CN214078022U - Tunnel lamp cleaning robot - Google Patents
Tunnel lamp cleaning robot Download PDFInfo
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- CN214078022U CN214078022U CN202023115281.5U CN202023115281U CN214078022U CN 214078022 U CN214078022 U CN 214078022U CN 202023115281 U CN202023115281 U CN 202023115281U CN 214078022 U CN214078022 U CN 214078022U
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Abstract
The utility model discloses a cleaning robot for tunnel lamps, which comprises a movable vehicle, a driving mechanism, a water tank, a lifting platform and an mechanical arm arranged on the lifting platform, wherein the tail end of the mechanical arm is provided with a cleaning head which is communicated with the water tank through a pipeline, and the pipeline is provided with a power device for providing water outlet power; the controller is electrically connected with the driving mechanism, the lifting platform, the power device and the mechanical arm, the driving mechanism is used for driving the movable vehicle to sequentially pass through the tunnel lamp from the lower part, the lifting platform is used for adjusting the height, the power device is used for enabling water in the water tank to flow out from the cleaning head, and the mechanical arm is used for driving the cleaning head at the tail end to clean and clean the tunnel lamp. The utility model discloses utilize cleaning robot to wash the tunnel lamp, not only reduce operating personnel's intensity of labour, effectively eliminated the potential safety hazard of the operation of ascending a height moreover, when guaranteeing that clean degree is high, save clean time and manpower and materials.
Description
Technical Field
The utility model relates to a communal facility washs technical field, in particular to cleaning robot of 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 and a system for performing spot cleaning on the tunnel lamp are needed.
SUMMERY OF THE UTILITY MODEL
In order to overcome the deficiencies in the prior art, the utility model provides a cleaning robot for tunnel lamp, technical scheme is as follows:
the utility model provides a cleaning robot for tunnel lamps, which comprises a movable vehicle and a controller; wherein the content of the first and second substances,
the movable vehicle is provided with a driving mechanism, a water tank, a lifting platform and a mechanical arm arranged on the lifting platform, wherein a cleaning head is arranged at the tail end of the mechanical arm and is communicated with the water tank through a pipeline, a power device used for providing water outlet power is arranged on the pipeline, and the movable vehicle can move under the driving of the driving mechanism;
the controller with actuating mechanism, liftable platform, power device, arm electricity are connected, actuating mechanism is used for driving under controller control but moving vehicle passes through from the below of tunnel lamp in proper order, liftable platform is used for height-adjusting under controller control, power device is used for starting and makes under controller control water in the water tank is followed the cleaning head flows out, the arm is used for moving under controller control and drives terminal cleaning head and clean the washing to the tunnel lamp.
Further, still be equipped with positioning sensor on the liftable platform, positioning sensor with the input of controller is connected, positioning sensor is used for the position of location tunnel lamp.
Preferably, the positioning sensor is an image sensor, and the positioning sensor positions the tunnel lamp to obtain image information so as to analyze and obtain three-dimensional orientation information of the tunnel lamp.
Optionally, the positioning sensor is a distance measurement sensor, and the starting end of the tunnel lamp is determined according to a critical area where a distance measurement result changes.
Furthermore, the movable vehicle is also provided with a line patrol sensor for patrolling the identification line preset in the tunnel to be operated.
Further, the movable vehicle is an unmanned vehicle, and the controller is an onboard controller or a movable intelligent terminal controller.
Further, the cleaning head is a hairbrush which is provided with bristles of a flexible structure or an elastic structure.
Furthermore, the tail end of the mechanical arm is also provided with a rotating mechanism for driving the cleaning head to rotate.
Further, the width of the cleaning head is larger than or equal to the width of the tunnel lamp.
Optionally, the cleaning head is connected to the end of the robotic arm by a resilient member.
The utility model provides a beneficial effect that technical scheme brought as follows:
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 described 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 without creative efforts.
Fig. 1 is a block diagram of an automatic positioning and cleaning system for a tunnel lamp of a tunnel lamp according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;
fig. 3 is a flowchart illustrating an automatic positioning and cleaning operation of 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 sensor, 122-mechanical arm and 123-cleaning head.
Detailed Description
In order to make the technical field person understand the present invention better, and to understand the objects, technical solutions and advantages thereof more clearly, the embodiments of the present invention are described in detail below 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 obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention. In addition, the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, product, 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, product, or apparatus.
In an embodiment of the present invention, there is provided a cleaning robot for tunnel lamps, as shown in fig. 2, including a movable vehicle 1 and a controller; wherein the content of the first and second substances,
the movable vehicle 1 is provided with a driving mechanism, a water tank 11, a liftable platform 12 and a mechanical arm 122 arranged on the liftable platform 12, wherein a cleaning head 123 is arranged at the tail end of the mechanical arm 122, the cleaning head 123 is communicated with the water tank 11 through a pipeline, a power device for providing water outlet power is arranged on the pipeline, and the movable vehicle 1 can move under the driving of the driving mechanism;
the controller is electrically connected with the driving mechanism, the liftable platform 12, the power device and the mechanical arm 122, the driving mechanism is used for driving the movable vehicle 1 to sequentially pass below the tunnel lamp under the control of the controller, and the specific implementation mode is that the movable vehicle 1 is also provided with a line patrol sensor used for patrolling a marking line which is preset in a tunnel to be operated; the liftable platform 12 is used for adjusting the height under the control of a controller, the power device is used for starting under the control of the controller to enable water in the water tank 11 to flow out of the cleaning head 123, and the mechanical arm 122 is used for moving under the control of the controller to drive the cleaning head 123 at the tail end to wipe and clean the tunnel lamp.
In a preferred embodiment, a positioning sensor 121 is further disposed on the liftable platform 12, the positioning sensor 121 is connected with an input end of the controller, and the positioning sensor 121 is used for positioning a position of the tunnel lamp. The positioning mode has at least two types:
the first positioning sensor is an image sensor, and the positioning sensor positions the tunnel lamp to obtain image information so as to analyze and obtain three-dimensional azimuth information of the tunnel lamp.
The second positioning sensor is a distance measuring sensor, and the starting end of the tunnel lamp is determined according to the critical area where the distance measuring result changes.
In this embodiment, the movable vehicle 1 is an unmanned vehicle, and the controller is an onboard controller or a movable intelligent terminal controller.
In this embodiment, the cleaning head 123 is a brush, the brush has bristles of a flexible structure or an elastic structure, or the cleaning head 123 and the end of the mechanical arm 122 are connected through an elastic member, so that overstock damage to the tunnel lamp caused by the cleaning head 123 when the tunnel lamp is cleaned can be effectively avoided.
The manner of cleaning the tunnel lamp includes at least the following two:
the first is that the mechanical arm simulates the action of wiping the glass by hands and drives the cleaning head 123 at the tail end to wipe the surface of the tunnel lamp, and in the cleaning process in this way, the wheels of the movable vehicle 1 stay in place;
the second cleaning mode is that the movable trolley moves to drive the cleaning head 123 to wipe the tunnel lamp surface, preferably, the width of the cleaning head 123 is greater than or equal to the width of the tunnel lamp, in a preferred embodiment, the end of the mechanical arm 122 is further provided with a rotating mechanism, and during the cleaning process, the rotating mechanism drives the cleaning head 123 to rotate, so as to enhance the cleaning effect on the tunnel lamp.
In an embodiment of the present invention, an automatic positioning and cleaning system for tunnel lamps is provided, as shown in fig. 1, the automatic positioning and cleaning system includes a database, a GPS, a controller, and a movable vehicle 1. As shown in fig. 2, the movable vehicle 1 is provided with a driving mechanism, a water tank 11, a liftable platform 12, a positioning sensor 121 and a mechanical arm 122, the positioning sensor 121 is arranged on the liftable platform 12, the positioning sensor 121 is used for positioning a tunnel lamp, the 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 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 sensor 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 sensor, 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. The utility model discloses a one of the biggest utility model point lies in using the data information of tunnel information database as the basis, realizes that the dolly implements different tunnel lamp washing operation flow to different tunnels, improves automatic washing degree.
The automatic positioning and cleaning system acquires longitude and latitude coordinate information through a GPS positioning sensor, matches the longitude and latitude coordinate information with a database to judge information of a 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 carried out preliminary location to the distance information of first operation tunnel lamp, walk to first need operation tunnel lamp under 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, accurate position information of the tunnel lamp of needs operation is located to the positioning sensor 121 location on rethread liftable platform 12 to make the terminal cleaning head 123 of arm 122 relative with the tunnel lamp, specifically as follows: the positioning sensor is an image sensor, the positioning sensor 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 out and is sprayed out by the cleaning head 123, 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, as the motion of swinging the glass wiping by a human hand is simulated, and the movable vehicle is kept in place, i.e. does not advance, during the wiping process.
The embodiment of the utility model provides a still provide another kind location and clear mode: the positioning sensor 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 sensor is a laser distance measuring sensor with an upward emitting direction, and 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 that in a state where the laser sensor is opposite to the tunnel lamp, 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 common point of above two kinds of washing modes lies in that under the condition that cleaning head 123 on portable vehicle 1 is facing to the tunnel lamp, water pump work makes cleaning head 123 go out water and treats operation tunnel lamp and carry out accurate washing operation, after current tunnel lamp is accomplished and is washd, controller control the distance of the tunnel lamp interval that actuating mechanism drive portable vehicle 1 prestores in the mobile database, at the removal in-process that is corresponding to tunnel lamp interval distance, cleaning head 123 need not to go out water, and restart positioning sensor 121 fixes a position adjacent next tunnel lamp, and after initial positioning was accomplished, repeat above-mentioned step.
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 sensor, 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 sensor 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 to be operated is acquired through the tunnel lamp positioning sensor, 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 acquiring the accurate position information of the tunnel lamp to be operated through the tunnel lamp positioning sensor again, and controlling the mechanical arm to finish the 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 utility model discloses an automatic positioning tunnel lamp cleaning process is as shown in figure 3, including following operation:
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 sensor and a mechanical arm, the positioning sensor 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 tunnel lamp position by using a positioning sensor;
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 sensor is an image sensor, and the position of the tunnel lamp is determined in step S3 according to the relative position of the tunnel lamp in the image, specifically, for example, the reference position is located by using 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 located 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 an embodiment of the present invention, the positioning sensor is a distance measuring sensor, the critical area where the distance measuring result changes is determined in step S3 as the starting end of the tunnel lamp, specifically, for example, the positioning sensor 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 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 criticality of two areas (the relative 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 above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A cleaning robot for tunnel lamps is characterized by comprising a movable vehicle (1) and a controller; wherein the content of the first and second substances,
the movable vehicle (1) is provided with a driving mechanism, a water tank (11), a lifting platform (12) and a mechanical arm (122) arranged on the lifting platform (12), wherein a cleaning head (123) is arranged at the tail end of the mechanical arm (122), the cleaning head (123) is communicated with the water tank (11) through a pipeline, a power device used for providing water outlet power is arranged on the pipeline, and the movable vehicle (1) can move under the driving of the driving mechanism;
the controller with actuating mechanism, liftable platform (12), power device, arm (122) electricity are connected, actuating mechanism is used for driving under controller control movable vehicle (1) passes through from the below of tunnel lamp in proper order, liftable platform (12) are used for height-adjusting under controller control, power device is used for starting and making under controller control water in water tank (11) is followed cleaning head (123) flow, arm (122) are used for moving under controller control and drive terminal cleaning head (123) and clean the washing to the tunnel lamp.
2. The cleaning robot for the tunnel lamp according to claim 1, wherein a positioning sensor (121) is further disposed on the liftable platform (12), the positioning sensor (121) is connected with an input end of the controller, and the positioning sensor (121) is used for positioning the position of the tunnel lamp.
3. The cleaning robot for the tunnel lamp according to claim 2, wherein the positioning sensor is an image sensor, and the positioning sensor positions the tunnel lamp to obtain image information so as to analyze and obtain three-dimensional orientation information of the tunnel lamp.
4. The robot of claim 2, wherein the positioning sensor is a distance measuring sensor, and the start of the tunnel lamp is determined according to a critical area where the distance measuring result changes.
5. The washing robot of tunnel lamps according to claim 1, characterized in that the movable vehicle (1) is further provided with a line patrol sensor for patrolling an identification line previously set in a tunnel to be operated.
6. The robot for washing 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. The cleaning robot for tunnel lamps according to claim 1, characterized in that the cleaning head (123) is a brush having bristles of a flexible or elastic structure.
8. The tunnel lamp cleaning robot according to claim 1, wherein the mechanical arm (122) is further provided at its distal end with a turning mechanism for driving the cleaning head (123) to rotate.
9. The tunnel lamp cleaning robot according to claim 1, wherein the width of the cleaning head (123) is greater than or equal to the width of the tunnel lamp.
10. The tunnel lamp cleaning robot according to claim 1, wherein the cleaning head (123) is connected to the tip of the robot arm (122) by an elastic member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023115281.5U CN214078022U (en) | 2020-12-22 | 2020-12-22 | Tunnel lamp cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023115281.5U CN214078022U (en) | 2020-12-22 | 2020-12-22 | Tunnel lamp cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214078022U true CN214078022U (en) | 2021-08-31 |
Family
ID=77430630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023115281.5U Active CN214078022U (en) | 2020-12-22 | 2020-12-22 | Tunnel lamp cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214078022U (en) |
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2020
- 2020-12-22 CN CN202023115281.5U patent/CN214078022U/en active Active
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