CN117731183A - Shield door cleaning robot and cleaning method thereof - Google Patents

Abstract

The invention relates to a shielding door cleaning robot and a cleaning method thereof, and relates to the general cleaning field, wherein an indication mark at the top of a half-height shielding door is scanned by an identification mechanism arranged at the bottom of a robot body, a processor receives the indication mark sent by the identification mechanism and reads parameter information of the half-height shielding door corresponding to the current position from a pre-stored database, a cleaning strategy is generated according to the parameter information, a travelling instruction and a cleaning instruction are generated according to the cleaning strategy, the travelling instruction is sent to a travelling mechanism arranged at the bottom of the robot body to drive the robot body to travel or stop travelling along the top of the half-height shielding door, and the cleaning instruction is sent to cleaning mechanisms arranged at two sides of the robot body to enable the cleaning mechanism to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, the cleaning efficiency of the half-height shielding door is obviously improved, and the labor cost is reduced.

Description

Shield door cleaning robot and cleaning method thereof

Technical Field

The invention relates to the technical field of cleaning devices, in particular to a shielding door cleaning robot and a cleaning method thereof.

Background

The shielding door, also called a platform curtain door or a safety door, is a shielding structure which is used for isolating a platform from a train in a glass curtain wall mode on the platform, and when the train arrives, an electric door on the glass curtain wall is opened for passengers to get on and get off the train. The subway shielding door is divided into a closed type, an open type and a half-height type, wherein the half-height type shielding door is also called a platform gate or a half-closed type shielding door, and is a safety facility for preventing passengers in waiting for a bus from falling down to the rail hurt by accident, but the price is low because the height of the closed type shielding door is half of that of the closed type shielding door, and the subway shielding door is suitable for railway operators without installing an air conditioning system or with low budget.

At present, cleaning of half-height type shielding doors is mainly finished manually, three people are needed to be sequentially arranged at the shielding door of each shielding door, cleaning staff is needed to install cleaning burrs on the top end of a telescopic rod, neutral liquid medicine is dipped in the cleaning burrs to wipe glass, after decontamination is confirmed, the top end of the telescopic rod is replaced by a scraping blade to clean stains and water stains, cleaning of each side surface is needed to be carried out on two sides of the shielding door respectively until the shielding door is transparent and clean, no stains, stains and greasy dirt exist, no obvious fingerprints exist, so that the efficiency is low, and in-process cleaning staff can also easily cause fatigue due to continuous exertion.

Disclosure of Invention

The utility model provides a shield door cleaning robot and cleaning method thereof can improve half high type shield door's clean efficiency, reduce the cost of labor.

In order to solve the problems, the application adopts the following technical scheme:

in one aspect, the application provides a shield door cleaning robot, including robot body, recognition mechanism, treater, running gear and clean mechanism, wherein:

the identification mechanism is arranged at the bottom of the robot body and is used for scanning the indication mark at the top of the half-height shielding door and sending the indication mark to the processor;

the processor is arranged in the robot body and is used for receiving the indication mark, reading parameter information of the half-height shielding door corresponding to the current position from a pre-stored database, generating a cleaning strategy according to the parameter information, generating a walking instruction and a cleaning instruction according to the cleaning strategy, and respectively transmitting the walking instruction and the cleaning instruction to the walking mechanism and the cleaning mechanism;

the walking mechanism is arranged at the bottom of the robot body and is used for receiving the walking instruction sent by the processor and driving the robot body to walk or stop walking along the top of the half-height shielding door according to the walking instruction;

The cleaning mechanism comprises two groups of cleaning assemblies which are respectively arranged at two sides of the robot body and are used for receiving the cleaning instructions sent by the processor and executing corresponding cleaning actions according to the cleaning instructions.

Optionally, a groove consistent with the extending direction of the half-height shielding door is formed in the bottom of the robot body, and the groove comprises two opposite side surfaces and a plane perpendicular to the two side surfaces; correspondingly, the travelling mechanism comprises:

the multi-group first walking assembly is sequentially distributed along the extending direction of the half-height shielding door and comprises at least two first walking units which are arranged side by side, each first walking unit comprises a first shock absorber, a first mounting seat and a first electric roller which are sequentially connected, one end of the first shock absorber is fixedly connected with the plane, the other end of the first shock absorber is fixedly connected with the first mounting seat, and the first mounting seat is rotationally connected with the first electric roller;

the two sets of second walking components that are in respectively the robot body bottom just is located the recess both sides, every group the second walking component includes two at least edges the second walking unit that half high formula shielding door extending direction distributes in proper order, the second walking unit is including first actuating cylinder and the second actuating cylinder and second bumper shock absorber, second mount pad and the second electronic gyro wheel of mutually perpendicular installation, the axis of first actuating cylinder with the robot body bottom is perpendicular, its stiff end fixed mounting is in the robot body bottom, its flexible end with the stiff end fixed connection of second actuating cylinder, the axis of second actuating cylinder with the axis of first actuating cylinder is perpendicular, the flexible end of second actuating cylinder is connected the second bumper shock absorber, the other end fixedly connected with second mount pad of second bumper shock absorber, it is connected with the second electronic gyro wheel to rotate on the second mount pad.

Optionally, the cleaning mechanism includes:

the two groups of cleaning components are respectively arranged at the bottom of the robot body, and the cleaning components are respectively positioned at two sides of the groove;

each group of cleaning components comprises a multi-stage cylinder, the fixed end of the multi-stage cylinder is arranged at the bottom of the robot body, and the telescopic end of the multi-stage cylinder is connected with a cleaning unit for driving the cleaning unit to move in the vertical direction;

the cleaning unit comprises a mounting frame, the mounting frame is of a U-shaped structure, a cleaning roller and a first driving motor for driving the cleaning roller to rotate are mounted on the mounting frame, a plurality of cleaning pieces are uniformly distributed on the cleaning roller along the circumferential direction of the cleaning roller in sequence, and the cleaning pieces extend along the axial direction of the cleaning roller.

Optionally, the cleaning piece comprises a liquid spraying component, a rolling brush component, a scraper component and an air spraying component, wherein the liquid spraying component, the rolling brush component, the scraper component and the air spraying component are sequentially and uniformly distributed on the outer surface of the cleaning roller; wherein:

the liquid spraying assembly comprises a liquid storage tank which is formed by the outer surface of the cleaning roller along the radial direction of the cleaning roller in an integrated manner, the liquid storage tank extends along the axial direction of the cleaning roller, one end of the liquid storage tank is connected with a corrugated infusion tube and is used for conveying cleaning liquid into the liquid storage tank, a first cover plate is arranged on one side, away from the outer surface of the cleaning roller, of the liquid storage tank, liquid spraying nozzles are sequentially and uniformly distributed on the first cover plate along the extending direction of the liquid storage tank and are used for spraying the cleaning liquid to the half-height shielding door;

The rolling brush assembly comprises supporting frames positioned at two ends of the cleaning roller, the rolling brushes are rotatably arranged on the supporting frames, a second driving motor is fixedly arranged on one of the supporting frames, and the driving end of the second driving motor penetrates through the supporting frames and is fixedly connected with the rolling brushes and used for driving the rolling brushes to rotate;

the scraper component comprises a placing groove which is formed by the outer surface of the cleaning roller along the radial direction of the cleaning roller in an integrated manner, the placing groove extends along the axial direction of the cleaning roller, an elastic element is arranged in the placing groove, one end of the elastic element is fixedly connected with the outer surface of the cleaning roller, and the other end of the elastic element is fixedly connected with a rubber scraper;

the air injection assembly comprises an air storage groove which is formed by integrally forming the outer surface of the cleaning roller along the radial direction of the air storage groove, the air storage groove extends along the axial direction of the cleaning roller, one end of the air storage groove is connected with a corrugated air pipe and used for conveying compressed air into the air storage groove, one side, away from the outer surface of the cleaning roller, of the air storage groove is provided with a second cover plate, and air nozzles which are uniformly distributed on the second cover plate in sequence along the extending direction of the air storage groove and used for spraying compressed air to the half-height shielding door.

Optionally, the shield door cleaning robot further includes a dirt recognition component, the dirt recognition component is disposed between the liquid spraying component and the air spraying component, the dirt recognition component includes a plurality of dirt degree sensors, and the dirt degree sensors are sequentially and uniformly fixed on the outer surface of the cleaning roller along the axial direction of the cleaning roller, and are used for detecting the dirt degree of the half-height shield door.

Optionally, the shielding door cleaning robot further comprises a positioning mechanism, the positioning mechanism and the first travelling components are distributed at intervals, the positioning mechanism comprises a telescopic cylinder and a pneumatic sucker, the fixed end of the telescopic cylinder is installed at the bottom of the plane, the pneumatic sucker is installed at the telescopic end of the telescopic cylinder, and the pneumatic sucker is used for driving the pneumatic sucker to be adsorbed to the top of the half-height shielding door corresponding to the current position of the robot body when the travelling instruction sent by the processor is received by the travelling mechanism and then stopped.

On the other hand, the application also provides a method for cleaning the shielding door, which is applied to the shielding door cleaning robot in the above embodiments, and comprises the following steps:

The identification mechanism scans the indication mark at the top of the half-height shielding door and sends the indication mark to the processor;

the processor receives the indication mark, reads parameter information of a half-height type shielding door corresponding to the current position from a pre-stored database, generates a cleaning strategy according to the parameter information, generates a walking instruction and a cleaning instruction according to the cleaning strategy, and sends the walking instruction and the cleaning instruction to a walking mechanism and a cleaning mechanism respectively;

the walking mechanism receives the walking instruction sent by the processor and drives the robot body to walk or stop along the top of the half-height shielding door according to the walking instruction;

the cleaning mechanism receives the cleaning instruction sent by the processor and executes corresponding cleaning action according to the cleaning instruction.

Optionally, the parameter information includes at least: the size parameter of the half-height shielding door corresponding to the current position of the robot body; correspondingly, the generating the cleaning strategy according to the parameter information comprises the following steps:

determining the target walking times and the target walking distance of the walking mechanism for transverse walking according to the width of the half-height shielding door; the number of times of the target walking and the target walking distance are the number of times that the walking mechanism needs to walk and the distance that each time needs to walk respectively, wherein the number of times of the target walking and the target walking distance are the number of times that the walking mechanism needs to walk when the half-height shielding door corresponding to the current position is cleaned;

And determining the moving distance of the cleaning mechanism for longitudinally moving according to the height of the half-height shielding door.

Optionally, the generating the walking instruction and the cleaning instruction according to the cleaning strategy includes:

the processor sends a stop instruction to the travelling mechanism and a cleaning instruction to the cleaning mechanism, so that the travelling mechanism is stopped, the positioning mechanism fixes the position of the robot body, and the cleaning mechanism executes cleaning action according to a preset cleaning step according to the moving distance of the longitudinal movement;

and after the processor judges that the cleaning action is finished, a traveling instruction is sent to the traveling mechanism so that the traveling mechanism moves the target traveling distance, and the current traveling times of the traveling mechanism are updated.

Optionally, the determining the target walking times and the target walking distance of the walking mechanism according to the size parameter of the half-height shielding door includes:

according to the width of the half-height shielding door, the following formula is adopted:

calculating the target walking times; wherein n is the target walking times, L is the width of the half-height shielding door,for an effective cleaning distance of the cleaning mechanism,is L and The ratio of (2) is an integer;

according to the formula:calculating the target walking distance of each walking n-1 times before;

according to the formula:calculating a target walking distance of the nth walking;

wherein,for the target walking distance of each previous n-1 walks,the target walking distance of the nth walk is the walking correction value delta.

According to the technical scheme, the application has at least the following beneficial effects:

according to the shielding door cleaning robot and the cleaning method thereof, the shielding door cleaning robot provided by the embodiment scans the indication mark at the top of the half-height shielding door through the identification mechanism arranged at the bottom of the robot body and sends the indication mark to the processor arranged in the robot body, the processor receives the indication mark and reads the parameter information of the half-height shielding door corresponding to the current position from the pre-stored database, a cleaning strategy is generated according to the parameter information, a travelling instruction and a cleaning instruction are generated according to the cleaning strategy, the travelling instruction is sent to the travelling mechanism arranged at the bottom of the robot body to drive the robot body to travel along the top of the half-height shielding door or stop travelling, and the cleaning instruction is sent to the cleaning mechanisms arranged at the two sides of the robot body to enable the cleaning mechanisms to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, the cleaning efficiency of the half-height shielding door is obviously improved, and the labor cost is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

FIG. 1 is a schematic view of a shielded door cleaning robot in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of a shielded door cleaning robot in accordance with another embodiment of the present invention;

FIG. 3 is a schematic view of a screen door cleaning robot according to still another embodiment of the present invention;

FIG. 4 is a schematic view of a cleaning mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic view showing a bottom view of a shielded door cleaning robot according to still another embodiment of the present invention;

FIG. 6 is a flowchart of a method for cleaning a shield door according to an embodiment of the invention.

In the figure:

101-half height type shielding door; 102-robot body; 103-an identification mechanism; 104-a travelling mechanism; 105-a cleaning mechanism; 106-a first travel unit; 107-a first shock absorber; 108-a first mount; 109-a first motorized roller; 110-a second walking unit; 111-a first drive cylinder; 112-a second drive cylinder; 113-a second shock absorber; 114-a second mount; 115-with a second motorized roller; 116-a multi-stage cylinder; 117-mounting rack; 118-cleaning rollers; 119-a first drive motor; 120-a spray assembly; 121-a roller brush assembly; 122-a doctor blade assembly; 123-jet assembly; 124-support frame; 125-rolling brush; 126-a second drive motor; 127-soil level sensor; 128-positioning means; 129-telescoping cylinder; 130-pneumatic suction cups.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, substitutions and improvements in parts, components and connections without departing from the spirit of the invention.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 and 5, an embodiment of the present application provides a shielding door cleaning robot, including a robot body 102, a recognition mechanism 103, a processor, a traveling mechanism 104, and a cleaning mechanism 105, wherein:

the recognition mechanism 103 is arranged at the bottom of the robot body 102 and is used for scanning the indication mark at the top of the half-height shielding door 101 and sending the indication mark to the processor;

specifically, the identifying mechanism 103 is disposed at the bottom of the robot body 102, and the disposed position of the identifying mechanism is close to a side facing away from the traveling direction of the robot body 102, and correspondingly, the indication marks are disposed at one end of the top of each half-height type shielding door 101 facing away from the traveling direction of the robot body 102, so that the cleaning robot can timely scan and identify the indication marks every time it reaches one half-height type shielding door 101. The identification mechanism 103 may be an RFID reader, and the indication identifier may be an RFID tag, and of course, other components such as a wharf and the like that are used in cooperation with the RFID reader are also included; it may be understood that the indication mark may also be a bar code and/or a two-dimensional code, and specifically may be set and adjusted according to practical situations, which is not limited herein.

The processor is arranged inside the robot body 102 and is used for receiving the indication identifier, reading parameter information of the half-height type shielding door 101 corresponding to the current position from a pre-stored database, generating a cleaning strategy according to the parameter information, generating a walking instruction and a cleaning instruction according to the cleaning strategy, and respectively sending the walking instruction and the cleaning instruction to the walking mechanism 104 and the cleaning mechanism 105;

specifically, the processor is disposed inside the robot body 102, the recognition mechanism 103 scans an indication identifier on the top of the half-height shielding door 101 and sends the indication identifier to the processor, the processor receives the indication identifier and reads parameter information of the half-height shielding door 101 corresponding to the current position from a pre-stored database, and then generates a cleaning strategy according to the parameter information, wherein the cleaning strategy comprises a target walking frequency and a target walking distance of the walking mechanism 104 and a moving distance of the cleaning mechanism 105 in a longitudinal direction, generates a walking instruction and a cleaning instruction according to the cleaning strategy, and sends the walking instruction and the cleaning instruction to the walking mechanism 104 and the cleaning mechanism 105 respectively. The cleaning strategy may also include other information, which may be specifically set and adjusted according to the actual situation, and is not specifically limited herein. As shown in table 1, the database stores the correspondence between each indication identifier and the parameter information of each half-height type shielding gate 101 in advance. The parameter information at least comprises the size parameter of the half-height type shielding door 101 corresponding to the current position, such as the width size and the height size; and may also include type parameters such as fixed and moving doors; cleaning log parameters, such as last cleaning date, last cleaning time, etc., can also be included; other parameter information can be further included, and the parameter information can be specifically set and adjusted according to practical situations, and is not specifically limited herein. In addition, it is understood that the processor may be connected to the identification mechanism 103 by a wired connection or may be connected by a wireless connection, and specifically may be set and adjusted according to the actual situation, which is not limited herein.

TABLE 1

Indication mark	Shielding door number	Width of (L)	Height	Type(s)	Cleaning log
						RFID tag A	1	L 1	H 1	Fixing	2024.01.01 it takes 30 minutes to wash
RFID tag B	2	L 2	H 2	Fixing	2024.01.01 it takes 30 minutes to wash
						RFID tag C	3	L 3	H 3	Movement of	2024.01.01 it takes 30 minutes to wash
……	……	……	……	……	……

The travelling mechanism 104 is disposed at the bottom of the robot body 102, and is configured to receive the travelling instruction sent by the processor and drive the robot body 102 to travel along the top of the half-height shielding door 101 or stop traveling according to the travelling instruction.

Specifically, the travelling mechanism 104 is disposed at the bottom of the robot body 102, and includes a plurality of groups of first travelling components and two groups of second travelling components, wherein the first travelling components and the two groups of second travelling components are sequentially distributed along the extending direction of the half-height type shielding door 101, the two groups of second travelling components are respectively disposed at the bottom of the robot body 102 and are located at two sides of the first travelling components, the first travelling components are used for contacting and travelling with the top surface of the half-height type shielding door 101, the second travelling components are respectively used for contacting and travelling with two side surfaces of the half-height type shielding door 101, and when the travelling mechanism 104 receives the travelling instruction sent by the processor, the travelling mechanism drives the robot body 102 to travel or stop travelling along the top of the half-height type shielding door 101 according to the travelling instruction. It should be understood that the walking mechanism 104 may be any other mechanism capable of driving the robot body 102 to walk, and may be specifically configured and adjusted according to practical situations, which is not limited herein.

The cleaning mechanism 105 includes two groups of cleaning components respectively mounted on two sides of the robot body 102, and is configured to receive the cleaning instruction sent by the processor and execute a corresponding cleaning action according to the cleaning instruction.

Specifically, the cleaning mechanism 105 includes two groups of cleaning components respectively mounted on two sides of the robot body 102, and when the cleaning mechanism 105 receives the cleaning instruction sent by the processor, a corresponding cleaning action is executed according to the cleaning instruction. The cleaning assembly may be provided with any mechanism capable of cleaning the half-height type shielding door 101 in the vertical direction, and may be specifically set and adjusted according to practical situations, which is not particularly limited herein.

The shielding door cleaning robot that this embodiment provided has solved among the prior art unmanned aerial vehicle can't monitor for a long time and the untimely problem of traditional radiation monitoring means monitoring.

In an embodiment, as shown in fig. 2, a groove consistent with the extending direction of the half-height shielding door 101 is formed at the bottom of the robot body 102, and the groove includes two opposite side surfaces and a plane perpendicular to the two side surfaces; accordingly, the travelling mechanism 104 includes:

The multi-group first walking components are sequentially distributed along the extending direction of the half-height shielding door 101, each first walking component comprises at least two first walking units 106 which are arranged side by side, each first walking unit 106 comprises a first shock absorber 107, a first mounting seat 108 and a first electric roller 109 which are sequentially connected, one end of each first shock absorber 107 is fixedly connected with the plane, the other end of each first shock absorber 107 is fixedly connected with the first mounting seat 108, and the first mounting seat 108 is rotatably connected with the first electric roller 109;

specifically, the travelling mechanism 104 includes a plurality of groups of first travelling components, along the extension direction of the half-height shielding door 101 distributes in order, every group of first travelling components includes at least two first travelling units 106, every first travelling unit 106 includes a first shock absorber 107, a mount pad and a first electric roller 109, one end of the first shock absorber 107 with plane fixed connection, the other end fixed connection has a first mount pad 108, rotate on the first mount pad 108 and be connected with a first electric roller 109. Wherein, at present, a certain inclination exists on the top surface of the half-height type shielding door 101, and the first shock absorber 107 is used for compensating the height of the robot body 102 when the robot body 102 walks on the surface of the half-height type shielding door 101, so that the robot body 102 is kept balanced as much as possible; in addition, the first electric roller 109 is a rubber roller with a larger friction coefficient on the outer surface and comprises an electric driving device, so that the robot body 102 is ensured to obtain enough walking driving force.

The two groups of second walking components are respectively arranged at the bottom of the robot body 102 and positioned at two sides of the groove, each group of second walking components comprises at least two second walking units 110 which are sequentially distributed along the extending direction of the half-height shielding door 101, each second walking unit 110 comprises a first driving cylinder 111 and a second driving cylinder 112 which are mounted vertically to each other, a second mounting seat 114 of a second shock absorber 113 and a second electric roller 115, the axis of the first driving cylinder 111 is vertical to the bottom of the robot body 102, the fixed end of the first driving cylinder 111 is fixedly mounted at the bottom of the robot body 102, the telescopic end of the second driving cylinder 112 is fixedly connected with the fixed end of the second driving cylinder 112, the axis of the second driving cylinder 112 is vertical to the axis of the first driving cylinder 111, the telescopic end of the second driving cylinder 112 is connected with the second shock absorber 113, the other end of the second shock absorber 113 is fixedly connected with the second mounting seat 114, and the second electric roller 115 is rotationally connected to the second mounting seat 114.

Specifically, the fixed end of the first driving cylinder 111 is fixedly mounted at the bottom of the robot body 102, the telescopic end of the first driving cylinder 111 is fixedly connected with the fixed end of the second driving cylinder 112, and the driving end of the first driving cylinder 111 can telescopically drive the second driving cylinder 112 to move along the direction perpendicular to the robot body 102, so as to adjust the vertical position of the second electric roller 115; the axis of the second driving cylinder 112 is perpendicular to the axis of the first driving cylinder 111, the driving end of the second driving cylinder 112 may be telescopically driven along the direction parallel to the robot body 102 to move the second shock absorber 113, the second mounting seat 114 and the second electric roller 115 in the direction close to or far away from the side of the half-height shielding door 101, so that the second electric roller 115 may be conveniently adjusted to be located at a proper walking position when the cleaning robot is mounted or dismounted from the half-height shielding door 101, or is suitable for the half-height shielding doors 101 of different models. It can be appreciated that the second electric roller 115 is also a rubber roller with a larger friction coefficient on the outer surface and includes an electric driving device, so as to ensure that the robot body 102 obtains enough walking driving force.

According to the shielding door cleaning robot provided by the embodiment, the identification mechanism is arranged at the bottom of the robot body, the indication mark at the top of the half-height shielding door is scanned, the indication mark is sent to the processor arranged inside the robot body, the processor receives the indication mark and reads the parameter information of the half-height shielding door corresponding to the current position from the pre-stored database, a cleaning strategy is generated according to the parameter information, a walking instruction and a cleaning instruction are generated according to the cleaning strategy, the walking instruction is sent to the walking mechanism arranged at the bottom of the robot body to drive the robot body to walk or stop walking along the top of the half-height shielding door, and the cleaning instruction is sent to the cleaning mechanisms arranged at the two sides of the robot body to enable the cleaning mechanism to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, the cleaning efficiency of the half-height shielding door is obviously improved, and the labor cost is reduced.

In one embodiment, as shown in fig. 3-4, the cleaning mechanism 105 includes:

the two groups of cleaning components are respectively arranged at the bottom of the robot body 102, and the cleaning components are respectively positioned at two sides of the groove;

Each group of cleaning components comprises a multi-stage air cylinder 116, wherein the fixed end of the multi-stage air cylinder 116 is arranged at the bottom of the robot body 102, and the telescopic end of the multi-stage air cylinder 116 is connected with a cleaning unit and is used for driving the cleaning unit to move in the vertical direction;

the cleaning unit comprises a mounting frame 117, the mounting frame 117 is of a U-shaped structure, a cleaning roller 118 and a first driving motor 119 for driving the cleaning roller 118 to rotate are mounted on the mounting frame 117, a plurality of cleaning pieces are sequentially and evenly distributed on the cleaning roller 118 along the circumferential direction of the cleaning roller 118, and the cleaning pieces extend along the axial direction of the cleaning roller 118.

Specifically, the fixed end of the multistage cylinder 116 is mounted at the bottom of the robot body 102, and the telescopic end thereof drives the cleaning unit fixedly connected to the end thereof to move along the vertical direction; the cleaning roller 118 is sequentially and uniformly provided with a plurality of cleaning members and a first driving motor 119 for driving the cleaning roller 118 to rotate along the circumferential direction thereof, and the first motor drives the cleaning roller 118 to rotate so as to switch different cleaning members to the working positions corresponding to the half-height type shielding door 101, so as to complete different cleaning steps. For example, the cleaning elements may include a liquid spraying assembly 120, a rolling brush assembly 121, a scraper assembly 122, and an air spraying assembly 123, where the liquid spraying assembly 120, the rolling brush assembly 121, the scraper assembly 122, and the air spraying assembly 123 are sequentially and uniformly distributed on the outer surface of the cleaning roller 118, and of course, may also include other cleaning elements, and may be specifically configured and adjusted according to practical situations, which is not limited herein.

In one embodiment, as shown in fig. 4, the cleaning member includes a spray assembly 120, a rolling brush assembly 121, a scraper assembly 122, and an air jet assembly 123, where the spray assembly 120, the rolling brush assembly 121, the scraper assembly 122, and the air jet assembly 123 are sequentially and uniformly distributed on the outer surface of the cleaning roller 118; wherein:

the liquid spraying assembly 120 includes a liquid storage tank integrally formed by the outer surface of the cleaning roller 118 along the radial direction thereof, the liquid storage tank extends along the axial direction of the cleaning roller 118, one end of the liquid storage tank is connected with a corrugated infusion tube for conveying cleaning liquid into the liquid storage tank, a first cover plate is arranged on one side of the liquid storage tank away from the outer surface of the cleaning roller 118, liquid spraying nozzles are sequentially and uniformly distributed on the first cover plate along the extending direction of the liquid storage tank, and are used for spraying the cleaning liquid to the half-height shielding door 101;

specifically, one end of the corrugated infusion tube is communicated with the liquid storage tank, the other end of the corrugated infusion tube is connected with the cleaning liquid storage tank through the delivery pump, the cleaning liquid storage tank can be fixedly stored, and when the cleaning robot walks along the half-height shielding door 101, the communication state of the cleaning liquid storage tank and the liquid storage tank is ensured through the extension and the shortening of the corrugated tube so as to ensure the continuous delivery of the cleaning liquid; or the cleaning solution storage box is in a moving state, and the cleaning solution is continuously conveyed along with the synchronous movement of the cleaning robot along the half-height shielding door 101; the specific configuration and adjustment may be set and adjusted according to actual conditions, and are not particularly limited herein.

The rolling brush assembly 121 includes supporting frames 124 positioned at two ends of the cleaning roller 118, a rolling brush 125 is rotatably mounted on one of the supporting frames 124, a second driving motor 126 is fixedly mounted on one of the supporting frames 124, and a driving end of the second driving motor 126 penetrates through the supporting frame 124 and is fixedly connected with the rolling brush 125, so as to drive the rolling brush 125 to rotate;

specifically, the second driving motor 126 drives the rolling brush 125 to rotate, and the rolling brush 125 repeatedly rubs against the half-height type shielding door 101 during the rotation process, so as to clean the surface of the half-height type shielding door 101. The bristles or the cleaning layer thereof are uniformly distributed on the surface of the rolling brush 125, which can be specifically set and adjusted according to practical situations, and is not particularly limited herein.

The scraper assembly 122 includes a placement groove integrally formed by the outer surface of the cleaning roller 118 along the radial direction thereof, the placement groove extends along the axial direction of the cleaning roller 118, an elastic element is disposed in the placement groove, one end of the elastic element is fixedly connected with the outer surface of the cleaning roller 118, and the other end is fixedly connected with a rubber scraper;

specifically, the rubber scraper can deform under the action of external force, when the cleaning roller 118 is driven to rotate by the first driving motor 119 to enable the scraper assembly 122 to reach the working position, the rubber scraper collides with the half-height shielding door 101, at this time, an interaction force exists between the half-height shielding door 101 and the rubber scraper to enable the elastic element to deform, and a reaction force is generated for the rubber scraper, so that the rubber pipeline is attached to the half-height shielding door 101 as much as possible, and cleaning liquid and dirt remained on the half-height shielding door 101 in the cleaning process of the scraping roller brush assembly 121 are scraped.

The air injection assembly 123 comprises an air storage groove integrally formed by the outer surface of the cleaning roller 118 along the radial direction of the air storage groove, the air storage groove extends along the axial direction of the cleaning roller 118, one end of the air storage groove is connected with a corrugated air pipe for conveying compressed air into the air storage groove, one side, away from the outer surface of the cleaning roller 118, of the air storage groove is provided with a second cover plate, and air nozzles are sequentially and uniformly distributed on the second cover plate along the extending direction of the air storage groove and used for spraying compressed air to the half-height shielding door 101.

Specifically, the air jetting assembly 123 is configured to jet compressed air to the half-height shielding door 101, blow-dry the liquid remaining on the half-height shielding door 101, and reduce the liquid stain. One end of the corrugated gas transmission pipe is communicated with the gas storage groove, the other end of the corrugated gas transmission pipe is connected with the gas supply device through the gas pump, the gas supply device can be in a fixed mode, and when the cleaning robot walks along the half-height shielding door 101, the communication state of the gas supply device and the gas storage groove is ensured through the extension and the shortening of the corrugated pipe so as to ensure the continuous conveying of compressed air; or the air supply device is in a moving state, and the synchronous movement of the air supply device along the half-height shielding door 101 ensures the continuous transportation of compressed air along with the walking of the cleaning robot; the specific configuration and adjustment may be set and adjusted according to actual conditions, and are not particularly limited herein.

In an embodiment, as shown in fig. 4, the cleaning robot further includes a dirt recognition assembly, the dirt recognition assembly is disposed between the liquid spraying assembly 120 and the air spraying assembly 123, the dirt recognition assembly includes a plurality of dirt level sensors 127, and the plurality of dirt level sensors 127 are sequentially and uniformly disposed on the outer surface of the cleaning roller 118 along the axial direction of the cleaning roller 118, and are used for detecting the dirt level of the half-height type shielding door 101.

Specifically, the plurality of pollution level sensors 127 of the pollution identifying assembly are disposed between the spraying assembly 120 and the spraying assembly 123, and are used for drying residual liquid by the spraying assembly 123 while the pollution level sensors 127 identify the pollution level of the half-height shielding door 101 after blowing in real time, if the ratio of the number of the identified pollution level sensors 127 to the total number of all the pollution level sensors 127 is greater than a preset percentage, the current half-height shielding door 101 is determined to be cleaned, otherwise, the current half-height shielding door 101 is determined to be not cleaned.

In an embodiment, as shown in fig. 3, the cleaning robot further includes a positioning mechanism 128, the positioning mechanism 128 is spaced from the first travelling component, the positioning mechanism 128 includes a telescopic cylinder 129 and a pneumatic suction cup 130, a fixed end of the telescopic cylinder 129 is mounted at the bottom of the plane, and the pneumatic suction cup 130 is mounted at a telescopic end of the telescopic cylinder 129, and is configured to drive the pneumatic suction cup 130 to be adsorbed to the top of the half-height shielding door 101 corresponding to the current position of the robot body 102 when the travelling mechanism 104 stops after receiving the travelling instruction sent by the processor.

Specifically, when the cleaning robot stops after traveling to the corresponding position according to the traveling command, the telescopic cylinder 129 of the positioning mechanism 128 stretches out to drive the pneumatic suction cup 130 to approach the top surface of the half-height shielding door 101 until the pneumatic suction cup is adsorbed on the surface of the half-height shielding door 101, so that the whole cleaning robot can ensure the stability of the position and the posture when the cleaning mechanism 105 cleans the half-height shielding door 101. It will be appreciated that a universal joint may be further disposed between the telescopic cylinder 129 and the pneumatic suction cup 130, so that the pneumatic suction cup 130 may be kept opposite to the top surface of the half-height type shielding door 101 all the time, thereby ensuring the adsorption stability.

To sum up, the shielding door cleaning robot provided by the embodiment of the application scans the indication mark at the top of the half-height shielding door through the identification mechanism arranged at the bottom of the robot body, and sends the indication mark to the processor arranged in the robot body, the processor receives the indication mark and reads the parameter information of the half-height shielding door corresponding to the current position from the pre-stored database, a cleaning strategy is generated according to the parameter information, a travelling instruction and a cleaning instruction are generated according to the cleaning strategy, the travelling instruction is sent to the travelling mechanism arranged at the bottom of the robot body to drive the robot body to travel along the top of the half-height shielding door or stop travelling, and the cleaning instruction is sent to the cleaning mechanisms arranged at the two sides of the robot body to enable the cleaning mechanisms to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, the cleaning efficiency of the half-height shielding door is obviously improved, and the labor cost is reduced.

The embodiment of the invention also provides a method for cleaning the shielding door, which is implemented by the shielding door cleaning robot in each embodiment, as shown in fig. 6, and comprises the following steps:

s1, an identification mechanism 103 scans an indication mark on the top of the half-height shielding door 101 and sends the indication mark to the processor;

specifically, the indication marks are arranged at one end of the top of each half-height shielding door 101, which is opposite to the walking advancing direction of the robot body 102, and each time the cleaning robot reaches one half-height shielding door 101 identification mechanism 103, the indication marks can be scanned and identified in time; for example, the identification mechanism 103 may be an RFID reader, and the indication identifier may be an RFID tag, and of course, other components such as a wharf and the like that are used in conjunction with the RFID reader; it may be understood that the indication mark may also be a bar code and/or a two-dimensional code, and specifically may be set and adjusted according to practical situations, which is not limited herein.

S2, the processor receives the indication mark, reads parameter information of the half-height type shielding door 101 corresponding to the current position from a pre-stored database, generates a cleaning strategy according to the parameter information, generates a traveling instruction and a cleaning instruction according to the cleaning strategy, and sends the traveling instruction and the cleaning instruction to the traveling mechanism 104 and the cleaning mechanism 105 respectively;

Specifically, the processor receives the indication identifier, reads parameter information of the half-height type shielding door 101 corresponding to the current position from a pre-stored database, and then generates a cleaning strategy according to the parameter information, wherein the cleaning strategy comprises target walking times and target walking distances of the walking mechanism 104 in a transverse direction and a moving distance of the cleaning mechanism 105 in a longitudinal direction, generates a walking instruction and a cleaning instruction according to the cleaning strategy, and sends the walking instruction and the cleaning instruction to the walking mechanism 104 and the cleaning mechanism 105 respectively. The cleaning strategy may also include other information, which may be specifically set and adjusted according to the actual situation, and is not specifically limited herein.

S3, a traveling mechanism 104 receives the traveling instruction sent by the processor and drives the robot body 102 to travel or stop along the top of the half-height shielding door 101 according to the traveling instruction;

specifically, when the traveling mechanism 104 receives the traveling instruction sent by the processor, the robot body 102 is driven to travel along the top of the half-height type shielding door 101 or to stop traveling according to the traveling instruction. It should be understood that the walking mechanism 104 may be any other mechanism capable of driving the robot body 102 to walk, and may be specifically configured and adjusted according to practical situations, which is not limited herein.

And S4, the cleaning mechanism 105 receives the cleaning instruction sent by the processor and executes corresponding cleaning action according to the cleaning instruction.

Specifically, after the cleaning mechanism 105 receives the cleaning instruction sent by the processor, a corresponding cleaning action is performed according to the cleaning instruction. The cleaning mechanism 105 may be any mechanism that can clean the half-height shielding door 101 in the vertical direction, and may be specifically set and adjusted according to the actual situation, which is not specifically limited herein, by adopting two sets of cleaning assemblies in the foregoing embodiments.

According to the shielding door cleaning method, the identification mechanism is arranged at the bottom of the robot body, the indication mark at the top of the half-height shielding door is scanned, the indication mark is sent to the processor arranged inside the robot body, the processor receives the indication mark and reads parameter information of the half-height shielding door corresponding to the current position from the pre-stored database, a cleaning strategy is generated according to the parameter information, a walking instruction and a cleaning instruction are generated according to the cleaning strategy, the walking instruction is sent to the walking mechanism arranged at the bottom of the robot body to drive the robot body to walk or stop walking along the top of the half-height shielding door, and the cleaning instruction is sent to the cleaning mechanisms arranged at two sides of the robot body to enable the cleaning mechanism to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, cleaning efficiency of the half-height shielding door is obviously improved, and labor cost is reduced.

In an embodiment, the parameter information at least includes: the size parameter of the half-height shielding door 101 corresponding to the current position of the robot; correspondingly, the generating the cleaning strategy according to the parameter information comprises the following steps:

determining the target walking times and the target walking distance of the walking mechanism 104 for transverse walking according to the width of the half-height shielding door 101; the number of times of the target walking and the target walking distance are the number of times that the walking mechanism 104 of the half-height shielding door 101 corresponding to the current position needs to walk and the distance that each time needs to walk respectively;

the moving distance of the cleaning mechanism 105 to move longitudinally is determined according to the height of the half height type shielding door 101.

Specifically, the parameter information includes at least a size parameter of the half-height type shielding door 101 corresponding to the current position, such as a width size and a height size; and may also include type parameters such as fixed and moving doors; cleaning log parameters, such as last cleaning date, last cleaning time, etc., can also be included; other parameter information can be further included, and the parameter information can be specifically set and adjusted according to practical situations, and is not specifically limited herein. Correspondingly, the processor calculates the number of times that the travelling mechanism 104 of the half-height type shielding door 101 corresponding to the current cleaning position needs to travel and the distance that each time needs to travel respectively according to the width of the half-height type shielding door 101; and determining the moving distance of the cleaning mechanism 105 of the half-height type shielding door 101 corresponding to the cleaning current position according to the height of the half-height type shielding door 101. It will be appreciated that, since the types, arrangement positions or models of the half-height type shielding doors 101 are different, the sizes thereof are different, and in order to adapt to various half-height type shielding doors 101, it is necessary to calculate the target number of times and the target distance of travel of the traveling mechanism 104 and the moving distance of the cleaning mechanism 105 in the longitudinal direction according to the sizes thereof.

In an embodiment, the generating the walking instruction and the cleaning instruction according to the cleaning strategy includes:

the processor sends a stop instruction to the travelling mechanism 104 and a cleaning instruction to the cleaning mechanism 105, so that the travelling mechanism 104 is stopped and the positioning mechanism 128 fixes the position of the robot body 102, and the cleaning mechanism 105 executes a cleaning action according to a preset cleaning step according to the moving distance of the longitudinal movement;

after the processor determines that the cleaning action is completed, a traveling instruction is sent to the traveling mechanism 104, so that the traveling mechanism 104 moves the target traveling distance, and the current traveling times of the traveling mechanism 104 are updated.

Specifically, when the travelling mechanism 104 completes one target travelling distance, the processor sends a stop instruction to the travelling mechanism 104, the travelling mechanism 104 stops and the positioning mechanism 128 fixes the position of the robot body 102; and, a cleaning command is sent to the cleaning mechanism 105, and the cleaning mechanism 105 performs a cleaning action according to a preset cleaning step according to the moving distance of the longitudinal movement.

The preset cleaning steps can be set and adjusted according to specific situations, for example: the first driving motor 119 drives the cleaning roller 118 to rotate, so that the liquid spraying component 120 is opposite to the half-height shielding door 101 and the distance between the liquid spraying component and the half-height shielding door is smaller than 5 cm, then drives the multi-stage air cylinder 116 to descend along the vertical direction, sprays cleaning liquid to the half-height shielding door 101 while the liquid spraying component 120 is driven until the liquid spraying component 120 reaches the bottom end of the half-height shielding door 101, then drives the multi-stage air cylinder 116 to ascend along the vertical direction, sprays cleaning liquid to the half-height shielding door 101 while the liquid spraying component 120 is driven or stops spraying the cleaning liquid until the liquid spraying component 120 reaches the top end of the half-height shielding door 101;

Then the first driving motor 119 drives the cleaning roller 118 to rotate again, so that the rolling brush of the rolling brush assembly 121 collides with the half-height shielding door 101, then drives the multistage cylinder 116 to descend along the vertical direction, brushes the half-height shielding door 101 while rolling brushes of the rolling brush assembly 121, finishes brushing the half-height shielding door 101 until the rolling brush assembly 121 reaches the bottom end of the half-height shielding door 101, then drives the multistage cylinder 116 to ascend along the vertical direction, brushes the half-height shielding door 101 again while rolling brush assembly 121 until the rolling brush assembly 121 reaches the top end of the half-height shielding door 101;

then, the first driving motor 119 drives the cleaning roller 118 to rotate, so that the rubber scraper of the scraper assembly 122 is abutted against the half-height type shielding door 101, then drives the multistage cylinder 116 to descend along the vertical direction, scrapes cleaning liquid and dirt left on the half-height type shielding door 101 while the rubber scraper of the scraper assembly 122 is scraped until the rubber scraper reaches the bottom end of the half-height type shielding door 101, then drives the cleaning roller 118 to rotate, so that the rubber scraper of the scraper assembly 122 is separated from the surface of the half-height type shielding door 101, and drives the multistage cylinder 116 to ascend along the vertical direction until the cleaning roller 118 reaches the top end of the half-height type shielding door 101;

Then, the first driving motor 119 drives the cleaning roller 118 to rotate, so that the air injection assembly 123 is opposite to the half-height shielding door 101 and the distance between the air injection assembly and the half-height shielding door 101 is smaller than 5 cm, then the air injection assembly 123 ejects compressed air to the half-height shielding door 101 while driving the multi-stage air cylinder 116 to rise vertically, the air injection assembly 123 dries residual liquid, meanwhile, the pollution degree sensor 127 recognizes the pollution degree of the half-height shielding door 101 after blowing in real time, and if the ratio of the number of the recognized pollution degree sensors 127 with the pollution degree smaller than the preset value to the total number of all the pollution degree sensors 127 is larger than the preset percentage, then the current half-height shielding door 101 is judged to be cleaned, otherwise, the current half-height shielding door 101 is judged not to be cleaned, and the cleaning operation is executed again.

In an embodiment, the determining the target traveling times and the target traveling distances of the traveling mechanism 104 according to the size parameter of the half-height type shielding door 101 includes:

according to the width of the half height type shielding door 101, the following formula is:

calculating the target walking times; where n is the target number of walks, L is the width of the half-height type shield door 101, For an effective cleaning distance of the cleaning mechanism 105,and L andthe ratio of (2) is an integer;

according to the formula:calculating the target walking distance of each walking n-1 times before;

according to the formula:calculating a target walking distance of the nth walking;

wherein,for the target walking distance of each previous n-1 walks,the target walking distance of the nth walk is the walking correction value delta.

Specifically, the Δ is a travel correction value, in order to ensure that there is no missing gap between each cleaning of the cleaning robot, it is necessary that there is a partial overlap between the target travel distances of each travel of the travel mechanism 104, the width of the overlap portion is the Δ, and it is understood that the Δ<。

According to the shielding door cleaning method, the identification mechanism is arranged at the bottom of the robot body, the indication mark at the top of the half-height shielding door is scanned, the indication mark is sent to the processor arranged inside the robot body, the processor receives the indication mark and reads parameter information of the half-height shielding door corresponding to the current position from the pre-stored database, a cleaning strategy is generated according to the parameter information, a walking instruction and a cleaning instruction are generated according to the cleaning strategy, the walking instruction is sent to the walking mechanism arranged at the bottom of the robot body to drive the robot body to walk or stop walking along the top of the half-height shielding door, and the cleaning instruction is sent to the cleaning mechanisms arranged at two sides of the robot body to enable the cleaning mechanism to execute corresponding cleaning actions according to the cleaning instruction, so that manual cleaning is replaced, cleaning efficiency of the half-height shielding door is obviously improved, and labor cost is reduced.

It should be understood that, in the present specification, each embodiment is described in an incremental manner, and the same or similar parts between the embodiments are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. The invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known methane detection method techniques is omitted herein for the sake of brevity.

The foregoing is merely exemplary of the present application and is not limited thereto. Various modifications and alterations of this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. The utility model provides a shield door cleaning robot which characterized in that includes robot body (102), recognition mechanism (103), treater, running gear (104) and clean mechanism (105), wherein:

the identification mechanism (103) is arranged at the bottom of the robot body (102) and is used for scanning an indication mark at the top of the half-height shielding door (101) and sending the indication mark to the processor;

The processor is arranged inside the robot body (102) and is used for receiving the indication mark, reading parameter information of the half-height shielding door (101) corresponding to the current position from a pre-stored database, generating a cleaning strategy according to the parameter information, generating a walking instruction and a cleaning instruction according to the cleaning strategy, and respectively transmitting the walking instruction and the cleaning instruction to the walking mechanism (104) and the cleaning mechanism (105);

the walking mechanism (104) is arranged at the bottom of the robot body (102) and is used for receiving the walking instruction sent by the processor and driving the robot body (102) to walk or stop walking along the top of the half-height shielding door (101) according to the walking instruction;

the cleaning mechanism (105) comprises two groups of cleaning components which are respectively arranged at two sides of the robot body and are used for receiving the cleaning instructions sent by the processor and executing corresponding cleaning actions according to the cleaning instructions.

2. The shielded gate cleaning robot according to claim 1, wherein a groove consistent with the extending direction of the half-height shielded gate is formed in the bottom of the robot body (102), and the groove includes two opposite side surfaces and a plane perpendicular to the two side surfaces; accordingly, the travelling mechanism (104) comprises:

The multi-group is followed the first walking subassembly that half high formula shield door (101) extending direction distributes in proper order, first walking subassembly includes two at least first walking units (106) that set up side by side, every first walking unit (106) are including first bumper shock absorber (107), first mount pad (108) and first electronic gyro wheel (109) that connect gradually, one end of first bumper shock absorber (107) with plane fixed connection, the other end fixedly connected with first mount pad (108), rotate on first mount pad (108) and be connected with first electronic gyro wheel (109); the two groups of second walking components are respectively arranged at the bottom of the robot body (102) and positioned at two sides of the groove, each group of second walking components comprises at least two second walking units (110) which are distributed in sequence along the extending direction of the half-height shielding door, each second walking unit (110) comprises a first driving cylinder (111) and a second driving cylinder (112) which are mounted vertically to each other, a second shock absorber (113), a second mounting seat (114) and a second electric roller (115), the axis of the first driving cylinder (111) is vertical to the bottom of the robot body (102), the fixed end of the second driving cylinder is fixedly mounted at the bottom of the robot body (102), the telescopic end of the second driving cylinder is fixedly connected with the fixed end of the second driving cylinder (112), the axis of the second driving cylinder (112) is vertical to the axis of the first driving cylinder (111), the telescopic end of the second driving cylinder (112) is connected with the second shock absorber (113), the other end of the second shock absorber (113) is fixedly connected with the second mounting seat (114), and the second electric roller (114) is connected with the second mounting seat (114).

3. The shielded door cleaning robot according to claim 1 or 2, wherein the cleaning mechanism (105) includes:

the two groups of cleaning components are respectively arranged at the bottom of the robot body (102), and the cleaning components are respectively positioned at two sides of the groove;

each group of cleaning components comprises a multi-stage air cylinder (116), the fixed end of each multi-stage air cylinder (116) is arranged at the bottom of the robot body (102), and the telescopic end of each multi-stage air cylinder is connected with a cleaning unit and used for driving the cleaning units to move in the vertical direction;

the cleaning unit comprises a mounting frame (117), the mounting frame (117) is of a U-shaped structure, a cleaning roller (118) and a first driving motor (119) for driving the cleaning roller (118) to rotate are mounted on the mounting frame (117), a plurality of cleaning pieces are uniformly distributed on the cleaning roller (118) along the circumferential direction of the cleaning roller in sequence, and the cleaning pieces extend along the axial direction of the cleaning roller.

4. A shielded gate cleaning robot according to claim 3, wherein the cleaning member comprises a liquid spraying assembly (120), a rolling brush assembly (121), a scraper assembly (122) and an air spraying assembly (123), and the liquid spraying assembly (120), the rolling brush assembly (121), the scraper assembly (122) and the air spraying assembly (123) are sequentially and uniformly distributed on the outer surface of the cleaning roller (118); wherein:

The liquid spraying assembly (120) comprises a liquid storage tank which is formed by integrally forming the outer surface of the cleaning roller (118) along the radial direction of the liquid storage tank, the liquid storage tank extends along the axial direction of the cleaning roller (118), one end of the liquid storage tank is connected with a corrugated infusion tube and is used for conveying cleaning liquid into the liquid storage tank, one side, away from the outer surface of the cleaning roller (118), of the liquid storage tank is provided with a first cover plate, and liquid spraying nozzles are sequentially and uniformly distributed on the first cover plate along the extending direction of the liquid storage tank and are used for spraying the cleaning liquid to the half-height shielding door;

the rolling brush assembly (121) comprises supporting frames (124) positioned at two ends of the cleaning roller (118), rolling brushes (125) are rotatably arranged on the supporting frames (124), a second driving motor (126) is fixedly arranged on one supporting frame, and a driving end of the second driving motor (126) penetrates through the supporting frames (124) and is fixedly connected with the rolling brushes (125) and is used for driving the rolling brushes (125) to rotate;

the scraper component (122) comprises a placing groove which is formed by the outer surface of the cleaning roller (118) along the radial direction of the cleaning roller, the placing groove extends along the axial direction of the cleaning roller (118), an elastic element is arranged in the placing groove, one end of the elastic element is fixedly connected with the outer surface of the cleaning roller (118), and the other end of the elastic element is fixedly connected with a rubber scraper;

The jet assembly (120) comprises an air storage groove which is formed by integrally forming the outer surface of the cleaning roller (118) along the radial direction of the air storage groove, the air storage groove extends along the axial direction of the cleaning roller (118), one end of the air storage groove is connected with a corrugated air delivery pipe and is used for delivering compressed air into the air storage groove, one side, away from the outer surface of the cleaning roller (118), of the air storage groove is provided with a second cover plate, and air nozzles which are uniformly distributed on the second cover plate in sequence along the extending direction of the air storage groove and are used for spraying compressed air to the half-height shielding door (101).

5. The shielded gate cleaning robot of any one of claims 4, further comprising a dirt recognition assembly disposed between the liquid spray assembly (120) and the air jet assembly (123), the dirt recognition assembly including a plurality of dirt level sensors (127), the plurality of dirt level sensors (127) being sequentially and fixedly disposed on an outer surface of the cleaning roller (118) along an axial direction of the cleaning roller (118) for detecting a dirt level of the half-height shielded gate (101).

6. The shielded gate cleaning robot of any one of claim 5, further comprising a positioning mechanism (128), wherein the positioning mechanism (128) is spaced apart from the first travelling assembly, the positioning mechanism (128) includes a telescopic cylinder (129) and a pneumatic suction cup (130), a fixed end of the telescopic cylinder (129) is mounted at the bottom of the plane, and the pneumatic suction cup (130) is mounted at a telescopic end of the telescopic cylinder (129) and is used for driving the pneumatic suction cup (130) to be adsorbed to the top of the half-height shielded gate (101) corresponding to the current position of the robot body (102) when the travelling mechanism (104) stops after receiving the travelling instruction sent by the processor.

7. A method for cleaning a shield door, wherein the shield door cleaning robot according to any one of claims 1 to 6 is applied, the method comprising:

an identification mechanism (103) scans an indication mark on the top of the half-height shielding door (101) and sends the indication mark to the processor;

the processor receives the indication mark, reads parameter information of a half-height type shielding door (101) corresponding to the current position from a pre-stored database, generates a cleaning strategy according to the parameter information, generates a traveling instruction and a cleaning instruction according to the cleaning strategy, and respectively sends the traveling instruction and the cleaning instruction to a traveling mechanism (104) and a cleaning mechanism (105);

the walking mechanism (104) receives the walking instruction sent by the processor and drives the robot body (102) to walk or stop along the top of the half-height shielding door (101) according to the walking instruction;

a cleaning mechanism (105) receives the cleaning instruction sent by the processor and executes a corresponding cleaning action according to the cleaning instruction.

8. The method of claim 7, wherein the parameter information includes at least: the size parameter of the half-height type shielding door (101) corresponding to the current position of the robot body (102); correspondingly, the generating the cleaning strategy according to the parameter information comprises the following steps:

According to the width of the half-height shielding door (101), determining the target walking times and the target walking distance of the walking mechanism (104) for transverse walking; the number of times of the target walking and the target walking distance are the number of times that the walking mechanism (104) needs to walk and the distance that each time needs to walk respectively, wherein the number of times of the target walking and the target walking distance are the number of times that the walking mechanism needs to walk when the half-height shielding door (101) corresponding to the current position is cleaned;

a movement distance of the cleaning mechanism (105) to be moved longitudinally is determined according to the height of the half-height type shielding door (101).

9. The method of claim 7, wherein generating the walk instruction and the cleaning instruction according to the cleaning strategy comprises:

the processor sends a stop instruction to the travelling mechanism (104) and a cleaning instruction to the cleaning mechanism (105) so that the travelling mechanism (104) is stopped and the positioning mechanism (128) fixes the position of the robot body (102) and the cleaning mechanism (105) executes cleaning action according to a preset cleaning step according to the moving distance of the longitudinal movement;

and after the processor judges that the cleaning action is finished, a walking instruction is sent to the walking mechanism (104) so that the walking mechanism (104) moves the target walking distance, and the current walking times of the walking mechanism (104) are updated.

10. The method of cleaning a barrier door according to any one of claims 7 to 9, wherein determining the target number of walks and the target distance walks of the walking mechanism (104) according to the dimensional parameter of the half-height barrier door (101) comprises:

according to the width of the half-height shielding door (101), the following formula is adopted:

calculating the target walking times; wherein n is the target walking times, L is the width of the half-height shielding door (101),for an effective cleaning distance of the cleaning means (104),is L andthe ratio of (2) is an integer;

according to the formula：Calculating the target walking distance of each walking n-1 times before;

according to the formula:calculating a target walking distance of the nth walking;

wherein lambda is _{（1,2,3……n-1）} Lambda is the target walking distance of each walking for the previous n-1 times _n The target walking distance of the nth walk is the walking correction value delta.