CN112775074A - Automatic positioning and cleaning system and cleaning control method for tunnel lamp - Google Patents
Automatic positioning and cleaning system and cleaning control method for tunnel lamp Download PDFInfo
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- CN112775074A CN112775074A CN202011529841.3A CN202011529841A CN112775074A CN 112775074 A CN112775074 A CN 112775074A CN 202011529841 A CN202011529841 A CN 202011529841A CN 112775074 A CN112775074 A CN 112775074A
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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
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
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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
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The invention discloses an automatic positioning and cleaning system and a cleaning control method for a tunnel lamp. The technical scheme provided by the invention has the following beneficial effects: the cleaning time is greatly saved while the high cleaning degree is ensured; the tunnel lamp cleaning device has the advantages that manpower and material resources are saved, the using condition of water resources is effectively controlled by presetting the cleaning water consumption of one tunnel lamp in advance, and the water resources are saved to the maximum extent; the tunnel lamp is cleaned through the movable vehicle, so that the labor intensity of operators is reduced, and the potential safety hazard of climbing operation is effectively eliminated.
Description
Technical Field
The invention relates to the technical field of cleaning of public facilities, in particular to an automatic positioning and cleaning system and a cleaning control method for a tunnel lamp.
Background
The highway is honored as a bridge that the country moves towards modernization, is the must way of developing modern traffic industry. With the continuous development of the urbanization of China's society, the highway becomes one of the important traffic ways for China to communicate with the intercity, and plays an important role in the overall development of surrounding towns. The total mileage of the expressway in China reaches 14 ten thousand kilometers, and the expressway occupies the first place of the world.
The tunnel is an important component of the highway, and along with the rapid development of the highway in China, the tunnel of the highway is more and more dense. The tunnel lamp in the tunnel is set for solving the 'black hole effect' or 'white hole effect' caused by vision due to sudden brightness change when the vehicle enters or exits the tunnel. Tunnel lamps and lanterns in the tunnel are in the use, because dust and the tunnel in automobile exhaust and the dust of atmosphere itself, the dust is gathered easily on tunnel lamps and lanterns's lamp shade surface, influences the transmittance of lamp shade, and then influences the illuminating effect, causes the interior light of tunnel not enough, influences safe current. Therefore, the cleaning work of the lighting lamps in the highway tunnel is very important.
Because the general vertical height in tunnel is higher, traditional cleaning method can't reach sufficient height, so current operation mode adopts the lift operation of ascending a height, carries out high pressure squirt and washes, adopts the long handle brush to scrub. The existing operation modes have the defects of high labor and material cost, potential safety hazards of operators, low cleaning efficiency, time and labor waste, water resource waste, random dropping of sewage, tunnel environment pollution and the like.
Therefore, a hardware device for automatically positioning the tunnel lamp, a system for performing fixed-point cleaning on the tunnel lamp and a cleaning control method are needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an automatic positioning and cleaning system and a cleaning control method of a tunnel lamp, and the technical scheme is as follows:
in one aspect, the present invention provides an automatic positioning and cleaning system for a tunnel lamp, comprising: the movable vehicle is provided with a driving mechanism, a water tank, a lifting platform, a positioning module and a mechanical arm, wherein the positioning module is arranged on the lifting platform and used for positioning the position of the tunnel lamp;
the tunnel information database is used for prestoring information data of one or more tunnels to be operated, and comprises tunnel height, tunnel lamp size and tunnel lamp spacing;
the controller is electrically connected with the positioning module, the driving mechanism, the lifting platform, the power device and the mechanical arm, and performs the following control actions according to the information data in the tunnel information database: and controlling the opening and closing and/or the driving speed of the driving mechanism so that the movable vehicle sequentially passes through the lower part of the tunnel lamp, controlling the lifting height of the liftable platform, controlling the cleaning head to start the power device under the condition that the cleaning head is opposite to the tunnel lamp, and controlling the mechanical arm to move so that the mechanical arm drives the cleaning head to clean the tunnel lamp.
Furthermore, the automatic positioning and cleaning system for the tunnel lamp further comprises a GPS positioning module, wherein the GPS positioning module is used for positioning the current geographic information of the movable vehicle;
the information data of the tunnel to be operated, which is stored in the tunnel information database, also comprises tunnel geographic information;
and the controller matches the tunnel to be operated currently and the corresponding tunnel height, tunnel lamp size and tunnel lamp distance from the tunnel information database according to the positioning result of the GPS.
Further, in the automatic positioning and cleaning system for the tunnel lamp, if the positioning module is positioned at the position of the tunnel lamp, the controller controls the power device to start, and controls the mechanical arm to act, so that the cleaning head at the tail end of the mechanical arm cleans the currently positioned tunnel lamp.
Furthermore, after the current tunnel lamp is cleaned, the controller controls the driving mechanism to drive the movable vehicle to move by the distance of the distance between the tunnel lamps, and then the positioning module is started to position the next adjacent tunnel lamp.
Furthermore, the automatic positioning and cleaning system for the tunnel lamp further comprises a marking line which is preset in the tunnel to be operated, and the marking line is arranged on the ground below the tunnel lamp;
and the movable vehicle is also provided with a sensor for inspecting the identification line.
Furthermore, the automatic positioning and cleaning system for the tunnel lamp is characterized in that the movable vehicle is an unmanned vehicle, and the controller is a vehicle-mounted controller or a movable intelligent terminal controller.
In another aspect, the present invention provides a method for controlling automatic positioning and cleaning of a tunnel lamp, which is performed by an automatic positioning and cleaning system, the method comprising the steps of:
s1, guiding a movable vehicle to the initial position of a tunnel to be operated, wherein the movable vehicle is provided with a driving mechanism, a water tank, a lifting platform, a positioning module and a mechanical arm, the positioning module is arranged on the lifting platform and used for positioning the position of a tunnel lamp, the tail end of the mechanical arm is provided with a cleaning head, the cleaning head is communicated with the water tank through a pipeline, and the pipeline is provided with a power device used for providing water outlet power;
s2, driving the movable vehicle to move below the first tunnel lamp by the driving mechanism, and lifting the liftable platform to a height matched with the current tunnel height;
s3, positioning the current position of the tunnel lamp by using a positioning module;
s4, starting a power device to enable the cleaning head to discharge water and drive a mechanical arm to act, and enabling the cleaning head at the tail end of the mechanical arm to complete scrubbing on the current tunnel lamp;
and S5, judging whether the next tunnel lamp is available, if so, continuing to drive the movable vehicle to move for the distance between the adjacent tunnel lamps, returning to execute S3-S5, and otherwise, recovering the movable vehicle.
Preferably, the positioning module is an image sensor, the positioning module positions the tunnel lamp to obtain image information, and the automatic positioning and cleaning system analyzes the image information to obtain three-dimensional orientation information of the tunnel lamp;
and in the step S4, the mechanical arm scrubs the tunnel lamp according to the three-dimensional orientation information of the tunnel lamp obtained through analysis, and the movable vehicle is kept in place in the scrubbing process.
Optionally, the positioning module is a distance measuring sensor, and the critical area where the distance measuring result changes is determined in step S3 to be the starting end of the tunnel lamp;
the cleaning head at the end of the mechanical arm can cover the width of the tunnel lamp in the step S4, and the movable vehicle moves in a one-way or reciprocating mode along the length direction of the tunnel lamp in the scrubbing process.
Further, step S2 is preceded by: and inquiring a tunnel information database to match the tunnel to be operated currently and the corresponding tunnel height, tunnel lamp size and tunnel lamp spacing information.
Further, step S1 is preceded by providing an identification line in the tunnel to be operated, the identification line being provided on the ground under the tunnel lamp, the movable vehicle moving along the identification line in steps S4 and S5.
The technical scheme provided by the invention has the following beneficial effects:
a. based on the data information of the tunnel information database, the trolley can implement different tunnel lamp cleaning operation flows on different tunnels, and the automatic cleaning degree is improved;
b. the cleaning time is greatly saved while the high cleaning degree is ensured;
c. the tunnel lamp cleaning device has the advantages that manpower and material resources are saved, the using condition of water resources is effectively controlled by presetting the cleaning water consumption of one tunnel lamp in advance, and the water resources are saved to the maximum extent;
d. the tunnel lamp is cleaned through the movable vehicle, so that the labor intensity of operators is reduced, and the potential safety hazard of climbing operation is effectively eliminated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic positioning and cleaning system for tunnel lamps according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a mobile vehicle of the automatic positioning and washing system provided by the embodiment of the invention;
fig. 3 is a flowchart of an automatic positioning and cleaning control method for a tunnel lamp according to an embodiment of the present invention.
Wherein the reference numerals include: 1-movable vehicle, 11-water tank, 12-lifting platform, 121-positioning module, 122-mechanical arm and 123-cleaning head.
Detailed Description
In order to make the technical solutions of the present invention better understood and more clearly understood by those skilled in the art, the technical solutions of the embodiments of the present invention will be described below in detail and completely with reference to the accompanying drawings. It should be noted that the implementations not shown or described in the drawings are in a form known to those of ordinary skill in the art. Additionally, while exemplifications of parameters including particular values may be provided herein, it is to be understood that the parameters need not be exactly equal to the respective values, but may be approximated to the respective values within acceptable error margins or design constraints. It is to be understood that the described embodiments are merely exemplary of a portion of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In one embodiment of the present invention, an automatic positioning and washing system for tunnel lamps is provided, as shown in fig. 1-2, comprising a database, a GPS, a controller and a movable vehicle 1. The movable vehicle 1 is provided with a driving mechanism, a water tank 11, a liftable platform 12, a positioning module 121 and a mechanical arm 122, the positioning module 121 is arranged on the liftable platform 12, the positioning module 121 is used for positioning a tunnel lamp, the tail end of the mechanical arm 122 is provided with a cleaning head 123, the cleaning head 123 is communicated with the water tank 11 through a pipeline, the pipeline is provided with a power device used for providing water outlet power, and the movable vehicle 1 can move under the driving of the driving mechanism; the database is a tunnel information database, and is used for prestoring information data of one or more tunnels to be operated, such as: the tunnel height, the distance from the tunnel entrance to the first lamp, the size and the number of the tunnel lamps, the distance between the tunnel lamps and the tunnel geographic information; the GPS positioning module is used for positioning the current geographic information of the movable vehicle 1; the controller matches the tunnel to be operated currently and the corresponding tunnel height, the tunnel lamp size and number and the tunnel lamp distance from the tunnel information database according to the positioning result of the GPS, is electrically connected with the positioning module, the driving mechanism, the liftable platform 12, the power device and the mechanical arm 122, and performs the following control actions according to the information data in the tunnel information database: and controlling the opening and closing and/or the driving speed of the driving mechanism so that the movable vehicle 1 sequentially passes through the lower part of the tunnel lamp, controlling the lifting height of the lifting platform 12, controlling the cleaning head 123 to be opposite to the tunnel lamp, starting the power device, and controlling the mechanical arm 122 to move so that the mechanical arm 122 drives the cleaning head to clean the tunnel lamp. One of the greatest points of the invention is that the trolley is used for implementing different tunnel lamp cleaning operation flows on different tunnels on the basis of the data information of the tunnel information database, and the automatic cleaning degree is improved.
The automatic positioning and cleaning system acquires longitude and latitude coordinate information through the GPS positioning module, matches the longitude and latitude coordinate information with the database to judge the information of the tunnel to be operated, and acquires corresponding data of the tunnel to be operated, such as: tunnel height, tunnel length, work height, tunnel light model, tunnel light size and number, tunnel light separation distance, which data assist the mobile vehicle 1 in determining a work travel route. The entry that portable vehicle 1 obtained through the database is tentatively fixed a position to the distance information of first operation tunnel lamp, walk to first need under the operation tunnel lamp automatically (also can be artificial with portable vehicle 1 initialization is in the below of first operation tunnel lamp), rise liftable platform 12 to the set operation height in the database according to the tunnel height in the database, the accurate position information of the tunnel lamp of needs of location needs is fixed a position to the orientation module 121 on the rethread liftable platform 12, thereby make the terminal cleaning head 123 of arm 122 relative with the tunnel lamp, specifically as follows: the positioning module is an image sensor, the positioning module positions the tunnel lamp to obtain image information, the automatic positioning and cleaning system analyzes the image information to obtain three-dimensional azimuth information of the tunnel lamp, and the distance from the mechanical arm 122 to each area of the tunnel lamp is determined. In this case, the controller controls the power device to start, the power device may be a water pump, which pumps water in the water tank 11 and sprays the water out from the cleaning head 123 (the invention does not limit the water in the water tank 11 to be clean water or cleaning liquid), and since the distance to each area of the tunnel lamp is known, the mechanical arm 122 can drive the cleaning head 123 to swing to wipe the surface of the tunnel lamp, which simulates the movement of a human hand swinging to wipe the glass, and the movable vehicle is kept in place, i.e. does not move forward, during the wiping process.
The embodiment of the invention also provides another positioning and cleaning mode: the positioning module is a distance measuring sensor, a critical area where a distance measuring result changes is determined as a starting end of the tunnel lamp, specifically, for example, the positioning module is a laser distance measuring sensor with an upward emitting direction, since the tunnel lamp has a certain height, in a state where the laser sensor is not opposite to the tunnel lamp, the distance measuring result is larger than the distance measuring result in a state where the laser sensor is opposite to the tunnel lamp, and therefore, when entering a non-opposite area from the opposite area of the tunnel lamp or entering the opposite area from the non-opposite area of the tunnel lamp, the laser sensor can detect the criticality of the two areas (the opposite area and the non-opposite area), that is, the starting end of the tunnel lamp is positioned. The embodiment is suitable for the surface to be cleaned of the tunnel lamp with a plane structure or a micro-arc structure, and particularly the condition that the length direction of the tunnel lamp is approximately the same as the tunnel direction. The cleaning head 123 at the end of the mechanical arm 122 is arranged to cover the width of the tunnel lamp and align with one side of the tunnel lamp to be operated, then the controller controls the power device to start, and controls the driving mechanism to drive the movable vehicle 1 to move, during the moving process, the cleaning head 123 can be kept static, preferably rotate, in this embodiment, the cleaning head can adopt a flexible brush, and can also adopt an elastic structure to be mounted at the end of the mechanical arm 122, so that the tunnel lamp can be prevented from being damaged due to strong acting force of the cleaning head 123 on the tunnel lamp; an intelligent sensor can also be installed to detect the distance between the cleaning head 123 and the tunnel lamp in the cleaning operation, so that the cleaning head 123 is always kept at a proper distance by controlling the length of the mechanical arm 122. In a particular embodiment, the movable vehicle 1 can also move back and forth along the length direction of the tunnel lamp to improve the cleaning effect, obviously, a single movement is also a technical solution for realizing the cleaning. After the movable vehicle 1 moves a distance of the size of the tunnel lamp to be operated for a single movement or moves back and forth for a certain number of times, the movable vehicle continues to move forward to a position away from the area of the cleaning head 123 opposite to the tunnel lamp, and the power device is controlled to be turned off at the moment.
The two cleaning modes have the common point that under the condition that the cleaning head 123 on the movable vehicle 1 faces the tunnel lamp, the water pump works to enable the cleaning head 123 to discharge water to carry out accurate cleaning operation on the tunnel lamp to be operated, after the current tunnel lamp is cleaned, the controller controls the driving mechanism to drive the movable vehicle 1 to move the distance of the distance between the tunnel lamps prestored in the database, in the moving process corresponding to the distance between the tunnel lamps, the cleaning head 123 does not need to discharge water, the positioning module 121 is restarted to position the next adjacent tunnel lamp, and after the initial positioning is finished, the steps are repeated.
It should be noted that the number of the water tanks provided on the movable vehicle 1 may be one, and may be plural. Two are preferably used in this embodiment, and the advantage of multiple tanks is that the water volume is relatively sufficient, avoiding to the greatest extent the lack of water in the tanks during the cleaning process.
After a tunnel lamp is cleaned, the power device for providing the water power can be closed and can also be kept in an open mode. If the water tank is kept open all the time, the water quantity demand is large, and correspondingly, the volume of the water tank should be increased, so that not only can the waste of water resources be caused, but also the system cost is increased; if the tunnel lamp is cleaned, the power device is turned off, which is beneficial to saving water and electricity.
During the movement of the movable vehicle 1 to the next tunnel lamp to be operated, the liftable platform 12 can be lowered to the initial position or slightly lowered for a certain distance, and preferably the height position can be kept not to be reset. If not, the working efficiency of the movable vehicle 1 is relatively improved.
For the cyclic cleaning work, there are at least three ways to determine the number of cyclic works.
The first way is to pre-load the number of tunnel lamps required to be operated in the tunnel as initial data into a tunnel information database, and the system performs addition or subtraction to determine the number of circulation operations:
when the addition operation is used, a variable with an initial value of zero is set inside the system, the variable represents the cleaning times, after the movable vehicle 1 cleans one tunnel lamp, the variable is added by one inside the system until the variable value is equal to the initial data (the number of the tunnel lamps required to be operated in the tunnel), and the system stops cleaning.
When subtraction is used, a variable with an initial value equal to the initial data (the number of tunnel lamps required to be operated in the tunnel) is set inside the system, after the movable vehicle 1 finishes cleaning one tunnel lamp, the variable is subtracted by one inside the system until the variable value is zero, and the system stops cleaning.
The second mode is that a first sensor for detecting the tunnel lamp is arranged on the liftable platform 12, for example, an illumination sensor, the illumination intensity of the tunnel lamp is loaded into the tunnel information database in advance, and after the movable vehicle 1 is driven to move along the identification line for the distance between the tunnel lamps prestored in the database, whether the tunnel lamp exists in the front or not is judged through the first sensor, and then whether the cleaning operation needs to be continued or not is judged. It should be noted that the marking line is preset in the tunnel to be operated and is arranged on the ground below the tunnel lamp, and a second sensor for inspecting the marking line is further arranged on the movable vehicle 1.
The third method is to measure the moving distance in the moving process of the movable vehicle 1 by taking the distance between the first tunnel lamp and the last tunnel lamp needing to be operated in the tunnel as initial data and loading the initial data into a tunnel information database in advance, and when the measurement result reaches the distance data in the tunnel information database, judging that the cleaning of all the tunnel lamps in the current tunnel is finished.
When using the second method of setting the illumination sensor, it is noted that there may be a situation in which the tunnel lamp is aged or damaged. For the aged tunnel lamp, the illumination intensity of the tunnel lamp is smaller than that of the tunnel lamp which normally works, so that the illumination intensity of the tunnel lamp is preferably set to be within an interval range, and the system is required to perform cleaning work as long as the illumination intensity read by the illumination sensor is within the interval, so that the aged tunnel lamp cannot be omitted; for a damaged tunnel lamp, the illumination intensity of the damaged tunnel lamp is zero, the illumination sensor cannot sense the existence of the damaged tunnel lamp, the problem of missing cleaning can occur, if the damaged tunnel lamp is located in the middle position of the tunnel, the system can stop cleaning work, the system needs to be preset at the moment, for example, after the movable vehicle 1 travels the distance between the tunnel lamps prestored in the database along the identification line for three times, the illumination intensity read by the illumination sensor is zero every time, the system considers that the cleaning work is finished, and it needs to be noted that the three times are only exemplified and the specific implementation times can be set by itself. The number of the circulation jobs may be determined in combination with the second manner, in addition to the preset.
After the movable vehicle 1 circularly works until all tunnel lamp cleaning works are finished, an operator operates the control software by using the handheld terminal, and controls the movable vehicle 1 to walk to the working vehicle through the controller and to charge the working vehicle for checking. The movable vehicle 1 can be a manually driven vehicle or an unmanned vehicle, and the controller is a vehicle-mounted controller or a movable intelligent terminal controller. The control process of the unmanned vehicle by utilizing the vehicle-mounted controller or the movable intelligent terminal controller is as follows:
an operator drives an operation vehicle to run to an entrance of a tunnel to be operated, the operator starts the tunnel lamp intelligent cleaning robot, puts down a vehicle-mounted gentle slope and operates control software by using a handheld terminal. The operation and control robot descends and runs to a ground calibration marking line; the system acquires longitude and latitude coordinate information through a GPS positioning module, discriminates the information of the tunnel to be operated through database matching, and acquires corresponding data of the tunnel to be operated, and comprises the following steps: a series of operation information such as tunnel height, tunnel length, tunnel lamp model, tunnel lamp size, tunnel lamp spacing distance and the like; and the operation personnel operates the robot to travel to the entrance of the tunnel and then starts an operation program, and the robot identifies the ground calibration identification line through the line positioning module arranged at the bottom of the traveling trolley to determine an operation traveling route. The distance information from the entrance to the first operation tunnel lamp is obtained from the tunnel information database to carry out primary positioning, and the distance information is automatically moved to the position right below the first operation tunnel lamp; after the preliminary positioning is finished, the lifting platform is lifted to a set operation height according to the tunnel height, and then the accurate position information of the tunnel lamp needing to be operated is obtained through the tunnel lamp positioning module, so that the mechanical arm is controlled to finish the accurate cleaning operation; after the cleaning operation is finished, the walking trolley automatically walks to the next operation position according to the lamp installation interval information of the tunnel to finish primary positioning (the height position of the lifting platform is not reset in the walking process so as to improve the operation efficiency). And the accurate position information of the tunnel lamp to be operated is acquired through the tunnel lamp positioning module again, and the mechanical arm is controlled to finish accurate cleaning operation. And (4) circularly operating until all the tunnel lamps are cleaned, and operating the control software by using a handheld terminal by an operator. And operating and controlling the robot to walk up the slope to the working vehicle and butt-joint the charging pile for robot charging.
The invention also provides an automatic positioning and cleaning control method of the tunnel lamp, which comprises the following steps as shown in fig. 3:
s1, guiding a movable vehicle to the initial position of a tunnel to be operated, wherein the movable vehicle is provided with a driving mechanism, a water tank, a lifting platform, a positioning module and a mechanical arm, the positioning module is arranged on the lifting platform and used for positioning the position of a tunnel lamp, the tail end of the mechanical arm is provided with a cleaning head, the cleaning head is communicated with the water tank through a pipeline, and the pipeline is provided with a power device used for providing water outlet power;
s2, driving the movable vehicle to move below the first tunnel lamp by the driving mechanism, and lifting the liftable platform to a height matched with the current tunnel height;
s3, positioning the current position of the tunnel lamp by using a positioning module;
s4, starting a power device to enable the cleaning head to discharge water and drive a mechanical arm to act, and enabling the cleaning head at the tail end of the mechanical arm to complete scrubbing on the current tunnel lamp;
and S5, judging whether the next tunnel lamp is available, if so, continuing to drive the movable vehicle to move for the distance between the adjacent tunnel lamps, returning to execute S3-S5, and otherwise, recovering the movable vehicle.
Further, step S2 is preceded by: and inquiring a tunnel information database to match the tunnel to be operated currently and the corresponding tunnel height, tunnel lamp size and tunnel lamp spacing information.
Further, step S1 is preceded by providing an identification line in the tunnel to be operated, the identification line being provided on the ground under the tunnel lamp, the movable vehicle moving along the identification line in steps S4 and S5.
In another embodiment of the present invention, the positioning module is an image sensor, and the step S3 determines the position of the tunnel lamp according to the relative position of the tunnel lamp in the imaging, specifically, for example, a reference position which is positioned by taking the imaging center of the image sensor as the upper left corner of the tunnel lamp, that is, if the upper left corner of the tunnel lamp is at the imaging center, it indicates that the initial state of the tunnel lamp has been positioned at this time. The three-dimensional azimuth information of the tunnel lamp is obtained by a two-dimensional graph to three-dimensional space information obtaining technology in the prior art, namely data support is provided for the three-dimensional movement of the mechanical arm, and the cleaning head of the mechanical arm performs wiping action on the surface to be cleaned of the tunnel lamp by the three-dimensional movement of the mechanical arm. During scrubbing, the wheels of the mobile vehicle are parked in place.
In one embodiment of the present invention, the positioning module is a distance measuring sensor, and the critical area where the distance measuring result changes is determined as the starting end of the tunnel lamp in step S3, specifically, for example, the positioning module is a laser distance measuring sensor with an upward emitting direction, since the tunnel lamp has a certain height, the distance measuring result is larger than the distance measuring result in a state where the laser sensor is not opposite to the tunnel lamp, and therefore, when entering the non-opposite area from the opposite area of the tunnel lamp or entering the opposite area from the non-opposite area of the tunnel lamp, the laser sensor can detect the critical of two areas (the opposite area and the non-opposite area). In the scrubbing process, the vehicle moving vehicle moves forwards or forwards and backwards to drive the cleaning head at the tail end of the mechanical arm to wipe the tunnel lamp.
The idea of the embodiment of the automatic positioning and cleaning control method and the working process of the automatic positioning and cleaning system in the embodiment belong to the same idea, and the whole content of the embodiment of the automatic positioning and cleaning system is incorporated into the embodiment of the automatic positioning and cleaning control method by full citation, which is not described again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automatic positioning cleaning system of a tunnel lamp is characterized by comprising:
the tunnel lamp cleaning device comprises a movable vehicle (1) and a control system, wherein the movable vehicle (1) is provided with a driving mechanism, a water tank (11), a lifting platform (12), a positioning module (121) and a mechanical arm (122) which are arranged on the lifting platform (12), the positioning module (121) is used for positioning the position of a tunnel lamp, the tail end of the mechanical arm (122) is provided with a cleaning head (123), the cleaning head (123) is communicated with the water tank (11) through a pipeline, the pipeline is provided with a power device used for providing water outlet power, and the movable vehicle (1) can move under the driving of the driving mechanism;
the tunnel information database is used for prestoring information data of one or more tunnels to be operated, and comprises tunnel height, tunnel lamp size and tunnel lamp spacing;
the controller is electrically connected with the positioning module (121), the driving mechanism, the lifting platform (12), the power device and the mechanical arm (122), and performs the following control actions according to the information data in the tunnel information database: and controlling the opening and closing and/or the driving speed of the driving mechanism so that the movable vehicle (1) sequentially passes through the lower part of the tunnel lamp, controlling the lifting height of the lifting platform (12), controlling the power device to be started under the condition that the cleaning head (123) is opposite to the tunnel lamp, and controlling the mechanical arm (122) to move.
2. The automatic positioning and washing system for tunnel lamps according to claim 1, characterized by further comprising a GPS positioning module for positioning the current geographic information of the movable vehicle (1);
the information data of the tunnel to be operated, which is stored in the tunnel information database, also comprises tunnel geographic information;
and the controller matches the tunnel to be operated currently and the corresponding tunnel height, tunnel lamp size and tunnel lamp distance from the tunnel information database according to the positioning result of the GPS.
3. The automatic positioning and cleaning system for the tunnel lamp according to claim 1, wherein if the positioning module (121) is positioned at the position of the tunnel lamp, the controller controls the power device to be started and controls the mechanical arm (122) to act, so that the cleaning head (123) at the tail end of the mechanical arm scrubs the currently positioned tunnel lamp.
4. The automatic positioning and cleaning system for tunnel lamps according to claim 1, wherein after the current tunnel lamp is cleaned, the controller controls the driving mechanism to drive the movable vehicle (1) to move by the distance of the distance between the tunnel lamps, and then the positioning module (121) is started to position the next adjacent tunnel lamp.
5. The automatic positioning and cleaning system for the tunnel lamp according to claim 1, further comprising an identification line pre-arranged in the tunnel to be operated, wherein the identification line is arranged on the ground below the tunnel lamp;
and a sensor for inspecting the identification line is further arranged on the movable vehicle (1).
6. The automatic positioning and cleaning system for tunnel lamps according to claim 1, characterized in that the movable vehicle (1) is an unmanned vehicle, and the controller is an onboard controller or a movable intelligent terminal controller.
7. An automatic positioning and cleaning control method for a tunnel lamp is characterized by being completed through an automatic positioning and cleaning system, and the method comprises the following steps:
s1, guiding a movable vehicle to the initial position of a tunnel to be operated, wherein the movable vehicle is provided with a driving mechanism, a water tank, a lifting platform, a positioning module and a mechanical arm, the positioning module is arranged on the lifting platform and used for positioning the position of a tunnel lamp, the tail end of the mechanical arm is provided with a cleaning head, the cleaning head is communicated with the water tank through a pipeline, and the pipeline is provided with a power device used for providing water outlet power;
s2, driving the movable vehicle to move below the first tunnel lamp by the driving mechanism, and lifting the liftable platform to a height matched with the current tunnel height;
s3, positioning the current position of the tunnel lamp by using a positioning module;
s4, starting a power device to enable the cleaning head to discharge water and drive a mechanical arm to act, and enabling the cleaning head at the tail end of the mechanical arm to complete scrubbing on the current tunnel lamp;
and S5, judging whether the next tunnel lamp is available, if so, continuing to drive the movable vehicle to move for the distance between the adjacent tunnel lamps, returning to execute S3-S5, and otherwise, recovering the movable vehicle.
8. The automatic positioning and cleaning control method for the tunnel lamp according to claim 7, wherein the positioning module is an image sensor, the positioning module positions the tunnel lamp to obtain image information, and the automatic positioning and cleaning system analyzes the image information to obtain three-dimensional orientation information of the tunnel lamp;
in the step S4, the mechanical arm scrubs the tunnel lamp according to the analyzed three-dimensional orientation information of the tunnel lamp, and in the process of scrubbing, wheels of the movable vehicle stop at the original position.
9. The automatic positioning and cleaning control method for the tunnel lamp according to claim 7, wherein step S2 is preceded by the steps of: and inquiring a tunnel information database to match the tunnel to be operated currently and the corresponding tunnel height, tunnel lamp size and tunnel lamp spacing information.
10. The automatic positioning and cleaning control method for the tunnel lamp according to claim 7, wherein the positioning module is a distance measuring sensor, and the critical area where the distance measuring result changes is determined as the starting end of the tunnel lamp in step S3;
the cleaning head at the end of the mechanical arm can cover the width of the tunnel lamp in the step S4, and the movable vehicle moves in a one-way or reciprocating mode along the length direction of the tunnel lamp in the scrubbing process.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114146978A (en) * | 2021-11-17 | 2022-03-08 | 庆铃汽车（集团）有限公司 | Automatic cleaning method for tunnel lamp |
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