Intelligent tunnel high-altitude camera cleaning equipment

Abstract

The application discloses tunnel high-altitude camera intelligent cleaning equipment and relates to the field of camera cleaning.The tunnel high-altitude camera intelligent cleaning equipment comprises a lifting platform, a horizontal sliding joint, a stand, an electric cylinder and a tunnel camera, the top surface of the lifting platform is horizontally provided with the horizontal sliding joint, the top surface of the horizontal sliding joint is vertically provided with the stand, the top end of the stand is provided with a pitch joint, the side edge of the pitch joint is fixedly provided with a pitch arm, one end of the pitch arm is provided with the electric cylinder, the electric rod is provided with a yaw joint at the end far from the pitch arm, the yaw joint is provided with a yaw arm at the end far from the electric rod, and the yaw arm is provided with a terminal pitch joint at the end far from the yaw joint. The sewage recovery device recovers the sewage after cleaning, avoids direct sewage pollution to the environment, reduces the possibility that the sewage is splashed onto the road surface to freeze in winter, and improves road safety.

Description

Technical Field

[0001] This invention relates to an intelligent cleaning equipment for tunnel high-altitude cameras, specifically a six-degree-of-freedom robotic arm cleaning equipment with "three extension degrees of freedom + three rotation degrees of freedom", belonging to the field of cleaning equipment. Background Technology

[0002] In recent years, the number and total mileage of highway tunnels in my country have increased significantly, gradually transitioning from the construction phase to the operation phase. Due to the relatively enclosed space of tunnels, solid particulate matter in the exhaust fumes of passing vehicles and dust floating inside the tunnels can adhere to the lens of cameras, causing blurry images and loss of the function of monitoring road safety and collecting information, bringing many inconveniences to road safety operation and work.

[0003] Based on a field survey of the tunnels surrounding the Yuhua Palace Management Office in Yijun County, Tongchuan City, Shaanxi Province, the road maintenance department currently uses cleaning workers standing on scaffolding or high-altitude work platforms to clean the cameras with high-pressure water or rags. The tunnel cameras are installed at a height of more than 6 meters above the ground, with a distance of about 150 meters between the two cameras. The positions are varied, the shooting direction is the same as the driving direction, and the camera lens is small (area <50cm2). This method has poor cleaning effect, low efficiency, is time-consuming and labor-intensive, has poor safety, and high labor costs, which brings great difficulties to daily cleaning and maintenance operations. Currently, the cleaning devices for tunnel cameras that have been announced mainly include manual or semi-automatic cleaning equipment, fully automatic cleaning equipment, and fixed cleaning equipment. Manual or semi-automatic cleaning equipment requires manual pushing to a designated position and adjusting the position of the cleaning equipment to the optimal cleaning position before cleaning. The optimal cleaning position relies on human experience, which is time-consuming, labor-intensive, inefficient, inconsistent, and has high maintenance costs. The existing fully automatic cleaning equipment mainly consists of a fully rotating robotic arm. Since the camera is located on the right side of the lane and very close to the right solid white line, while the cleaning equipment is usually located in the middle of the lane when fixed on the operating vehicle, the lateral distance between the cleaning equipment and the tunnel camera is about 1 meter. This results in a long arm for the fully rotating robotic arm cleaning equipment, which is complex to operate, has a small working range, and is difficult to position, thus having certain structural defects. Fixed cleaning devices require one-to-one installation on the camera, which is costly. Wiper-type cleaning devices are prone to aging, have poor cleaning effect, require periodic addition of cleaning fluid, and have high requirements for installation and fixation safety.

[0004] There are existing technologies for fully automated cleaning equipment for high-altitude streetlights, but streetlights and cameras differ in size and features, making it difficult to apply streetlight cleaning equipment to cameras.

[0005] Therefore, existing cleaning equipment cannot meet the cleaning conditions of tunnel cameras. There is an urgent need to research an intelligent cleaning equipment for tunnel cameras, which should be compact in structure, lightweight, highly intelligent, highly accurate in positioning, simple to operate, highly efficient in cleaning, and highly safe. Summary of the Invention

[0006] To address the aforementioned shortcomings, this invention provides an intelligent cleaning device for tunnel high-altitude cameras.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An intelligent cleaning device for tunnel aerial cameras includes a lifting platform, a horizontal sliding joint, a column, an electric pole, and a tunnel camera. The lifting platform has a horizontally sliding joint mounted on its top surface. A column is vertically mounted on the top surface of the horizontal sliding joint. A pitch joint is mounted at the top of the column. A pitch arm is fixedly mounted on the side of the pitch joint. An electric pole is mounted at one end of the pitch arm. A sway joint is mounted at the end of the electric pole away from the pitch arm. A sway arm is mounted at the end of the sway joint away from the electric pole. An end-mounted pitch joint is mounted at the end of the sway arm away from the sway joint. An end-mounted pitch arm is mounted at the end of the end-mounted pitch arm away from the sway arm. A cleaning bracket is mounted on the side of the end-mounted pitch arm. A camera is mounted on the side of the cleaning bracket, along with a high-pressure nozzle and a wastewater recovery device. The pitch joint is composed of rolling bearings A, a stepped shaft A, an axial retaining ring A, a bearing end cover A, an encoder bracket A, an encoder A, a motor flange B, and a motor B. The outer rings of the two rolling bearings A are fixedly connected to the connecting holes at the top of the column. The stepped shaft A mates with the inner rings of the two rolling bearings A. The axial retaining ring A is coaxially fitted with the stepped shaft A. The two bearing end covers A are coaxially fitted with the connecting holes on the top of the column and are fixedly connected to the side of the column by bolts. The encoder bracket A is fixedly connected to the left side of the column by bolts, and the encoder A is fixedly connected to the encoder bracket A by bolts. The output shaft of the encoder A is inserted into... The stepped shaft A is fixed with set screws. The motor flange B is bolted to the right side of the column. The motor B is bolted to the motor flange B. The output shaft of the motor B is keyed to the stepped shaft A. The pitch arm is coaxially keyed to the middle part of the stepped shaft A. The pitch arm includes a connecting slot. The electric rod includes a tail connecting block and a head connecting block. The connecting slot of the pitch arm is bolted to the tail connecting block of the electric rod. The head connecting block of the electric rod is bolted to the left side of the yaw joint. The yaw joint consists of a yaw connecting block, rolling bearing B, stepped shaft B, axial retaining ring B, bearing retaining ring B, encoder bracket B, encoder B, motor flange C, coupling B, and motor C. Two rolling bearings B The outer ring is fixedly connected to the connecting hole of the horizontal swing connecting block. The stepped shaft B is fitted with the inner ring of the two rolling bearings B. The axial retaining ring B is coaxially fitted with the stepped shaft B. The two bearing end caps B are coaxially fitted with the connecting hole of the horizontal swing connecting block and are fixedly connected to the top and bottom surfaces of the horizontal swing connecting block by bolts. The encoder bracket B is fixedly connected to the bottom surface of the horizontal swing connecting block by bolts. The encoder B is fixedly connected to the encoder bracket B by bolts. The output shaft of the encoder B is inserted into the stepped shaft B and fixed by set screws. The motor flange C is fixedly connected to the top surface of the horizontal swing connecting block by bolts. The motor C is fixedly connected to the motor flange C by bolts. The output shaft of the motor C is connected to the stepped shaft B by coupling B. The horizontal swing arm is coaxially connected to the middle part of the stepped shaft B by a key.

[0009] In a preferred embodiment of the present invention: the lifting platform is fixed to the top surface of the main beam of the operating vehicle by a U-shaped bracket, and the base plate of the transverse sliding joint is fixed to the center line of the top surface of the lifting platform by bolts. The transverse sliding joint is composed of a base plate, a limit switch fixing plate, a left limit switch, a zero-point limit switch, a right limit switch, a slide rail, a slider, a slide table, a lever, a lead screw, a lead screw sleeve, a connecting block, a fixing boss, a motor flange A, a coupling A, and a motor A. The three limit switch fixing plates are fixed to one side of the base plate by bolts, and the left limit switch, the zero-point limit switch, and the right limit switch are respectively fixed to the top surface of a limit switch fixing plate by bolts.

[0010] In a preferred embodiment of the present invention: the fixed boss is fixedly mounted on one side of the base plate by bolts, the motor flange A is fixedly mounted on the other side of the base plate by bolts, the motor A is fixedly mounted on the side of the motor flange A by bolts, the left stepped shaft of the lead screw is engaged with the fixed boss by bearings, the right stepped shaft of the lead screw is engaged with the motor flange A by bearings, the right stepped shaft of the lead screw is fixed to the left side of the coupling A, and the output shaft of the motor A is fixed to the right side of the coupling A.

[0011] In a preferred embodiment of the present invention: the lead screw sleeve is screwed to the lead screw, the connecting block is fixed to the lead screw sleeve by bolts, the slide table is fixed to the connecting block by bolts, the two slide rails are fixed to the rear and front sides of the base plate by bolts respectively, the four sliders are slidably engaged with the two slide rails by ball bearings, the four sliders are fixed to the slide table by bolts, the slide table is fixedly connected to the bottom end of the column by bolts, and the lever is fixed to the rear side of the slide table.

[0012] In a preferred embodiment of the present invention: the end-pitch joint comprises an end-pitch connecting block, a rolling bearing C, a stepped shaft C, an axial retaining ring C, a bearing retaining ring C, an encoder bracket C, an encoder C, a motor flange D, a coupling C, and a motor D. The left side of the end-pitch connecting block is fixedly connected to the right side of the swing arm by bolts. The outer rings of the two rolling bearings C are fixedly connected to the connecting holes of the end pitch connecting block. The stepped shaft C mates with the inner rings of the two rolling bearings C. The axial retaining ring C is coaxially mated with the stepped shaft C. The two bearing end caps C are coaxially mated with the connecting holes of the end pitch connecting block and are fixedly connected to the left and right sides of the end pitch connecting block by bolts. The encoder bracket C is fixedly connected to the right side of the end pitch connecting block by bolts. The encoder C is fixedly connected to the encoder bracket C by bolts. The output shaft of the encoder C is inserted into the stepped shaft C and fixed by set screws. The motor flange D is fixedly connected to the right side of the end pitch connecting block by bolts. The motor D is fixedly connected to the motor flange D by bolts. The output shaft of the motor D is connected to the stepped shaft C by coupling C. The end pitch arm is coaxially connected to the middle part of the stepped shaft C by a key.

[0013] In a preferred embodiment of the present invention: the cleaning bracket consists of a camera mounting platform, a nozzle mounting platform, a left plug, and a right plug. The left plug of the cleaning bracket is fixedly connected to the right side of the end tilt arm by bolts. The camera mounting platform is located at the top of the cleaning bracket, the two nozzle mounting platforms are located in the middle of the cleaning bracket, and the right plug is located at the bottom of the cleaning bracket. The camera is fixed on the camera mounting platform, and the high-pressure nozzle is fixed to the nozzle mounting platform by cable ties. The left end of the fixing rod of the wastewater recycling device is fixedly connected to the right plug by bolts, and the right end of the fixing rod is fixedly connected to the telescopic rod by bolts. The recycling tank is fixed to the end of the telescopic rod and is located directly below the tunnel camera.

[0014] As a preferred embodiment of the present invention: the working range of the lateral sliding joint is -500~500mm, the working range of the pitch joint is 0~90 degrees, the working range of the electric rod is 0~500mm, the working range of the yaw joint is -90~90°, and the working range of the end pitch joint is -90~90°.

[0015] The advantages of this invention are: 1) It uses machinery to replace manual cleaning, reducing safety hazards caused by high-altitude operations, improving cleaning efficiency, and reducing labor costs; 2) It adopts a robotic arm structure with "three degrees of freedom of extension + three degrees of freedom of rotation", which reduces the difficulty of operation, improves positioning accuracy, and makes the structure more compact and lighter; 3) The sewage recycling device recycles the sewage after cleaning, avoiding direct pollution of the environment by sewage, and also reducing the possibility of sewage spilling onto the road surface and freezing in winter, thus improving road safety. Attached Figure Description

[0016] Appendix Figure 1 This is an axial side view of the camera cleaning equipment of the present invention.

[0017] Appendix Figure 2 This is a schematic diagram of the lateral sliding joint of the present invention.

[0018] Appendix Figure 3 This is a schematic diagram of the pitch joint of the present invention.

[0019] Appendix Figure 4 This is a schematic diagram showing the connection between the lateral joint and the end-effector pitch joint of the present invention.

[0020] Appendix Figure 5 This is a schematic diagram of the end-effector pitch joint of the present invention.

[0021] Appendix Figure 6 This is a schematic diagram of the cleaning support and wastewater recycling device of the present invention.

[0022] In the diagram, 1. Lifting platform; 2. Lateral sliding joint; 201. Base plate; 202. Limit switch fixing plate; 203. Left limit switch; 204. Zero point limit switch; 205. Right limit switch; 206. Slide rail; 207. Slider; 208. Slide table; 209. Pulley; 2010. Lead screw; 2011. Lead screw sleeve; 2012. Connecting block; 2013. Fixed boss; 2014. Motor flange A; 2015. Coupling A; 2016. 6. Motor A; 3. Column; 4. Pitch joint; 401. Rolling bearing A; 402. Stepped shaft A; 403. Axial retaining ring A; 404. Bearing end cover A; 405. Encoder bracket A; 406. Encoder A; 407. Motor flange B; 408. Motor B; 5. Pitch arm; 501. Connecting slot; 6. Electric mast; 601. Tail connecting block; 602. Head connecting block; 7. Yaw joint; 701. Yaw connecting block; 702. Rolling... 703. Moving bearing B, 704. Stepped shaft B, 705. Axial retaining ring B, 706. Bearing retaining ring B, 707. Encoder bracket B, 708. Encoder B, 709. Motor flange C, 7010. Coupling B, 7011. Motor C, 8. Swing arm, 901. End pitch joint, 902. End pitch connecting block, 903. Rolling bearing C, 904. Stepped shaft C, 905. Axial retaining ring C, 906. Encoder bracket C, 907, Encoder; C, 908, Motor Flange; D, 909, Coupling; C, 9010, Motor; D, 10, End-effector Tilting Arm; 11, Cleaning Bracket; 1101, Camera Placement Platform; 1102, Nozzle Placement Platform; 1103, Left Plug; 1104, Right Plug; 12, Camera; 13, High-Pressure Nozzle; 14, Wastewater Recycling Device; 1401, Fixed Rod; 1402, Telescopic Rod; 1403, Recycling Tank; 15, Tunnel Camera. Detailed Implementation

[0023] Please see Figure 1-2In this embodiment of the invention, an intelligent cleaning equipment for tunnel high-altitude cameras includes a lifting platform 1, a transverse sliding joint 2, a column 3, an electric pole 6, and a tunnel camera 15. The top surface of the lifting platform 1 is horizontally equipped with the transverse sliding joint 2. The lifting platform 1 is fixed to the top surface of the beam of an operating vehicle via a U-shaped bracket. The base plate of the transverse sliding joint 2 is bolted to the centerline of the top surface of the lifting platform 1. The transverse sliding joint 2 consists of a base plate 201, a limit switch fixing plate 202, a left limit switch 203, and a zero-point limit switch 204. The system comprises a right limit switch 205, a slide rail 206, a slider 207, a slide table 208, a lever 209, a lead screw 2010, a lead screw sleeve 2011, a connecting block 2012, a fixing boss 2013, a motor flange A2014, a coupling A2015, and a motor A2016. Three limit switch fixing plates 202 are bolted to one side of the base plate 201. The left limit switch 203, the zero-point limit switch 204, and the right limit switch 205 are each bolted to the top surface of a limit switch fixing plate 202. Platform 2013 is bolted to one side of base plate 201. Motor flange A2014 is bolted to the other side of base plate 201. Motor A2016 is bolted to the side of motor flange A2014. The left stepped shaft of lead screw 2010 is fitted with fixed boss 2013 via bearing. The right stepped shaft of lead screw 2010 is fitted with motor flange A2014 via bearing. The right stepped shaft of lead screw 2010 is fixed to the left side of coupling A2015. The output shaft of motor A2016 is connected to coupling A2015. The right side of 2015 is fixed, the lead screw sleeve 2011 is screwed with the lead screw 2010, the connecting block 2012 is fixed with the lead screw sleeve 2011 by bolts, the slide table 208 is fixed with the connecting block 2012 by bolts, the two slide rails 206 are fixed to the rear and front sides of the base plate 201 by bolts respectively, the four sliders 207 are slidably engaged with the two slide rails 206 by ball bearings, the four sliders 207 are all fixed to the slide table 208 by bolts, the slide table 208 is fixedly connected to the bottom end of the column 3 by bolts, and the lever 209 is fixed to the rear side of the slide table 208;

[0024] Please see Figure 3-4In this embodiment of the invention, an intelligent cleaning equipment for tunnel high-altitude cameras is provided, wherein a column 3 is vertically arranged on the top surface of the transverse sliding joint 2, a pitch joint 4 is arranged at the top of the column 3, and a pitch arm 5 is fixedly arranged on the side of the pitch joint 4. The pitch joint 4 is composed of rolling bearings A401, stepped shafts A402, axial retaining rings A403, bearing end caps A404, encoder brackets A405, encoders A406, motor flanges B407, and motors B408. The outer rings of the two rolling bearings A401 are fixedly connected to the connecting holes at the top of the column 3. The stepped shaft A402 mates with the inner rings of the two rolling bearings A401. The axial retaining ring A403 is coaxially mates with the stepped shaft A402. The two bearing end caps A404 are connected to the column. The upper connecting hole of column 3 is coaxially fitted and fixed to the side of column 3 by bolts. Encoder bracket A405 is fixed to the left side of column 3 by bolts. Encoder A406 is fixed to encoder bracket A405 by bolts. The output shaft of encoder A406 is inserted into stepped shaft A402 and fixed by set screws. Motor flange B407 is fixed to the right side of column 3 by bolts. Motor B408 is fixed to motor flange B407 by bolts. The output shaft of motor B408 is connected to stepped shaft A402 by a key. Pitch arm 5 is coaxially connected to the middle part of stepped shaft A402 by a key. One end of pitch arm 5 is provided with electric rod 6. Pitch arm 5 includes connecting slot 501 and electric rod 6. The device includes a tail connecting block 601 and a head connecting block 602. The connecting slot of the pitch arm 5 is fixedly connected to the tail connecting block 601 of the electric rod 6 by bolts. The head connecting block 602 of the electric rod 6 is fixedly connected to the left side of the yaw joint 7 by bolts. The electric rod 6 has a yaw joint 7 at the end away from the pitch arm 5, and a yaw arm 8 at the end of the yaw joint 7 away from the electric rod 6. The yaw joint 7 is composed of a yaw connecting block 701, rolling bearings B702, a stepped shaft B703, an axial retaining ring B704, a bearing retaining ring B705, an encoder bracket B706, an encoder B707, a motor flange C708, a coupling B709, and a motor C7010. The outer rings of the two rolling bearings B702 are connected to the yaw connecting block 701. The connecting holes are fixedly connected. The stepped shaft B703 mates with the inner rings of the two rolling bearings B702. The axial retaining ring B704 is coaxially fitted with the stepped shaft B703. The two bearing end caps B are coaxially fitted with the connecting holes of the lateral connecting block 701 and are fixedly connected to the top and bottom surfaces of the lateral connecting block 701 by bolts. The encoder bracket B706 is fixedly connected to the bottom surface of the lateral connecting block 701 by bolts. The encoder B707 is fixedly connected to the encoder bracket B706 by bolts. The output shaft of the encoder B707 is inserted into the stepped shaft B703 and fixed by set screws. The motor flange C708 is fixedly connected to the top surface of the lateral connecting block 701 by bolts. The motor C7010 is fixedly connected to the motor flange C708 by bolts.The output shaft of motor C7010 is connected to stepped shaft B703 via coupling B709. The middle section of the swing arm 8 is coaxially connected to the stepped shaft B703 via a key. An end-tilt joint 9 is provided at the end of the swing arm 8 furthest from the swing joint 7, and an end-tilt arm 10 is provided at the end of the end-tilt joint 9 furthest from the swing arm 8. The end-tilt joint 9 consists of an end-tilt connecting block 901, rolling bearing C902, stepped shaft C903, axial retaining ring C904, bearing retaining ring C905, encoder bracket C906, encoder C907, motor flange D908, coupling C909, and motor D9010. The left side of the end-tilt connecting block 901 is fixedly connected to the right side of the swing arm 8 via bolts. The outer rings of two rolling bearings C902 are fixedly connected to the connecting holes of the end pitch connecting block 901. The stepped shaft C903 mates with the inner rings of the two rolling bearings C902. The axial retaining ring C904 is coaxially fitted with the stepped shaft C903. The two bearing end caps C are coaxially fitted with the connecting holes of the end pitch connecting block 901 and are fixedly connected to the left and right sides of the end pitch connecting block 901 by bolts. The encoder bracket C906 is fixedly connected to the right side of the end pitch connecting block 901 by bolts. The encoder C9... 07 is fixedly connected to the encoder bracket C906 by bolts. The output shaft of the encoder C907 is inserted into the stepped shaft C903 and fixed by set screws. The motor flange D908 is fixedly connected to the right side of the end pitch connecting block 901 by bolts. The motor D9010 is fixedly connected to the motor flange D908 by bolts. The output shaft of the motor D9010 is connected to the stepped shaft C903 by coupling C909. The end pitch arm 10 is coaxially connected to the middle part of the stepped shaft C903 by a key.

[0025] Please see Figure 5-6In this embodiment of the invention, an intelligent cleaning equipment for tunnel high-altitude cameras is provided, wherein a cleaning bracket 11 is provided on the side of the end-effector pitch arm 10, a camera 12 is provided on the side of the cleaning bracket 11, a high-pressure nozzle 13 is provided on the side of the cleaning bracket 11, and a wastewater recovery device 14 is provided on the side of the cleaning bracket 11. The cleaning bracket 11 is composed of a camera placement platform 1101, a nozzle placement platform 1102, a left plug 1103, and a right plug 1104. The left plug of the cleaning bracket 11 is fixedly connected to the right side of the end-effector pitch arm 10 by bolts. The camera placement platform 1101 is located at the top of the cleaning bracket 11, the two nozzle placement platforms 1102 are located in the middle of the cleaning bracket 11, and the right plug 1104 is located at the bottom of the cleaning bracket 11. Camera 12 is fixed on camera mounting platform 1101. High-pressure nozzle 13 is fixed on nozzle mounting platform 1102 by cable ties. The left end of the fixing rod of sewage recycling device 14 is fixedly connected to the right plug 1104 by bolts. The right end of the fixing rod 1401 is fixedly connected to the telescopic rod 1402 by bolts. Recycling trough 1403 is fixed to the end of telescopic rod 1402. Recycling trough 1403 is located directly below tunnel camera 15. The working range of lateral sliding joint 2 is -500~500mm. The working range of pitch joint 4 is 0~90 degrees. The working range of electric rod 6 is 0~500mm. The working range of sway joint 7 is -90~90°. The working range of end pitch joint 9 is -90~90°.

[0026] The working principle of this invention is:

[0027] Step 1: The lifting platform 1 is raised so that the height of the top of the column 3 is close to the height of the tunnel camera 15.

[0028] In the second working step, the motor A2016 drives the lead screw 2010 to rotate, causing the slide table 208 and the column 3 to slide laterally, thereby causing the entire cleaning equipment to slide laterally.

[0029] In the third working step, motor B408 drives the stepped shaft A402 to rotate, thereby causing the pitch arm 5 to pitch.

[0030] Step four: Extend or shorten the electric pole 6;

[0031] In the fifth working step, motor C7010 drives the stepped shaft B703 to rotate, which in turn causes the horizontal swing arm 8 to rotate.

[0032] Step six: Motor D9010 drives the stepped shaft C903 to rotate, which in turn causes the end-mounted pitch arm 10 to rotate, so that the high-pressure nozzle 13 is aligned with the tunnel camera 15.

[0033] Step 7: Observe and judge the alignment of the high-pressure nozzle 13 according to the shooting angle of the camera 12. If it is aligned, the tunnel camera 15 can be rinsed. If it is not aligned, repeat one or more of the steps from step 1 to step 6 to make fine adjustments so that the high-pressure nozzle 13 is aligned with the tunnel camera 15 before rinsing.

[0034] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. An intelligent cleaning equipment for tunnel high-altitude cameras, comprising a lifting platform (1), a lateral sliding joint (2), a column (3), an electric pole (6), and a tunnel camera (15), characterized in that, The top surface of the lifting platform (1) is horizontally provided with a transverse sliding joint (2), and the top surface of the transverse sliding joint (2) is vertically provided with a column (3). The top of the column (3) is provided with a pitch joint (4), and a pitch arm (5) is fixedly provided on the side of the pitch joint (4). One end of the pitch arm (5) is provided with an electric rod (6), and the end of the electric rod (6) away from the pitch arm (5) is provided with a sway joint (7). The end of the sway joint (7) away from the electric rod (6) is provided with a sway arm (8), and the end of the sway arm (8) away from the sway joint (7) is provided with an end pitch joint (9). The end pitch joint (9) away from the sway joint (7) is provided with a sway arm (8). One end of the swing arm (8) is provided with an end pitch arm (10), and a cleaning bracket (11) is provided on the side of the end pitch arm (10). A camera (12) is provided on the side of the cleaning bracket (11), a high-pressure nozzle (13) is provided on the side of the cleaning bracket (11), and a sewage recovery device (14) is provided on the side of the cleaning bracket (11). The pitch joint (4) is composed of rolling bearing A (401), stepped shaft A (402), axial retaining ring A (403), bearing end cover A (404), encoder bracket A (405), encoder A (406), motor flange B (407), and motor B (408). Two rolling bearings A (401) The outer ring of the encoder is fixedly connected to the connecting hole at the top of the column (3). The stepped shaft A (402) is fitted with the inner ring of the two rolling bearings A (401). The axial retaining ring A (403) is coaxially fitted with the stepped shaft A (402). The two bearing end caps A (404) are coaxially fitted with the connecting hole above the column (3) and are fixedly connected to the side of the column (3) by bolts. The encoder bracket A (405) is fixedly connected to the left side of the column (3) by bolts. The encoder A (406) is fixedly connected to the encoder bracket A (405) by bolts. The output shaft of the encoder A (406) is inserted into the stepped shaft A (402) and fixed by the set screw. The motor flange B (407) is fixedly connected to the motor flange B (407). The right side of the column (3) is fixedly connected with the motor (408) and the motor flange (407) by bolts. The output shaft of the motor (408) is connected to the stepped shaft A (402) by a key. The pitch arm (5) is coaxially connected to the middle part of the stepped shaft A (402) by a key. The pitch arm (5) includes a connecting slot (501). The electric rod (6) includes a tail connecting block (601) and a head connecting block (602). The connecting slot of the pitch arm (5) is fixedly connected to the tail connecting block (601) of the electric rod (6) by bolts. The head connecting block (602) of the electric rod (6) is fixedly connected to the left side of the yaw joint (7) by bolts.The yaw joint (7) consists of a yaw connecting block (701), rolling bearings B (702), stepped shaft B (703), axial retaining ring B (704), bearing retaining ring B (705), encoder bracket B (706), encoder B (707), motor flange C (708), coupling B (709), and motor C (7010). The outer rings of the two rolling bearings B (702) are fixedly connected to the connecting holes of the yaw connecting block (701). The stepped shaft B (703) is fitted with the inner rings of the two rolling bearings B (702). The axial retaining ring B (704) is coaxially fitted with the stepped shaft B (703). The two bearing end caps B are coaxially fitted with the connecting holes of the yaw connecting block (701) and are also coaxially fitted with the yaw connecting block (701). 1) The top and bottom surfaces are fixedly connected by bolts. The encoder bracket B (706) is fixedly connected to the bottom surface of the horizontal connecting block (701) by bolts. The encoder B (707) is fixedly connected to the encoder bracket B (706) by bolts. The output shaft of the encoder B (707) is inserted into the stepped shaft B (703) and fixed by set screws. The motor flange C (708) is fixedly connected to the top surface of the horizontal connecting block (701) by bolts. The motor C (7010) is fixedly connected to the motor flange C (708) by bolts. The output shaft of the motor C (7010) is connected to the stepped shaft B (703) by coupling B (709). The horizontal arm (8) is coaxially connected to the middle part of the stepped shaft B (703) by a key.

2. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 1, characterized in that, The lifting platform (1) is fixed to the top surface of the main beam of the operating vehicle by a U-shaped bracket. The bottom plate of the transverse sliding joint (2) is fixed to the center line of the top surface of the lifting platform (1) by bolts. The transverse sliding joint (2) consists of a bottom plate (201), a limit switch fixing plate (202), a left limit switch (203), a zero point limit switch (204), a right limit switch (205), a slide rail (206), a slider (207), a slide table (208), a lever (209), and a lead screw (200). The system consists of a screw sleeve (2011), a connecting block (2012), a fixed boss (2013), a motor flange A (2014), a coupling A (2015), and a motor A (2016). Three limit switch fixing plates (202) are fixed on one side of the base plate (201) by bolts. The left limit switch (203), the zero point limit switch (204), and the right limit switch (205) are respectively fixed on the top surface of a limit switch fixing plate (202) by bolts.

3. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 2, characterized in that, The fixed boss (2013) is fixed to one side of the base plate (201) by bolts. The motor flange A (2014) is fixed to the other side of the base plate (201) by bolts. The motor A (2016) is fixed to the side of the motor flange A (2014) by bolts. The left stepped shaft of the lead screw (2010) is engaged with the fixed boss (2013) by bearings. The right stepped shaft of the lead screw (2010) is engaged with the motor flange A (2014) by bearings. The right stepped shaft of the lead screw (2010) is fixed to the left side of the coupling A (2015). The output shaft of the motor A (2016) is fixed to the right side of the coupling A (2015).

4. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 2, characterized in that, The lead screw sleeve (2011) is screwed to the lead screw (2010), the connecting block (2012) is fixed to the lead screw sleeve (2011) by bolts, the slide table (208) is fixed to the connecting block (2012) by bolts, the two slide rails (206) are fixed to the rear and front sides of the base plate (201) by bolts respectively, the four sliders (207) are slidably engaged with the two slide rails (206) by ball bearings respectively, the four sliders (207) are all fixed to the slide table (208) by bolts, the slide table (208) is fixedly connected to the bottom end of the column (3) by bolts, and the lever (209) is fixed to the rear side of the slide table (208).

5. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 1, characterized in that, The end pitch joint (9) consists of an end pitch connecting block (901), a rolling bearing C (902), a stepped shaft C (903), an axial retaining ring C (904), a bearing retaining ring C (905), an encoder bracket C (906), an encoder C (907), a motor flange D (908), a coupling C (909), and a motor D (9010). The left side of the end pitch connecting block (901) is fixedly connected to the right side of the swing arm (8) by bolts. The outer rings of the two rolling bearings C (902) are fixedly connected to the connecting holes of the end pitch connecting block (901). The stepped shaft C (903) mates with the inner rings of the two rolling bearings C (902). The axial retaining ring C (904) is coaxially mated with the stepped shaft C (903). The two bearing end caps C are coaxially mated with the connecting holes of the end pitch connecting block (901) and are fixedly connected to the left and right sides of the end pitch connecting block (901) by bolts. The encoder bracket C (906) is fixedly connected to the right side of the end pitch connecting block (901) by bolts. The encoder C (907) The encoder C (907) is fixedly connected to the encoder bracket C (906) by bolts. The output shaft of the encoder C (907) is inserted into the stepped shaft C (903) and fixed by set screws. The motor flange D (908) is fixedly connected to the right side of the end pitch connecting block (901) by bolts. The motor D (9010) is fixedly connected to the motor flange D (908) by bolts. The output shaft of the motor D (9010) is connected to the stepped shaft C (903) by coupling C (909). The end pitch arm (10) is coaxially connected to the middle part of the stepped shaft C (903) by a key.

6. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 1, characterized in that, The cleaning bracket (11) consists of a camera mounting platform (1101), a nozzle mounting platform (1102), a left plug (1103), and a right plug (1104). The left plug of the cleaning bracket (11) is fixedly connected to the right side of the end tilt arm (10) by bolts. The camera mounting platform (1101) is located at the top of the cleaning bracket (11), the two nozzle mounting platforms (1102) are located in the middle of the cleaning bracket (11), and the right plug (1104) is located at the bottom of the cleaning bracket (11). The camera (12) is fixed on the camera mounting platform (1101), the high-pressure nozzle (13) is fixed on the nozzle mounting platform (1102) by cable ties, the left end of the fixing rod of the sewage recycling device (14) is fixedly connected to the right plug (1104) by bolts, the right end of the fixing rod (1401) is fixedly connected to the telescopic rod (1402) by bolts, the recycling tank (1403) is fixed at the end of the telescopic rod (1402), and the recycling tank (1403) is located directly below the tunnel camera (15).

7. The intelligent cleaning equipment for tunnel high-altitude cameras according to claim 1, characterized in that, The working range of the lateral sliding joint (2) is -500~500mm, the working range of the pitch joint (4) is 0~90 degrees, the working range of the electric rod (6) is 0~500mm, the working range of the yaw joint (7) is -90~90°, and the working range of the end pitch joint (9) is -90~90°.

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