Further, cleaning device includes high-pressure hot water washing unit, be equipped with heating device in the storage water tank for heat water, high-pressure hot water washing unit is connected with the storage water tank for carry out high temperature high pressure water washing to lamps and lanterns light-emitting surface.
Further, the cleaning device comprises a high-temperature steam washer.
Further, pressure sensors are arranged in the dry cleaning brush and the wet cleaning brush and used for sensing the contact pressure between the cleaning device and the light emergent surface of the lamp in the alignment process of the cleaning device; and the wheels of the lifting platform car are provided with rotary encoders for providing vehicle displacement data in the alignment process of the cleaning device.
Further, the video monitoring system comprises a camera arranged on the lamp cleaning device and a display arranged in the cab.
Furthermore, the dry-type cleaning brush and the wet-type cleaning brush are rotary cleaning brushes and comprise a rotary chassis and brush bodies arranged on the rotary chassis, the rotary chassis drives the brush bodies to rotate through a motor, and the rotary chassis is fixedly connected with the top of the multi-joint mechanical arm.
On the other hand, the invention also provides an automatic cleaning method of the tunnel lamp, which comprises the following steps:
s1: starting the self-propelled chassis to advance at a constant speed;
s2: positioning the lamp;
s3: controlling the multi-joint mechanical arm to move according to the lamp positioning result so that the cleaning device is aligned to the light emitting surface of the lamp;
s4: carrying out first dust cleaning work on the light emergent surface of the lamp by using a dry cleaning brush to preliminarily clean floating dust which is not firmly adhered to the light emergent surface of the lamp, and collecting the dust into a dirt processing and collecting box by using a dust collecting device;
s5: spraying cleaning solution to the light emitting surface of the lamp through the cleaning solution spraying device;
s6: further cleaning the light emitting surface of the lamp with the cleaning liquid by a wet type cleaning brush;
s7: the light emitting surface of the lamp is washed by the high-pressure water purification washing device, and sewage is collected into the sewage treatment collecting box by the sewage collecting device.
Further, in step S2, according to the difference of the front end sensing device, the positioning method may be divided into positioning based on laser scanning ranging and positioning based on machine vision + laser ranging, wherein the positioning method based on laser scanning ranging includes the following steps:
s21: scanning the light emitting surface of the lamp and the area nearby the light emitting surface of the lamp along the driving direction of the tunnel by using a laser scanning ranging sensor to obtain original measurement data containing distance information between each scanned point in the area and the sensor;
s22: establishing a positioning coordinate system by taking a light emitting point of a laser scanning distance measuring sensor as an original point, a light emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and analyzing and obtaining a matrix A from original measurement data according to information such as scanning speed, a measurement angle, resolution and the like of the sensor, wherein a matrix element A (Y is a matrix element A)k,xk) Value of (a) zkIs the distance from the scanned point k to the intersecting plane of the X axis and the Y axis in the scanning area, (X)k,yk) The projection position of the scanned point k on the intersecting plane of the X axis and the Y axis;
s23: performing row differential operation on elements of the matrix A to obtain a matrix B, and searching a specific row y from the first row of the matrix B downwardsupSo that y isupThe values of the elements of the first continuous rows are all less than a given threshold value thenyAt the same time, find the specific line y from the last line of B upwardsdownSo that y isdownThe values of the elements of the first continuous rows are all less than a given threshold value theny；
S24: performing column difference operation on the elements of the matrix A to obtain a matrix C, and searching a specific column x from the first column of the matrix C to the rightleftSo that x isleftThe values of the elements of the initial continuous columns are all less than a given threshold value thenxWhile looking up a particular column x from the last column of C to the leftrightSo that x isrightThe values of the elements of the first several consecutive columns are all less than a given threshold value thenx；
S25: according to the positioning method, the position coordinates of the four corner points of the light-emitting surface of the lamp in the intersecting plane of the X axis and the Y axis are as follows: upper left (x)left，yup) Lower left (x)left，ydown) Upper right (x)right，yup) And lower right (x)right，ydown)；
S26: according to A (y)down,xleft:xright) Average value and A (y)up,xleft:xright) Absolute value of difference of mean and laser scanning rangingThe sensor measures the angle and the like, and the included angle between the light emitting surface of the lamp and the vertical direction is calculated.
Further, the positioning method based on machine vision + laser ranging in step S2 includes the following steps:
s21: the laser ranging module is tightly attached to the upper part of a lens of an industrial camera, so that the emission axis of the laser ranging module is basically parallel to the optical axis of the camera;
s22: acquiring an original image containing a light emitting surface of a lamp from the front side of an industrial camera, and measuring the distance d of the light emitting surface of the front lamp by using a laser ranging module;
s23: sequentially carrying out preprocessing, edge detection, binarization, Hough transformation and straight line extraction on an original image to obtain expression functions of upper, lower, left and right contour lines of a light emergent surface of a lamp in an image coordinate system, and further calculating position coordinates of four corner points of the light emergent surface of the lamp in the image;
s24: the method comprises the following steps of establishing a positioning coordinate system by taking an emitting hole of a laser ranging module as an original point, an emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of a light emitting surface of a lamp in an image into position coordinates in the intersecting plane of the X axis and the Y axis according to the relation between the actual length represented by each pixel in the image and d: upper left (x)1，y1) Lower left (x)2，y2) Upper right (x)3，y3) And lower right (x)4，y4) The accurate positioning of the lamp is realized;
s25: according to (x)2-x1) Absolute value of (a), (b), (c), and (d)4-x3) The absolute value of the light source, the shooting angle of the industrial camera and the like, and the included angle between the light emitting surface of the lamp and the vertical direction is calculated.
Further, step S3 includes the steps of:
s31: establishing a platform coordinate system by taking a certain fixed point on the platform truck as an original point, a Z axis vertically upwards as a driving direction, and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of the light emergent surface of the lamp in the positioning coordinate system into position coordinates in the platform coordinate system;
s32: calculating the relative displacement of the cleaning device along X, Y and Z axes in the platform coordinate system when the cleaning device is aligned to the light emergent surface of the vertical lamp in real time according to the current position of the lamp and the cleaning device in the platform coordinate system, the included angle between the light emergent surface of the lamp and the vertical direction and the vehicle displacement data;
s33: solving a motion control strategy of each mechanical arm according to the relative displacement requirement of the cleaning device;
s34: controlling the movement of each mechanical arm, and judging that the automatic movement alignment operation of the cleaning device is successful if and only if the cleaning solution injection device and the high-pressure water purification flushing device are opposite to the light emitting surface of the lamp at a certain distance or the cleaning brush is tightly attached to the light emitting surface of the lamp at a certain pressure;
s35: and the low-altitude operator observes the automatic moving alignment condition of the cleaning device through the video monitoring system, and once the multiple times of alignment failure or the accumulated alignment error is too large, a reset signal is given, and each mechanical arm executes the reset operation under the automatic control strategy and returns to the step S31.
The invention has the beneficial effects that: the invention has the characteristics of reasonable design, simple structure and moving line production, the operation vehicle finishes the lamp cleaning operation in the moving process, only 1-3 seconds are needed for cleaning one lamp while ensuring high cleaning degree, and the cleaning time is greatly saved; the invention can be operated only by one person in the cab, is convenient to operate, can effectively save labor force, not only reduces the labor intensity of operators, but also can effectively eliminate the potential safety hazard of climbing operation.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of an automatic cleaning device for tunnel lamps according to the present invention;
fig. 2 is a flowchart of an automatic cleaning method for a tunnel lamp according to the present invention.
Reference numerals: the device comprises a self-propelled chassis 1, a cleaning solution tank 2, a water storage tank 3, a dirt collecting and treating tank 4, a generator 5, a multi-joint mechanical arm 6, a dry cleaning brush 7, a dust collecting device 8, a cleaning solution spraying device 9, a wet cleaning brush 10, a high-pressure purified water flushing device 11, a sewage collecting device 12, a camera 13, a lamp positioning system 14 and a display 15.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1, in one aspect, the present invention provides an automatic tunnel lamp cleaning device, including a self-propelled chassis 1, where the self-propelled chassis 1 includes a lifting platform car, a generator 5 and a water storage tank 3, the lifting platform car includes a cab and a lifting platform, and the lifting platform is provided with a lamp positioning system 14 and a lamp cleaning system;
the lamp positioning system 14 is used for positioning a lamp and comprises a front-end sensing device and a processing system, wherein the front-end sensing device is used for acquiring distance information from a light-emitting surface of the lamp and a nearby area to the front-end sensing device in real time, and the processing system is used for accurately positioning the lamp according to acquired data;
the lamp cleaning system comprises a multi-joint mechanical arm 6 arranged on the lifting platform, the multi-joint mechanical arm 6 is connected with a cleaning device alignment system and used for controlling the multi-joint mechanical arm 6 to move and align according to a positioning result of a lamp positioning system 14, a cleaning device is arranged at the top of the multi-joint mechanical arm 6 and connected with a water storage tank and used for cleaning lamps;
the system also comprises a video monitoring system for monitoring the position of the lamp and the alignment condition of the lamp cleaning system.
Considering that the automatic cleaning system comprises more parts and certain space and time intervals need to be reserved among a plurality of working procedures, the self-propelled chassis 1 is supposed to adopt a lifting platform vehicle, and the vehicle is also required to be designed and configured with a generator 5, a clean water storage tank 3 and a sewage collecting and treating tank 4. The ascending upper limit height of the vehicle-mounted lifting platform is not less than 7m, and the length direction of the platform is not less than 2 m. The automatic cleaning system is arranged on the lifting platform. The generator 5, the clean water storage tank 3 and the dirt collecting and processing tank 4 are arranged on the vehicle. The generator 5 mainly supplies power for the video monitoring system, the lamp automatic positioning system and the lamp automatic cleaning system. The clean water storage tank 3 mainly provides a water source for high-pressure clean water washing, and needs a certain volume due to relatively large water consumption. The dirt collection and treatment box 4 is mainly used for collecting dust and sewage collected by the automatic cleaning system and discharging the collected dirt to the roadside ground.
Optionally, the self-propelled chassis further comprises a cleaning solution tank 2 and a dirt collecting and processing tank 4, wherein the cleaning device may comprise a dry cleaning brush 7, a cleaning solution injection device 9, a wet cleaning brush 10 and a high-pressure clean water flushing device 11 which are sequentially arranged backwards along the running direction of the self-propelled chassis 1, a dust collecting device 8 is arranged below the dry cleaning brush 7, a sewage collecting device 12 is arranged below the high-pressure clean water flushing device 11, and the dust collecting device 8 and the sewage collecting device 12 are connected with the dirt collecting and processing tank 4 through connecting pipes; dry-type brush cleaner 7 and wet-type brush cleaner 10 are used for cleaning the work to lamps and lanterns light-emitting surface, cleaning solution injection apparatus 9 is connected with cleaning solution case 2 for to lamps and lanterns light-emitting surface injection cleaning solution, high-pressure water purification washing unit 11 is connected with storage water tank 3, is used for carrying out the high pressure water washing to lamps and lanterns light-emitting surface.
Cleaning device can also be high-pressure hot water washing unit, installs the heater in the water storage tank, heats water, and rethread high-pressure hot water washing unit carries out high temperature high pressure water washing to lamps and lanterns light-emitting surface, has saved the cleaning solution and has scrubbed the stage many times, utilizes hot water and highly compressed dirt dust effect of deoiling to wash lamps and lanterns.
Alternatively, the cleaning device can also be a high-temperature steam cleaning machine, and the cleaning device utilizes the high temperature of saturated steam and the external high pressure to clean the oil stain on the surface of the part and evaporate the oil stain. Any fine gaps and holes can be cleaned, oil stains and residues can be stripped and removed, the requirements of high efficiency, water saving, cleanness, dryness and low cost can be met, the use of various cleaning agents is reduced, and the environment-friendly and safe effects are achieved.
The cleaning device automatic moving alignment device is supposed to adopt a mature multi-joint mechanical arm 6 in the current market as an execution mechanism, and then realizes the function of automatic alignment through secondary development of a corresponding sensing device and control software.
The cleaning device is connected with the vehicle-mounted lifting platform through a multi-joint mechanical arm 6, and all the mechanical arms can independently move in a controlled manner. The bottom end of the mechanical arm connected with the lifting platform can rotate in the plane where the lifting platform is located, and the other mechanical arms can rotate in the plane vertical to the lifting platform.
In order to sense the contact pressure between the cleaning device and the light emergent surface of the lamp in the alignment process, a pressure sensor is required to be arranged in the rotary cleaning brush of the cleaning device. Meanwhile, considering that the flatcar still runs at a low speed during the alignment of the lamp to the cleaning device, a rotary encoder needs to be arranged on the wheels of the flatcar to provide vehicle displacement data for the automatic positioning process of the cleaning device.
Optionally, the video monitoring system comprises a camera arranged on the lamp cleaning device and a display 15 arranged in the cab.
Optionally, the dry cleaning brush 7 and the wet cleaning brush 10 are both rotary cleaning brushes, and include a rotary chassis and a brush body disposed on the rotary chassis, the rotary chassis drives the brush body to rotate through a motor, and the rotary chassis is fixedly connected to the top of the multi-joint mechanical arm 6.
On the other hand, as shown in fig. 2, the invention further provides an automatic cleaning method for tunnel lamps, which comprises the following steps:
s1: starting the self-propelled chassis 1 to advance at a constant speed;
s2: positioning the lamp;
s3: controlling the multi-joint mechanical arm 6 to move according to the lamp positioning result, and aligning the cleaning device to the light emitting surface of the lamp;
s4: the dry type cleaning brush 7 is used for cleaning dust on the light emergent surface of the lamp for the first time, floating dust which is not firmly adhered on the light emergent surface of the lamp is preliminarily cleaned, and the dust is collected into a dirt processing and collecting box through a dust collecting device 8;
s5: spraying cleaning solution to the light emitting surface of the lamp by using a cleaning solution spraying device 9;
s6: the light emitting surface of the lamp with the cleaning liquid is further cleaned by a wet type cleaning brush 10;
s7: the light emitting surface of the lamp is washed by the high-pressure pure water washing device 11, and sewage is collected into the sewage treatment collecting box by the sewage collecting device 12.
Optionally, in step S2, the positioning method may be divided into positioning based on laser scanning ranging and positioning based on machine vision + laser ranging according to the difference between the front end sensing devices, where the positioning method based on laser scanning ranging includes the following steps:
s21: scanning the light emitting surface of the lamp and the area nearby the light emitting surface of the lamp along the driving direction of the tunnel by using a laser scanning ranging sensor to obtain original measurement data containing distance information between each scanned point in the area and the sensor;
s22: establishing a positioning coordinate system by taking a light emitting point of a laser scanning distance measuring sensor as an original point, a light emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and analyzing and obtaining a matrix A from original measurement data according to information such as scanning speed, a measurement angle, resolution and the like of the sensor, wherein a matrix element A (Y is a matrix element A)k,xk) Value of (a) zkIs the distance from the scanned point k to the intersecting plane of the X axis and the Y axis in the scanning area, (X)k,yk) The projection position of the scanned point k on the intersecting plane of the X axis and the Y axis;
s23: performing row differential operation on elements of the matrix A to obtain a matrix B, and searching a specific row y from the first row of the matrix B downwardsupSo that y isupThe values of the elements of the first continuous rows are all less than a given threshold value thenyAt the same time, find the specific line y from the last line of B upwardsdownSo that y isdownThe values of the elements of the first continuous rows are all less than a given threshold value theny；
S24: performing column difference operation on the elements of the matrix A to obtain a matrix C, and searching a specific column x from the first column of the matrix C to the rightleftSo that x isleftThe values of the elements of the first several consecutive columns are all less than a given threshold value thenxWhile looking up a particular column x from the last column of C to the leftrightSo that x isrightThe values of the elements of the first several consecutive columns are all less than a given threshold value thenx；
S25：According to the positioning method, the position coordinates of four corner points of the light emergent surface of the lamp in an intersecting plane of an X axis and a Y axis are as follows: upper left (x)left，yup) Lower left (x)left，ydown) Upper right (x)right，yup) And lower right (x)right，ydown)；
S26: according to A (y)down,xleft:xright) Average value and A (y)up,xleft:xright) And calculating the included angle between the light emitting surface of the lamp and the vertical direction by using the absolute value of the difference value of the average values, the measuring angle of the laser scanning distance measuring sensor and the like.
Optionally, the positioning method based on machine vision + laser ranging in step S2 includes the following steps:
s21: the laser ranging module is tightly attached to the upper part of a lens of an industrial camera, so that the emission axis of the laser ranging module is basically parallel to the optical axis of the camera;
s22: acquiring an original image containing a light emitting surface of a lamp from the front side of an industrial camera, and measuring the distance d of the light emitting surface of the front lamp by using a laser ranging module;
s23: sequentially carrying out preprocessing, edge detection, binarization, Hough transformation and straight line extraction on an original image to obtain expression functions of upper, lower, left and right contour lines of a light emergent surface of a lamp in an image coordinate system, and further calculating position coordinates of four corner points of the light emergent surface of the lamp in the image;
s24: the method comprises the following steps of establishing a positioning coordinate system by taking an emitting hole of a laser ranging module as an original point, an emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of a light emitting surface of a lamp in an image into position coordinates in the intersecting plane of the X axis and the Y axis according to the relation between the actual length represented by each pixel in the image and d: upper left (x)1，y1) Lower left (x)2，y2) Upper right (x)3，y3) And lower right (x)4，y4) The accurate positioning of the lamp is realized;
s25: according to (x)2-x1) Absolute value of (a), (b), (c), (d) and (d)4-x3) In absolute value ofAnd the shooting angle of the industrial camera and the like, and calculating the included angle between the light emitting surface of the lamp and the vertical direction.
Optionally, step S3 includes the steps of:
s31: establishing a platform coordinate system by taking a certain fixed point on the platform truck as an original point, a Z axis vertically upwards as a driving direction, and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of the light emergent surface of the lamp in the positioning coordinate system into position coordinates in the platform coordinate system;
s32: calculating the relative displacement of the cleaning device along X, Y and Z axes in the platform coordinate system when the cleaning device is aligned to the light emergent surface of the vertical lamp in real time according to the current position of the lamp and the cleaning device in the platform coordinate system, the included angle between the light emergent surface of the lamp and the vertical direction and the vehicle displacement data;
s33: solving a motion control strategy of each mechanical arm according to the relative displacement requirement of the cleaning device;
s34: controlling the movement of each mechanical arm, and judging that the automatic movement alignment operation of the cleaning device is successful if and only if the cleaning solution injection device and the high-pressure water purification flushing device are opposite to the light emitting surface of the lamp at a certain distance or the cleaning brush is tightly attached to the light emitting surface of the lamp at a certain pressure;
s35: and the low-altitude operator observes the automatic moving alignment condition of the cleaning device through the video monitoring system, and once the multiple times of alignment failure or the accumulated alignment error is too large, a reset signal is given, and each mechanical arm executes the reset operation under the automatic control strategy and returns to the step S31.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (2)
1. A tunnel lamp automatic cleaning method is characterized in that: the method comprises the following steps:
s1: starting the self-propelled chassis to advance at a constant speed;
s2: the method comprises the following steps of adopting a positioning method based on laser scanning ranging or adopting a positioning method based on machine vision and laser ranging to position the lamp, wherein the positioning method based on the laser scanning ranging comprises the following steps:
s21: scanning the light emitting surface of the lamp and the area nearby the light emitting surface of the lamp along the driving direction of the tunnel by using a laser scanning ranging sensor to obtain original measurement data containing distance information between each scanned point in the area and the sensor;
s22: establishing a positioning coordinate system by taking a light emitting point of a laser scanning distance measuring sensor as an original point, a light emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and analyzing and obtaining a matrix A from original measurement data according to the scanning speed, the measurement angle and resolution information of the sensor, wherein the matrix element A (Y is a matrix element A)k,xk) Value of (a) zkIs the distance from the scanned point k to the intersecting plane of the X axis and the Y axis in the scanning area, (X)k,yk) The projection position of the scanned point k on the intersecting plane of the X axis and the Y axis;
s23: performing row differential operation on elements of the matrix A to obtain a matrix B, and searching a specific row y from the first row of the matrix B downwardsupSo that y isupThe values of the elements of the first continuous rows are all less than a given threshold value thenyAt the same time, find the specific line y from the last line of B upwardsdownSo that y isdownThe values of the elements of the first continuous rows are all less than a given threshold value theny；
S24: performing column difference operation on the elements of the matrix A to obtain a matrix C, and searching a specific column x from the first column of the matrix C to the rightleftSo that x isleftThe values of the elements of the first several consecutive columns are all less than a given threshold value thenxWhile looking up a particular column x from the last column of C to the leftrightSo that x isrightThe values of the elements of the initial continuous columns are all less than a given threshold value thenx；
S25: according to the positioning method, the position coordinates of four corner points of the light emergent surface of the lamp in an intersecting plane of an X axis and a Y axis are as follows: upper left (x)left，yup) Lower left (x)left，ydown) Upper right (x)right，yup) And lower right (x)right，ydown)；
S26: according to A (y)down,xleft:xright) Average value and A (y)up,xleft:xright) Calculating to obtain an included angle between the light emitting surface of the lamp and the vertical direction by using the absolute value of the difference value of the average values and the measuring angle of the laser scanning ranging sensor;
s3: controlling the multi-joint mechanical arm to move according to the lamp positioning result so that the cleaning device is aligned to the light emitting surface of the lamp; the method specifically comprises the following steps:
s31: establishing a platform coordinate system by taking a certain fixed point on the platform truck as an original point, a Z axis vertically upwards as a driving direction, and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of the light emergent surface of the lamp in the positioning coordinate system into position coordinates in the platform coordinate system;
s32: calculating the relative displacement of the cleaning device along X, Y and Z axes in the platform coordinate system when the cleaning device is aligned to the light emergent surface of the vertical lamp in real time according to the current position of the lamp and the cleaning device in the platform coordinate system, the included angle between the light emergent surface of the lamp and the vertical direction and the vehicle displacement data;
s33: solving a motion control strategy of each mechanical arm according to the relative displacement requirement of the cleaning device;
s34: controlling the mechanical arms to move, and judging that the automatic movement alignment operation of the cleaning device is successful when and only when the cleaning solution injection device and the high-pressure water purification flushing device are opposite to the light emergent surface of the lamp at a certain distance or the cleaning brush is tightly attached to the light emergent surface of the lamp at a certain pressure;
s35: the low-altitude operator observes the automatic moving alignment condition of the cleaning device through the video monitoring system, and once the multiple alignment failures or the alignment accumulated error is too large, a reset signal is given, each mechanical arm executes the reset operation under the automatic control strategy and returns to the step S31;
s4: carrying out first dust cleaning work on the light emergent surface of the lamp by using a dry cleaning brush to preliminarily clean floating dust which is not firmly adhered to the light emergent surface of the lamp, and collecting the dust into a dirt processing and collecting box by using a dust collecting device;
s5: spraying cleaning solution to the light emitting surface of the lamp through the cleaning solution spraying device;
s6: further cleaning the light emitting surface of the lamp with the cleaning liquid by a wet type cleaning brush;
s7: the light emitting surface of the lamp is washed by the high-pressure pure water washing device, and sewage is collected into the sewage treatment and collection box by the sewage collection device.
2. The automatic cleaning method for the tunnel lamp according to claim 1, wherein: in step S2, a positioning method based on machine vision and laser ranging is used to position the lamp, including the following steps:
s21: the laser ranging module is tightly attached to the upper part of a lens of an industrial camera, so that the emission axis of the laser ranging module is basically parallel to the optical axis of the camera;
s22: acquiring an original image containing a light emitting surface of a lamp from the front side of an industrial camera, and measuring the distance d of the light emitting surface of the front lamp by using a laser ranging module;
s23: sequentially carrying out preprocessing, edge detection, binarization, Hough transformation and straight line extraction on an original image to obtain expression functions of upper, lower, left and right contour lines of a light emergent surface of a lamp in an image coordinate system, and further calculating position coordinates of four corner points of the light emergent surface of the lamp in the image;
s24: the method comprises the following steps of establishing a positioning coordinate system by taking an emitting hole of a laser ranging module as an original point, an emitting axis as a Z axis, a driving direction as an X axis and an axis perpendicular to an intersecting plane of the X axis and the Z axis as a Y axis, and converting position coordinates of four corner points of a light emitting surface of a lamp in an image into position coordinates in the intersecting plane of the X axis and the Y axis according to the relation between the actual length represented by each pixel in the image and d: upper left (x)1，y1) Lower left (x)2，y2) Upper right (x)3，y3) And lower right (x)4，y4) The accurate positioning of the lamp is realized;
S25：according to (x)2-x1) Absolute value of (a), (b), (c), (d) and (d)4-x3) The absolute value and the shooting angle of the industrial camera, and the included angle between the light emitting surface of the lamp and the vertical direction is calculated.
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| 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 |
| CN110696702B (en) * | 2019-11-13 | 2021-03-02 | 华南理工大学广州学院 | Chassis device of tunnel cleaning machine |
| CN111254858B (en) * | 2020-03-06 | 2021-09-21 | 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 |
| CN111717306B (en) * | 2020-05-29 | 2022-08-09 | 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 |
| CN111687114B (en) * | 2020-06-23 | 2022-09-06 | 北京元点未来科技有限公司 | 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 |
| CN112792004B (en) * | 2020-12-16 | 2022-02-08 | 山东工商学院 | Display device for digital media |
| CN112775074B (en) * | 2020-12-22 | 2022-05-03 | 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 |
| CN114146978B (en) * | 2021-11-17 | 2022-11-04 | 庆铃汽车（集团）有限公司 | Automatic cleaning method for tunnel lamp |
| CN115110459B (en) * | 2022-08-30 | 2023-09-22 | 哈尔滨学院 | Cleaning assembly and community cleaning robot |
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| CN103286787B (en) * | 2013-06-28 | 2016-06-01 | 招商局重庆交通科研设计院有限公司 | Full-automatic road and tunnel device for cleaning lamp |
| CN103738308B (en) * | 2013-11-29 | 2016-01-20 | 余姚市宏骏铜业有限公司 | The intelligent vehicle washing system of automatic identification vehicle and intelligent car-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 |
| CN104289476B (en) * | 2014-09-22 | 2016-02-03 | 山东理工大学 | A kind of street lamp post cleans cleaning equipment |
| 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 |
| CN107458420B (en) * | 2017-09-15 | 2023-10-24 | 北京新联铁集团股份有限公司 | Servicing robot, operation device and system for locomotive roof |
| CN108775863B (en) * | 2018-03-27 | 2020-04-28 | 广州大学 | Spectrum confocal displacement sensor positioning device and positioning method |
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