CN110586537B - Tunnel illuminating lamp cleaning robot - Google Patents
Tunnel illuminating lamp cleaning robot Download PDFInfo
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- CN110586537B CN110586537B CN201910863378.7A CN201910863378A CN110586537B CN 110586537 B CN110586537 B CN 110586537B CN 201910863378 A CN201910863378 A CN 201910863378A CN 110586537 B CN110586537 B CN 110586537B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000005516 engineering process Methods 0.000 claims abstract description 5
- 238000005452 bending Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims 4
- 230000009975 flexible effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Images
Classifications
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- B08B1/12—
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- B08B1/32—
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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
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- 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
Abstract
The invention discloses a tunnel illuminating lamp cleaning robot which comprises a chassis, wherein a controller, a water storage tank and a storage battery are arranged in the chassis, a walking part and a walking part distance detection module are arranged below the chassis, a telescopic mechanical arm is arranged on the chassis, a cleaning mechanism and a cleaning mechanism positioning distance detection module are arranged at the top end of the telescopic mechanical arm, and the controller is electrically connected with the walking part distance detection module and the cleaning mechanism positioning distance detection module. The tunnel illuminating lamp cleaning robot applies the Internet of things technology, is convenient to operate, safe, reliable, efficient and energy-saving.
Description
The technical field is as follows:
the invention belongs to the field of traffic, and particularly relates to a tunnel illuminating lamp cleaning robot.
Background art:
ventilation conditions are limited in the tunnel, tail gas and dust of vehicles are difficult to evacuate in time, and the retained tail gas and dust pollute walls and lighting lamp facilities and equipment in the highway tunnel, so that poor tunnel lighting is caused, and serious traffic hidden troubles are brought.
Therefore, the tunnel illuminating lamp is very important to clean and maintain, and the traditional lifting table type manual cleaning is adopted for cleaning the tunnel illuminating lamp in China at present, and multiple workers are required to cooperatively perform construction and be equipped with cleaning vehicle drivers, lifting table operators, climbing operators, isolation belt auxiliary personnel and the like. The cleaning work needs to be carried out with road sealing, which directly affects the current traffic flow, and the seriously polluted working environment causes great harm to the physical and mental health of workers. With the continuous increase of automobile reserves, how to research a cleaning device which can carry out high efficiency, safety, environmental protection and energy saving on a tunnel lamp under the condition of the lowest influence on the current traffic flow becomes a task which needs to be solved urgently.
The invention content is as follows:
the invention aims to solve the technical problem of providing a tunnel lighting lamp cleaning robot which is convenient to operate, safe, reliable, efficient and energy-saving and applies the technology of the Internet of things.
The technical scheme includes that the tunnel illuminating lamp cleaning robot comprises a chassis, a controller, a water storage tank and a storage battery are arranged in the chassis, a walking part and a walking part distance detection module are arranged below the chassis, a telescopic mechanical arm is arranged on the chassis, a cleaning mechanism and a cleaning mechanism positioning distance detection module are arranged at the top end of the telescopic mechanical arm, and the controller is electrically connected with the walking part distance detection module and the cleaning mechanism positioning distance detection module.
Preferably, the running part below the chassis is a crawler-type running part, and the length, width and height of the crawler-type running part are about 900mm × 700mm × 300 mm. The traveling part of the device may have other structures such as a wheel mechanism.
Preferably, the automatic chassis tracking navigation and the positioning of an illuminating lamp are realized by adopting ultrasonic and red sensing technologies, and video image recognition can be reserved as equipment debugging reference and alternative solutions.
Preferably, the telescopic mechanical arm adopts a steel wire pulley type mechanical arm lifting mechanism. Or hydraulic pressure or other power is selected as a power source of the telescopic mechanical arm.
Preferably, the telescopic mechanical arm protection device further comprises a work protection mechanism, the work protection mechanism is a baffle formed by bending a metal plate, and a clamping groove capable of supporting the telescopic mechanical arm is formed in one side of the baffle.
Preferably, the baffle is also provided with a retractable supporting rod or supporting wheel close to the cleaning side for overturn prevention support of the robot in work.
Preferably, the walking part distance detection module comprises a plurality of positioning sensors arranged at the bottom of the chassis, the cleaning mechanism positioning distance detection module comprises a plurality of lamp positioning sensors, and the lamp positioning sensors are of a fully-enclosed design structure.
Preferably, the cleaning mechanism comprises a cleaning brush roller and a water outlet device, the water outlet device is connected with one end of a water outlet pipe, the other end of the water outlet pipe is connected with a water pump in the water storage tank, in addition, the cleaning brush roller is driven by a driving motor, and the driving motor and the water pump are respectively and electrically connected with the controller.
Preferably, an autonomous active working mode can be realized, automatic tracing is realized, and the position of the lamp is autonomously positioned; and a passive control working mode is provided, and the worker can operate the system through the handheld terminal.
Furthermore, a balancing weight is also arranged in the chassis.
Compared with the prior art, the invention has the following advantages after adopting the scheme: in view of the fact that the conventional tunnel illuminating lamp cleaning also adopts the traditional lifting table type manual cleaning, multiple workers are required to carry out cooperative construction, a cleaning vehicle driver, a lifting table operator, a climbing operator, an isolation belt auxiliary person and the like are arranged, and the road sealing is required during the cleaning work, so that the traffic flow is seriously influenced; the tunnel lamp cleaning robot of the invention can walk on a sidewalk during working, does not occupy a motorway, can realize automatic cleaning work, can realize active and passive control modes for equipment, can be operated by a worker through a handheld terminal (a mobile phone APP), is innovated aiming at the existing tunnel cleaning mode, can promote the existing expressway tunnel lamp cleaning mode in multiple aspects of rapidness, smoothness, economy, energy conservation, environmental protection, high efficiency, convenience and the like after popularization, realizes win-win in two fields of economic benefit and social benefit, particularly,
1) the successful research and development of the equipment greatly reduces the number of the cleaning cooperative workers of the tunnel illuminating lamp, 1-2 persons are equipped for field monitoring and operating personnel, and a large amount of manpower is saved.
2) The cleaning robot works on the operation platform, does not occupy a traffic lane, and can avoid the control and the current limiting of road traffic, thereby improving the traffic flow, avoiding traffic jam and saving energy.
3) By using the equipment, the operation risk of workers can be effectively reduced, the climbing operation is not needed, the construction on the road in the tunnel is also not needed, the safety is guaranteed, and the working efficiency is improved.
Description of the drawings:
fig. 1 is a schematic view of a working scenario of the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention.
Fig. 3 is a usage state diagram of the present invention.
Fig. 4 is a schematic structural view of the telescopic mechanical arm.
Fig. 5 is a schematic structural view of the work protection mechanism.
FIG. 6 is a top view of a cleaning mechanism positioning distance detection module.
FIG. 7 is a front view of a cleaning mechanism positioning distance detection module.
Fig. 8 is a bottom view of the present invention.
The specific implementation mode is as follows:
the invention is further illustrated with respect to specific embodiments below:
example 1
As shown in fig. 1-8, a tunnel lighting lamp cleaning robot comprises a chassis, wherein a controller, a water storage tank and a storage battery are arranged in the chassis, a walking part and a walking part distance detection module are arranged below the chassis, a telescopic mechanical arm is arranged on the chassis, a cleaning mechanism and a cleaning mechanism positioning distance detection module are arranged at the top end of the telescopic mechanical arm, and the controller is electrically connected with the walking part distance detection module and the cleaning mechanism positioning distance detection module. Specifically, in order to reduce the occupied space of a motor vehicle lane and not to generate serious influence on the existing traffic flow, equipment is miniaturized, the running chassis mainly takes the space of an occupied pedestrian road, and in order to ensure the anti-overturning performance of a mechanism, a crawler-type running part with large contact area with the ground is adopted, and the length, the width and the height of the crawler-type running part are preferably 900mm multiplied by 700mm multiplied by 300mm through size checking under the road working conditions of straight advancing, backing, 90-degree turning and the like. Because the operating height needs, need the range of lift to reach 5 meters, for guaranteeing not to produce the risk of empting after rising, because of making operating device light, simultaneously, highway tunnel both sides pavement is narrow, require operating device space compactness, flexible arm adopts arm elevating system, flexible function adopts wire rope pulley transmission to realize, compare in transmission modes such as hydraulic pressure, gear, motor joint arm, it is lighter, the whole quality is lighter, green energy-conserving, equipment motion flexibility is strong, occupation space is littleer, under the prerequisite of keeping flexible arm mechanical structure, also can choose other transmission modes such as hydraulic telescoping cylinder, rack and pinion as flexible arm flexible action alternative.
Secondly, there is the piston effect of circulation of air in the tunnel portal, consequently, if the wind load is great, can produce the influence to dolly operating device, for this reason, has designed work protection mechanism, adopts thick panel beating bending process, makes the baffle for prevent that operating device from empting, and work protection mechanism is the baffle that a sheet metal plate bending formed, and baffle one side has the draw-in groove that can support flexible arm. In addition, one supporting rod (wheel) is arranged on one side of the intelligent cleaning device, the supporting rod (wheel) is opened to play a supporting and protecting role during working, and the supporting rod (wheel) can be folded and recovered during non-working, so that the size of the equipment is reduced.
The specific position of the tunnel lamp can be accurately positioned by adopting a full-surrounding design as the position indicated by an arrow in fig. 6, namely the positioning position of the sensor. The lower cylinder is the cleaning brush, and the tunnel lamp is cleaned through high-speed rotation. In fig. 7, two arrows are tunnel lamp centering sensors, and in fig. 8, in a bottom view, the arrows are the position detecting and positioning sensors of the trolley running part. The number of the devices is 12, and the devices can be increased or decreased according to the requirements at the later stage.
In actual use, the water storage tank, the storage battery, the storage steel wire rope, the balancing weight and the like can be positioned in the area projection area of the chassis, so that the complete expansion working condition of the whole vehicle working mechanism does not have the possibility of overturning.
In addition, the cleaning mechanism comprises a cleaning brush roller and a water outlet device, the water outlet device is connected with one end of a water outlet pipe, the other end of the water outlet pipe is connected with a water pump in the water storage tank, in addition, the cleaning brush roller is driven by a driving motor, and the driving motor and the water pump are respectively and electrically connected with the controller.
The invention can realize automatic cleaning work, the equipment can realize active and passive control modes, and workers can operate the equipment through a handheld terminal (mobile phone APP).
The automatic tracing navigation and the lighting lamp positioning are realized by adopting ultrasonic and red sensing technologies, and the telescopic mechanical arm and the cleaning working mechanism adopt automatic devices, so that the intelligent automatic cleaning operation can be realized, and the manual intervention is reduced.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. All the equivalent structures or equivalent process changes made by the description of the invention are included in the scope of the patent protection of the invention.
Claims (5)
1. The utility model provides a tunnel lighting lamp cleaning robot which characterized in that: the device comprises a chassis, wherein a controller, a water storage tank and a storage battery are arranged in the chassis, a walking part and a walking part distance detection module are arranged below the chassis, a telescopic mechanical arm is arranged on the chassis, a cleaning mechanism and a cleaning mechanism positioning distance detection module are arranged at the top end of the telescopic mechanical arm, and the controller is electrically connected with the walking part distance detection module and the cleaning mechanism positioning distance detection module; the automatic chassis tracing navigation and the lighting lamp positioning are realized by adopting ultrasonic and red sensing technologies, and the video image recognition can be reserved as a device debugging reference and alternative scheme; the telescopic mechanical arm adopts a steel wire pulley type mechanical arm lifting mechanism; the robot cleaning device is characterized by further comprising a working protection mechanism, wherein the working protection mechanism is a baffle formed by bending a metal plate, one side of the baffle is provided with a clamping groove capable of supporting the telescopic mechanical arm, and one side of the baffle, which is close to the cleaning side, is also provided with a telescopic supporting rod or supporting wheel for overturn prevention support of the robot in working; the walking part distance detection module comprises a plurality of positioning sensors arranged at the bottom of the chassis, the cleaning mechanism positioning distance detection module comprises a plurality of lamp positioning sensors, and the lamp positioning sensors are of a fully-enclosed design structure.
2. The tunnel illumination lamp cleaning robot according to claim 1, characterized in that: the running part below the chassis is a crawler-type running part, and the length, width and height of the crawler-type running part are about 900mm multiplied by 700mm multiplied by 300 mm.
3. The tunnel illumination lamp cleaning robot according to claim 1, characterized in that: the cleaning mechanism comprises a cleaning brush roller and a water outlet device, the water outlet device is connected with one end of a water outlet pipe, the other end of the water outlet pipe is connected with a water pump in the water storage tank, in addition, the cleaning brush roller is driven by a driving motor, and the driving motor and the water pump are respectively electrically connected with a controller.
4. The tunnel illumination lamp cleaning robot according to claim 1, characterized in that: the automatic tracking system can realize an autonomous active working mode, realize automatic tracking and autonomously position the position of a lamp; and a passive control working mode is provided, and the worker can operate the system through the handheld terminal.
5. The tunnel illumination lamp cleaning robot according to claim 1, characterized in that: a balancing weight is also arranged in the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910863378.7A CN110586537B (en) | 2019-09-12 | 2019-09-12 | Tunnel illuminating lamp cleaning robot |
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|---|---|---|---|
| CN201910863378.7A CN110586537B (en) | 2019-09-12 | 2019-09-12 | Tunnel illuminating lamp cleaning robot |
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| Publication Number | Publication Date |
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| CN110586537A CN110586537A (en) | 2019-12-20 |
| CN110586537B true CN110586537B (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910863378.7A Active CN110586537B (en) | 2019-09-12 | 2019-09-12 | Tunnel illuminating lamp cleaning robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111335229A (en) * | 2020-04-13 | 2020-06-26 | 华东理工大学 | Light-duty assembled subway tunnel cleaning cart |
| 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 |
| CN112252244A (en) * | 2020-09-24 | 2021-01-22 | 山西省交通规划勘察设计院有限公司 | A quick belt cleaning device of full section of secondary lining for tunnel in operation |
| 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 |
| CN113071600B (en) * | 2021-03-09 | 2022-04-12 | 浙江交通职业技术学院 | Method for classifying water traffic safety risk sources in navigational area and ship state monitoring device |
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| CN110586537A (en) | 2019-12-20 |
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