Intelligent inspection and maintenance system for tunnel lighting lamps

Abstract

The invention discloses an intelligent inspection and maintenance system for tunnel lighting lamps, and relates to the technical field of lighting maintenance equipment. Comprising a track, an inspection robot, a cleaning robot, a disassembly and assembly robot and a robot storage bin; the inspection robot comprises a first monorail running trolley, an illuminance sensor and a visual sensor; the cleaning robot comprises a second single-rail running trolley, a first mechanical arm and a liquid tank, a cleaning mechanism is arranged on the first mechanical arm, and the cleaning mechanism is connected with the liquid tank; the disassembly and assembly robot comprises a third single-rail running trolley, a second mechanical arm, a new lamp storage bin and an old lamp placement bin, and a vacuum suction cup is arranged on the second mechanical arm; the robot storage bin is located at the end of the track. A charging mechanism and a server are arranged in the robot storage bin, and the server is in signal connection with the inspection robot, the cleaning robot and the disassembly and assembly robot. The intelligent level of equipment is improved, automatic inspection and automatic maintenance can be realized, the driving safety is effectively guaranteed, and the labor demand is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of lighting maintenance equipment, and in particular to an intelligent inspection and maintenance system for tunnel lighting fixtures. Background Art

[0002] Tunnel lighting is an important part of tunnel engineering, which determines the driving safety. Therefore, it is necessary to conduct daily inspection and maintenance of tunnel lighting. At present, most of them are done by manual inspection to check the brightness of tunnel lighting and whether it is damaged, which is time-consuming and laborious. In addition, during manual maintenance, the staff use lifting platform vehicles and related tools to perform high-altitude maintenance operations, which is inefficient and has safety hazards, affecting the normal traffic operation of the tunnel.

[0003] To this end, some tunnel lighting maintenance equipment has been developed (such as patent 201811576310.2, patent 201921966480.1, etc.). Although it solves the hidden dangers of high-altitude operations and improves work efficiency, it still requires manual inspection and manual equipment maintenance, and is not intelligent. Summary of the invention

[0004] The main purpose of the present invention is to provide an intelligent inspection and maintenance system for tunnel lighting fixtures to solve the above problems.

[0005] To achieve the above-mentioned purpose, the present invention provides an intelligent inspection and maintenance system for tunnel lighting fixtures, comprising:

[0006] A track, wherein the track is installed on the side wall of the tunnel through a tripod;

[0007] An inspection robot, the inspection robot comprising a first monorail trolley and a light intensity sensor and a visual sensor arranged on the first monorail trolley;

[0008] A cleaning robot, the cleaning robot comprising a second monorail trolley and a first mechanical arm and a liquid tank arranged on the second monorail trolley, the first mechanical arm being provided with a cleaning mechanism, and the cleaning mechanism being connected to the liquid tank;

[0009] The disassembly and assembly robot comprises a third monorail trolley and a second mechanical arm disposed on the third monorail trolley, a new lamp storage bin and an old lamp placement bin, wherein the second mechanical arm is provided with a vacuum suction cup;

[0010] A robot storage bin is located at the end of the track; a charging mechanism and a server are arranged in the robot storage bin, and the server is signal-connected with the inspection robot, the cleaning robot and the disassembly and assembly robot.

[0011] Furthermore, the track is an I-beam, and the first monorail trolley, the second monorail trolley and the third monorail trolley have the same structure; the first monorail trolley includes a chassis and a cover; two sets of guide wheels are rotatably arranged at the bottom of the chassis, and the two sets of guide wheels are clamped on the belly plate of the track; two wheel clearance holes are arranged on the chassis, and driving wheels and supporting wheels are rotatably arranged in the two wheel clearance holes respectively; the driving wheels and support wheels are abutted against the upper wing plate of the track; batteries, a control mainboard and a reduction motor are also arranged on the chassis; the reduction motor is connected to the driving wheel power; ultrasonic sensors are arranged at the front and rear of the cover, and a quick-plug charging connector electrically connected to the battery is arranged on one side of the cover; the battery, reduction motor and ultrasonic sensor are all electrically connected to the control mainboard, and the control mainboard is connected to the server signal.

[0012] Furthermore, the light intensity sensor and the visual sensor are both electrically connected to the control mainboard of the first monorail vehicle.

[0013] Furthermore, the inspection robot also includes a cleaning mechanism located at the front end of the first monorail trolley, and the cleaning mechanism includes a support frame and a mounting frame, a roller and a brush head; the support frame is installed on the chassis of the first monorail trolley, the middle part of the mounting frame is hinged to the support frame, one end of the mounting frame is rotatably provided with a roller, the roller abuts against the middle and upper part of the support wheel, and the other end of the mounting frame is installed with a brush head, and the brush head abuts against the upper wing plate of the track.

[0014] Furthermore, the cleaning mechanism includes a U-shaped plate, a driving shaft and a driven shaft are rotatably arranged in the U-shaped plate, driving wheels are arranged at both ends of the driving shaft, and driven wheels are arranged at both ends of the driven shaft, the driving wheels and driven wheels relative to each other are connected by belts, and the two belts are connected by a plurality of uniformly arranged silicone scrapers; a servo motor connected to the driving shaft power is arranged on one side of the U-shaped plate; a spray plate is also arranged in the U-shaped plate, the spray plate is located on the inner side of the belt, and the side of the spray plate facing the outside of the U-shaped plate A plurality of nozzles are provided; a liquid receiving funnel is provided under the U-shaped plate, and a first filter cotton is provided in the liquid receiving funnel; a water inlet pipe and a water outlet pipe are provided on the liquid tank, a one-way valve is provided on the water inlet pipe, a water pump is provided in the liquid tank, and the water pump is connected with the water outlet pipe; a filter cavity is provided at the top of the liquid tank, a second filter cotton is provided in the filter cavity, and a return pipe is provided at the top of the filter cavity; the return pipe and the liquid receiving funnel are connected by a first hose, and the water outlet pipe and the spray plate are connected by a second hose.

[0015] Furthermore, the cross-section of the silicone scraper is arc-shaped and inclined toward the moving direction of the belt, and the silicone scraper located outside the U-shaped plate is inclined downward.

[0016] Furthermore, the liquid receiving funnel is hinged to the lower side of the U-shaped plate.

[0017] Furthermore, the second robotic arm and the vacuum suction cup are both electrically connected to the control main board of the third monorail trolley.

[0018] The present invention has the following beneficial effects:

[0019] The present invention improves the intelligence level of the equipment, can realize automatic inspection and automatic maintenance, effectively ensures driving safety, and reduces labor requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall schematic diagram of an intelligent inspection and maintenance system for tunnel lighting fixtures of the present invention.

[0021] Figure 2 This is a schematic diagram from another angle of the intelligent inspection and maintenance system for tunnel lighting fixtures of the present invention.

[0022] Figure 3 This is a schematic diagram of the internal structure of a first monorail trolley of an intelligent inspection and maintenance system for tunnel lighting fixtures of the present invention.

[0023] Figure 4 A schematic diagram of a cleaning robot of an intelligent inspection and maintenance system for tunnel lighting fixtures according to the present invention.

[0024] Figure 5 The present invention is a schematic diagram of a cleaning mechanism of an intelligent inspection and maintenance system for tunnel lighting fixtures.

[0025] Figure 6 It is a cross-sectional view of a cleaning mechanism of an intelligent inspection and maintenance system for tunnel lighting fixtures of the present invention.

[0026] Among them, 1-robot storage bin; 2-track; 3-furnace body; 4-inspection robot; 5-cleaning robot; 6-disassembly and assembly robot; 41-first monorail trolley; 42-light intensity sensor; 43-visual sensor; 44-cleaning mechanism; 51-second monorail trolley; 52-first mechanical arm; 53-cleaning mechanism; 54-liquid tank; 61-third monorail trolley; 62-second mechanical arm; 63-vacuum suction cup; 64-old lamp storage bin; 65-new lamp storage bin; 411-ultrasonic sensor; 412-quick-plug charging connector; 413-guide wheel; 414-chassis; 415 -reduction motor; 416-control main board; 417-battery; 418-drive wheel; 419-support wheel; 410-cover; 441-support frame; 442-mounting frame; 443-roller; 444-brush head; 531-U-shaped plate; 532-servo motor; 533-driving shaft; 534-driving wheel; 535-spray plate; 536-driven shaft; 537-driven wheel; 538-liquid receiving funnel; 539-belt; 530-silicone scraper; 541-water outlet pipe; 542-second hose; 543-filter chamber; 544-return pipe; 545-first hose; 546-water inlet pipe. DETAILED DESCRIPTION

[0027] In order to achieve the above-mentioned purpose and effect, the technical means and structures adopted by the present invention are described in detail with reference to the accompanying drawings for the features and functions of the preferred embodiments of the present invention.

[0028] like Figure 1-6 As shown, the present invention provides an intelligent inspection and maintenance system for tunnel lighting fixtures, including a track 2, an inspection robot 4, a cleaning robot 5, a disassembly robot 6 and a robot storage bin 1. The track 2 is installed on the tunnel side wall through a tripod 3, and the inspection robot 4, the cleaning robot 5 and the disassembly robot 6 are arranged on the track 2; the inspection robot 4 includes a first monorail running trolley 41 and a light intensity sensor 42 and a visual sensor 43 arranged on the first monorail running trolley 41; the cleaning robot 5 includes a second monorail running trolley 51 and a light intensity sensor 42 and a visual sensor 43 arranged on the second monorail running trolley 51 A first robotic arm 52 and a liquid tank 54, wherein the first robotic arm 52 is provided with a cleaning mechanism 53, and the cleaning mechanism 53 is connected to the liquid tank 54; the disassembly and assembly robot 6 comprises a third monorail trolley 61 and a second robotic arm 62, a new lamp storage bin 65 and an old lamp placement bin 64 arranged on the third monorail trolley 61, wherein the second robotic arm 62 is provided with a vacuum suction cup 63; the robot storage bin 1 is located at the end of the track 2; a charging mechanism and a server are arranged in the robot storage bin 1, and the server is connected with the inspection robot 4, the cleaning robot 5 and the disassembly and assembly robot 6 by signal.

[0029] In the resting state, the inspection robot 4, the cleaning robot 5, and the disassembly robot 6 stay in the robot storage bin 1, which provides protection and power supply for the inspection robot 4, the cleaning robot 5, and the disassembly robot 6. During daily inspections, the inspection robot 4 moves along the track 2 to inspect the lighting fixtures on the side walls of the tunnel, detects the brightness of the lighting fixtures through the light intensity sensor 42, detects the degree of external damage of the lighting fixtures through the visual sensor 43, and transmits the data to the server for judgment. If all meet the requirements, the inspection robot 4 returns to the robot storage bin 1 after the inspection. If not, the inspection robot 4 transmits the location information of the lighting fixtures that do not meet the requirements to the server, and stays at the end of the track 2 away from the robot storage bin 1 after the inspection, making way and waiting for maintenance work. The median brightness and the minimum brightness are set in the server. When the brightness of the detected lighting fixture is lower than the median brightness and higher than the minimum brightness, the server controls the cleaning robot 5 to go to the position of the lighting fixture, and the first mechanical arm 52 drives the cleaning mechanism 53 to fit the lighting fixture. The liquid tank 54 provides cleaning liquid to the cleaning mechanism 53 to clean the lighting fixture. After the cleaning work is completed, if there is no disassembly or assembly work, the inspection robot 4 and the cleaning robot 5 return to the robot storage bin 1 along the original route. If there is disassembly or assembly work, the cleaning robot 5 also stays at the end of the track 2 away from the robot storage bin 1 to make way and wait for disassembly or assembly work. When the brightness value of the detected lighting fixture is lower than the minimum brightness value or the lighting fixture is detected to be damaged, the server controls the disassembly robot 6 to go to the location of the lighting fixture, and the second mechanical arm 62 drives the vacuum suction cup 63 to absorb the lighting fixture for disassembly (only for plug-in lighting fixtures), put it in the old lamp placement bin 64, and absorb the new lighting fixture from the new lamp storage bin 65 for installation; after the disassembly and assembly work is completed, the inspection robot 4, the cleaning robot 5 and the disassembly and assembly robot 6 return to the robot storage bin 1 along the original route. If there is no cleaning operation but only disassembly and assembly operation, the cleaning robot 5 first moves to the end of the track 2 away from the robot storage bin 1 to make way.

[0030] In another embodiment, the track 2 is an I-beam, and the first monorail trolley 41, the second monorail trolley 51 and the third monorail trolley 61 have the same structure; the first monorail trolley 41 includes a chassis 414 and a cover 410; two sets of guide wheels 413 are rotatably provided at the bottom of the chassis 414 to provide a guiding function, and the two sets of guide wheels 413 are clamped on the web of the track 2 to ensure stability; two wheel clearance holes are provided on the chassis 414, and a driving wheel 418 and a supporting wheel 419 are rotatably provided in the two wheel clearance holes; the driving wheel 418 The support wheel 419 is in contact with the upper wing plate of the track 2 to support the chassis 414; the chassis 414 is also provided with a battery 417, a control mainboard 416 and a reduction motor 415; the reduction motor 415 is connected to the driving wheel 418 by power; the front and rear of the cover 410 are provided with ultrasonic sensors 411, and one side of the cover 410 is provided with a quick-plug charging connector 412 electrically connected to the battery 417; the battery 417, the reduction motor 415 and the ultrasonic sensor 411 are all electrically connected to the control mainboard 416, and the control mainboard 416 is connected to the server signal. The server sends a signal to the control mainboard 416, so that the control mainboard 416 controls the reduction motor 415 to rotate, driving the driving wheel 418 to rotate, so as to realize the movement of the first monorail trolley 41.

[0031] The light intensity sensor 42 and the visual sensor 43 are both electrically connected to the control mainboard 416 of the first monorail vehicle 41 , and the light intensity sensor 42 and the visual sensor 43 transmit the detected information to the control mainboard 416 of the first monorail vehicle 41 , and then to the server.

[0032] The cleaning mechanism 53 includes a U-shaped plate 531, in which a driving shaft 533 and a driven shaft 536 are rotatably arranged, and driving wheels 534 are arranged at both ends of the driving shaft 533, and driven wheels 537 are arranged at both ends of the driven shaft 536, and the driving wheels 534 and driven wheels 537 are connected to each other by a belt 539, and the two belts 539 are connected by a plurality of uniformly arranged silicone scrapers 530; a servo motor 532 connected to the driving shaft 533 is arranged on one side of the U-shaped plate 531; a spray plate 535 is also arranged in the U-shaped plate 531, and the spray plate 535 is located on the inner side of the belt 539, and a plurality of nozzles are arranged on the side of the spray plate 535 facing the outside of the U-shaped plate 531; a A liquid receiving funnel 538 is provided, and a first filter cotton is provided in the liquid receiving funnel 538; an inlet pipe 546 and an outlet pipe 541 are provided on the liquid tank 54, and a one-way valve is provided on the inlet pipe 546; a water pump is provided in the liquid tank 54, and the water pump is connected to the outlet pipe 541; a filter chamber 543 is provided at the top of the liquid tank 54, and a second filter cotton is provided in the filter chamber 543; a return pipe 544 is provided at the top of the filter chamber 543; the return pipe 544 and the liquid receiving funnel 538 are connected by a first hose 545, and the outlet pipe 541 and the spray plate 535 are connected by a second hose 542; the first mechanical arm 52, the servo motor 532 and the water pump are all electrically connected to the control main board 416 of the second monorail trolley 51. The control mainboard 416 of the second monorail trolley 51 controls the movement of the first mechanical arm 52, the servo motor 532 and the water pump. The servo motor 532 drives the driving shaft 533 and the driving wheel 534 to rotate synchronously, and then the belt 539 drives the silicone scraper 530 to move to scrape and clean the lighting fixture. The cleaning liquid in the liquid tank 54 is pumped to the spray plate 535 by the water pump, and finally sprayed from the nozzle to the lighting fixture. The cleaned water falls into the liquid receiving funnel 538, and returns to the liquid tank 54 after being filtered by the first filter cotton and the second filter cotton, which avoids waste on the one hand and prevents pollution of the tunnel on the other hand.

[0033] The second mechanical arm 62 and the vacuum suction cup 63 are both electrically connected to the control mainboard 416 of the third monorail trolley 61. The second mechanical arm 62 and the vacuum suction cup 63 are controlled to move by the control mainboard 416 of the third monorail trolley 61.

[0034] In another embodiment, the inspection robot 4 also includes a cleaning mechanism 44 located at the front end of the first monorail trolley 41, and the cleaning mechanism 44 includes a support frame 441 and a mounting frame 442, a roller 443 and a brush head 444; the support frame 441 is installed on the chassis 414 of the first monorail trolley 41, and the middle part of the mounting frame 442 is hinged to the support frame 441, and one end of the mounting frame 442 is rotatably provided with a roller 443, and the roller 443 abuts against the middle and upper part of the support wheel 419, and the other end of the mounting frame 442 is installed with a brush head 444, and the brush head 444 abuts against the upper wing plate of the track 2.

[0035] In another embodiment, the robot storage bin 1 may be provided with a liquid injection mechanism to inject liquid through the water inlet pipe 546, and a liquid level sensor may be provided in the liquid tank 54 to remind the user to add liquid. A proximity switch may be provided at the bottom of the new lamp storage bin 65 to transmit a signal to the server to stop working when there is no lamp in the new lamp storage bin 65. The server may communicate with the remote terminal to remind the user to add liquid.

[0036] In another embodiment, the cross section of the silicone scraper 530 is arc-shaped and inclined toward the moving direction of the belt 539, and the silicone scraper 530 located outside the U-shaped plate 531 is inclined downward. When the silicone scraper 530 scrapes the lamp downward, the cleaning dirt can stay on the inner side of the silicone scraper 530, and the cleaning liquid sprayed from the nozzle can not only be sprayed onto the lamp from the gap between two adjacent silicone scrapers 530, but also directly sprayed onto the inner side of the silicone scraper 530, flushing the inner side of the silicone scraper 530, achieving self-cleaning, and preventing the silicone scraper 530 from being dirty.

[0037] In another embodiment, the liquid receiving funnel 538 is hinged to the bottom of the U-shaped plate 531, which prevents interference with the tunnel side wall on the one hand, and facilitates the cleaning mechanism 53 to swing at different angles on the other hand.

[0038] The above descriptions are only preferred embodiments of the present invention, not all embodiments. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, belong to the protection scope of the present invention.

Claims

1. An intelligent inspection and maintenance system for tunnel lighting fixtures, characterized in that: include: A track, wherein the track is installed on the side wall of the tunnel through a tripod; An inspection robot, the inspection robot comprising a first monorail trolley and a light intensity sensor and a visual sensor arranged on the first monorail trolley; A cleaning robot, the cleaning robot comprising a second monorail trolley and a first mechanical arm and a liquid tank arranged on the second monorail trolley, the first mechanical arm being provided with a cleaning mechanism, and the cleaning mechanism being connected to the liquid tank; The disassembly and assembly robot comprises a third monorail trolley and a second mechanical arm disposed on the third monorail trolley, a new lamp storage bin and an old lamp placement bin, wherein the second mechanical arm is provided with a vacuum suction cup; A robot storage bin is located at the end of the track; a charging mechanism and a server are arranged in the robot storage bin, and the server is signal-connected with the inspection robot, the cleaning robot and the disassembly and assembly robot.

2. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 1, characterized in that: The track is an I-beam, and the first monorail trolley, the second monorail trolley and the third monorail trolley have the same structure; the first monorail trolley includes a chassis and a cover; two sets of guide wheels are rotatably arranged at the bottom of the chassis, and the two sets of guide wheels are clamped on the belly plate of the track; two wheel clearance holes are arranged on the chassis, and driving wheels and supporting wheels are rotatably arranged in the two wheel clearance holes respectively; the driving wheels and support wheels are in contact with the upper wing plate of the track; batteries, a control main board and a reduction motor are also arranged on the chassis; the reduction motor is connected to the driving wheel power; ultrasonic sensors are arranged at the front and rear of the cover, and a quick-plug charging connector electrically connected to the battery is arranged on one side of the cover; the battery, reduction motor and ultrasonic sensor are all electrically connected to the control main board, and the control main board is connected to the server signal.

3. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 2, characterized in that: The light intensity sensor and the visual sensor are both electrically connected to the control mainboard of the first monorail trolley.

4. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 3, characterized in that: The inspection robot also includes a cleaning mechanism located at the front end of the first monorail trolley, the cleaning mechanism includes a support frame and a mounting frame, rollers and a brush head; the support frame is installed on the chassis of the first monorail trolley, the middle part of the mounting frame is hinged to the support frame, one end of the mounting frame is rotatably provided with a roller, the roller abuts against the middle and upper part of the support wheel, and the other end of the mounting frame is installed with a brush head, the brush head abuts against the upper wing plate of the track.

5. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 3 or 4, characterized in that: The cleaning mechanism comprises a U-shaped plate, a driving shaft and a driven shaft are rotatably arranged in the U-shaped plate, driving wheels are arranged at both ends of the driving shaft, and driven wheels are arranged at both ends of the driven shaft, the driving wheels and driven wheels are connected to each other by belts, and the two belts are connected by a plurality of uniformly arranged silicone scrapers; a servo motor connected to the driving shaft power is arranged on one side of the U-shaped plate; a spray plate is also arranged in the U-shaped plate, the spray plate is located on the inner side of the belt, and a spray plate is arranged on the side of the spray plate facing the outside of the U-shaped plate There are multiple nozzles; a liquid receiving funnel is arranged under the U-shaped plate, and a first filter cotton is arranged in the liquid receiving funnel; a water inlet pipe and a water outlet pipe are arranged on the liquid tank, a one-way valve is arranged on the water inlet pipe, a water pump is arranged in the liquid tank, and the water pump is connected with the water outlet pipe, a filter chamber is arranged on the top of the liquid tank, a second filter cotton is arranged in the filter chamber, and a return pipe is arranged on the top of the filter chamber; the return pipe and the liquid receiving funnel are connected by a first hose, and the water outlet pipe and the spray plate are connected by a second hose.

6. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 5, characterized in that: The cross section of the silicone scraper is arc-shaped and inclined toward the moving direction of the belt, and the silicone scraper located outside the U-shaped plate is inclined downward.

7. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 6, characterized in that: The liquid receiving funnel is hinged to the lower side of the U-shaped plate.

8. The intelligent inspection and maintenance system for tunnel lighting fixtures according to claim 7, characterized in that: The second mechanical arm and the vacuum suction cup are both electrically connected to the control mainboard of the third monorail trolley.

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