Tunnel lamp positioning method and system for tunnel lamp cleaning

Abstract

The invention provides a tunnel lamp positioning method for tunnel lamp cleaning. The method comprises a cleaning vehicle, a mechanical arm arranged on the cleaning vehicle and a cleaning device bodyarranged at the executing tail end of the mechanical arm. The tunnel lamp positioning method comprises the following steps of S1, adopting a binocular camera arranged on the cleaning vehicle for collecting first image information of a tunnel lamp, establishing a three-dimensional rectangular coordinate system with the position where the binocular camera is located as the origin of coordinates, andobtaining the coordinate position of the tunnel lamp in the three-dimensional coordinate system according to the first image information; S2, collecting the actual angles of all joint points of the mechanical arm, and determining the position parameters of the execution tail end of the mechanical arm in a three-dimensional coordinate system according to the actual angles of all the mechanical arms; S3, according to the position of the tunnel lamp in the three-dimensional coordinate system and the position parameter of the execution tail end of the mechanical arm, adjusting the tunnel lamp, determining the rotation angle of each joint point of the mechanical arm according to the position parameters, controlling the rotation of the joint points of the mechanical arm according to the rotation angles to align the cleaning device with the tunnel lamp, and controlling the mechanical arm to act to align the cleaning device with the tunnel lamp.

Description

technical field [0001] The invention relates to the field of tunnel lamp cleaning, in particular to a tunnel lamp positioning method and system for tunnel lamp cleaning. Background technique [0002] Highway tunnels are the most important passages in the modern road network, which can effectively shorten the road travel distance between the two places and improve the road traffic environment. Due to the light-tight characteristics of the tunnel (only the entrance and exit have natural light, while the middle section of the tunnel is completely There is no light), therefore, there are generally many lighting fixtures distributed in the tunnel. Due to the air environment of the tunnel, the surface of the tunnel lamps is easy to accumulate dust, resulting in insufficient brightness of the tunnel lamp due to dust accumulation over time, resulting in safety hazards. Hidden danger. [0003] In the cleaning of tunnel lamps, the traditional method uses scaffolding, and then manuall...

AI Technical Summary

Problems solved by technology

[0002] Highway tunnels are the most important passages in the modern road network, which can effectively shorten the road travel distance between the two places and improve the road traffic environment. Due to the light-tight characteristics of the tunnel (only the entrance and exit have natural light, and the middle section of the tunnel is completely There is no light), therefore, there are generally many lighting fixtures distributed in the tunnel. Due to the air environment of the tunnel, the surface of the tunnel lamps is easy to accumulate dust, resulting in insufficient brightness of the tunnel lamp due to dust accumulation over time, resulting in safety hazards. Hidden danger

[0003] In the cleaning of tunnel lamps, the traditional method uses scaffolding, and then manually stands on the scaffolding to scrub. This method is inefficient due to the construction of the scaffolding and the movement of the scaffolding, and will hinder the normal passage of traffic, even at night. Construction, in the tunnels of transportation hubs, will still cause traffic congestion, and more importantly, there will be serious safety hazards

Therefore, along with the development of technology, people gradually adopt a mechanical method, install a lift on the vehicle, and transport people to the position of the lamp for scrubbing, which improves the efficiency to a certain extent, but the efficiency is still underground. Although, the prior art Some automatic cleaning devices are also proposed in the paper, but these devices are manually controlled, and the cleaning device is manually aligned with the lamps. During the cleaning process, the cleaning vehicle needs to be stopped for cleaning, so that the cleaning efficiency is still not effectively improved.

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