Robotic container cleaning process and system

Abstract

The present invention relates to the technical field of cleaning equipment, and in particular to a robotized container cleaning process and system for a cleaning system; a cleaning table, an outer cleaning module, an inner cleaning module, a drying module and a disinfection module are provided, the cleaning table is provided with a cleaning position, the outer cleaning module is installed on the cleaning table, the inner cleaning module and the drying module are both fixed on the cleaning table, and the disinfection module moves on the cleaning table. When cleaning the container, the outer cleaning module first cleans the outer side of the container, and then the inner side of the container is cleaned by the inner cleaning module. After the cleaning of the container is completed, the cleaned container is dried by the drying module, and finally the disinfection module moves on the cleaning table and the inside of the container to disinfect the container. Through the division of labor and cooperation of each module, the cleaning efficiency and cleaning quality of the container can be effectively improved, and the disinfection quality of the container can be effectively guaranteed through the disinfection process of first drying and then disinfecting.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a robotic container cleaning process and system. Background Art

[0002] In recent years, 80% of China's cargo trade has been transported via containerized shipping. Containerized shipping improves cargo loading efficiency and promotes the development and cooperation of international trade. Therefore, containerized intermodal transport is one of the most widely used methods in today's logistics and transportation. However, due to the high throughput of containers, they are susceptible to contamination from cargo, pests, and other sources during transportation. Therefore, containers are typically cleaned, rinsed, and disinfected after unloading to comply with epidemic prevention laws or reuse requirements.

[0003] For example, the robot disclosed in publication number CN113877909A is capable of autonomously cleaning and disinfecting containers. It includes a chassis and a reel, a water gun, and a lower cleaning device installed on the chassis; the reel is equipped with a water pipe; one end of the water pipe is connected to the water supply equipment, and the other end is connected to the water gun and the lower cleaning device through a three-way pipe; a coil spring is provided in the reel to keep the water pipe always wound and tightened during the retraction and extension process. A reel equipped with a water pipe is designed on the chassis of the fire-fighting robot. During the movement of the robot, the reel rotates to drive the water pipe to be retracted and extended, and keeps the water pipe tightened in real time, thereby achieving continuous water supply for the robot to clean and disinfect. It is equipped with a rotatable heavy-duty pan-tilt platform, and a water gun is installed on the heavy-duty pan-tilt platform, which can achieve all-round cleaning of the container; an atomizing nozzle can be added to the end of the cleaning water gun, which can achieve dual purposes of cleaning and disinfection. The lower flushing device can simultaneously clean the container floor.

[0004] Although existing cleaning and disinfection robots provide convenience for container cleaning, due to the large size of the containers, it is difficult to achieve all-round cleaning of both the inside and outside of the containers only through the flushing effect of the robot's nozzle, and thus it is difficult to ensure the cleaning quality of the containers. In addition, the cleaning efficiency is low, making it difficult to meet the cleaning needs of large quantities of containers. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and propose a robotized container cleaning process and system to solve the technical problem that the cleaning efficiency of the container cleaning equipment in the prior art is low and it is difficult to meet the cleaning needs of the container.

[0006] To achieve the above technical objectives, the technical solution of the present invention provides a robotic container cleaning system, comprising:

[0007] A washing table is provided with a washing position for placing a container;

[0008] an outer cleaning module, installed on the cleaning station, for cleaning the outer side of the container;

[0009] an inner cleaning module, fixed to the cleaning station, for cleaning the inner side of the container;

[0010] A drying module, fixed to the cleaning table, for drying the cleaned container;

[0011] A disinfection module moves on the cleaning table and is used to disinfect the container after drying.

[0012] Optionally, the robotic container cleaning system also includes a support module, which includes a support platform, a base plate, a control unit and several support columns. The support platform is arranged at the cleaning position to support the container. The base plate and the support platform are arranged opposite to each other. Each of the support columns is located in the circumferential direction of the base plate. The upper end of each of the support columns is fixed to the support platform. The control unit is installed on the base plate and connected to the lower end of each of the support columns, and is used to drive each of the support columns to swing, so that each of the support columns drives the support platform to swing.

[0013] Optionally, the outside cleaning module includes a support frame, a slide rail, a water tank and a cleaning rack, the support frame is fixed to the cleaning table, the slide rail is fixed to the support frame and extends in the length direction of the container, the water tank is slidably connected to the slide rail, and the cleaning rack is connected to the water tank and extends toward both sides of the container, for cleaning the outer side of the container with the water in the water tank.

[0014] Optionally, the inside cleaning module includes a cleaning bracket, a pipe connection port and a flushing nozzle. The cleaning bracket is fixed to the cleaning table and is located on one side of the end of the cleaning position. The flushing nozzle is fixed to the cleaning bracket and is used to spray the inside of the container through the port side of the container. The pipe connection port is fixed to the flushing nozzle and is used to connect to a water supply device.

[0015] Optionally, the robotic container cleaning system further includes a cleaning detection module, which moves on the cleaning platform to detect the container after cleaning and flush detected stains.

[0016] Optionally, the robotized container cleaning system also includes a conveying module, and the cleaning table is also provided with a drying position. The conveying module extends from the cleaning position to the drying position, and is used to move the container in the cleaning position to the drying position. The drying module is fixed to the cleaning table and is located on one side of the drying position, and is used to dry the container in the drying position.

[0017] Optionally, the drying module includes a drying rack, a heating part and a wind tube, the drying rack is fixed to the washing table, the heating part is hinged to the drying rack, and the wind tube is fixed to the heating part and communicated with the interior of the heating part, for drying the container by blowing air toward the container.

[0018] Compared with the prior art, the beneficial effects of the robotized container cleaning system provided by the present invention include: by setting a cleaning table, an outer cleaning module, an inner cleaning module, a drying module and a disinfection module, the cleaning table is provided with a cleaning position, the outer cleaning module is installed on the cleaning table, the inner cleaning module and the drying module are both fixed to the cleaning table, and the disinfection module moves on the cleaning table. When cleaning the container, the outer cleaning module first cleans the outer side of the container, and then the inner side of the container is cleaned by the inner cleaning module. After the cleaning of the container is completed, the drying module dries the cleaned container, and finally the disinfection module moves on the cleaning table and the interior of the container to disinfect the container, thereby finally completing the container cleaning.

[0019] Through the above settings of the cleaning system, the cleaning processes of inside cleaning, outside cleaning, drying and disinfection of the container can be realized through the division of labor of each module, which can effectively improve the cleaning efficiency and cleaning quality of the container. Moreover, through the disinfection process of drying first and then disinfecting, the disinfection quality of the container can be effectively guaranteed.

[0020] To achieve the above technical objectives, the technical solution of the present invention provides a container cleaning process, which is performed by the above-mentioned robotized container cleaning system and includes the following steps:

[0021] The outside cleaning module cleans the outside of the container;

[0022] An inside cleaning module cleans the inside of the container;

[0023] A drying module dries the cleaned container;

[0024] The container is disinfected and dried by a disinfection module.

[0025] Optionally, before the step of the outside cleaning module cleaning the outside of the container, the support module dumps the debris in the container by swinging the support platform.

[0026] Optionally, before the drying module dries the cleaned container, the supporting module shakes off water from the container by swinging the supporting platform.

[0027] Compared with the existing technology, the beneficial effects of the container cleaning process provided by the present invention include: through the above cleaning process of the container, the cleaning processes of cleaning the inside, cleaning the outside, drying and disinfecting of the container can be realized through the division of labor of each module, which can effectively improve the cleaning efficiency and cleaning quality of the container, and through the disinfection process of drying first and then disinfecting, the disinfection quality of the container can be effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a robotic container cleaning system provided by an embodiment of the present invention.

[0029] Figure 2 A schematic structural diagram of a support module of a robotic container cleaning system provided in an embodiment of the present invention.

[0030] Figure 3 This is a structural diagram of the outside cleaning module of the robotic container cleaning system provided by an embodiment of the present invention.

[0031] Figure 4 A schematic structural diagram of an inside cleaning module of a robotic container cleaning system provided in an embodiment of the present invention.

[0032] Figure 5 This is a structural diagram of a cleaning and detection module of a robotic container cleaning system provided by an embodiment of the present invention.

[0033] Figure 6 A schematic structural diagram of a drying module of a robotic container cleaning system provided in an embodiment of the present invention.

[0034] Figure 7 A schematic structural diagram of a disinfection module of a robotic container cleaning system provided in an embodiment of the present invention.

[0035] Figure 8 This is a flow chart of a container cleaning process provided by an embodiment of the present invention.

[0036] Among them, the reference numerals in the figures are:

[0037] 10-Washing station 11-Washing position 12-Disinfection position

[0038] 13—Disinfection position 20—External cleaning module 21—Support frame

[0039] 22—Slide rail 23—Water tank 24—Cleaning rack

[0040] 25 - Controller 30 - Internal cleaning module 31 - Cleaning fixture

[0041] 32 - connection port 33 - flushing nozzle 40 - drying module

[0042] 41 - Drying rack 42 - Heating unit 43 - Air duct

[0043] 50—Disinfection module 51—Moving body 52—Ultrasonic detector

[0044] 53 - Main control unit 54 - Disinfection nozzle 55 - Disinfection chamber

[0045] 56 - Second camera 57 - First laser radar 60 - Support module

[0046] 61 - Support platform 62 - Base plate 63 - Control unit

[0047] 64 - Support column 70 - Cleaning and detection module 71 - Walking chassis

[0048] 72 - Control Center 73 - Nozzle Rack 74 - Nozzle Body

[0049] 75 - Second laser radar 76 - First camera 77 - Gallows

[0050] 80 — conveying module 111 — perforation 10a — container. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] An embodiment of the present invention provides a robotic container cleaning system for cleaning, drying, and disinfecting a container 10a.

[0053] It includes a cleaning table 10, an outer cleaning module 20, an inner cleaning module 30, a drying module 40 and a disinfection module 50. The cleaning table 10 is provided with a cleaning position 11, which is used to place the container 10a; the outer cleaning module 20 is installed on the cleaning table 10, for cleaning the outer side of the container 10a; the inner cleaning module 30 is fixed to the cleaning table 10, for cleaning the inner side of the container 10a; the drying module 40 is fixed to the cleaning table 10, for drying the cleaned container 10a; the disinfection module 50 moves on the cleaning table 10, for disinfecting the dried container 10a.

[0054] Specifically, the robotized container cleaning system is provided with a cleaning station 10, an outer cleaning module 20, an inner cleaning module 30, a drying module 40 and a disinfection module 50. The cleaning station 10 is provided with a cleaning position 11, the outer cleaning module 20 is installed on the cleaning station 10, the inner cleaning module 30 and the drying module 40 are both fixed to the cleaning station 10, and the disinfection module 50 moves on the cleaning station 10. When cleaning the container 10a, the outer cleaning module 20 first cleans the outer side of the container 10a, and then the inner cleaning module 30 cleans the inner side of the container 10a. After the cleaning of the container 10a is completed, the drying module 40 dries the cleaned container 10a. Finally, the disinfection module 50 walks on the cleaning station 10 and the interior of the container 10a to disinfect the container 10a, and finally completes the cleaning of the container 10a.

[0055] Through the division of labor and cooperation among the various modules of the cleaning system, the cleaning processes of inside cleaning, outside cleaning, drying and disinfection of the container 10a can be realized, which can effectively improve the cleaning efficiency and cleaning quality of the container 10a. Moreover, through the disinfection process of drying first and then disinfecting, the disinfection quality of the container 10a can be effectively guaranteed.

[0056] It can be understood that the container 10a can be supported by the cleaning position 11 or any other equipment provided at the cleaning position 11, and the container 10a can be transported into the cleaning position 11 by lifting or conveying equipment.

[0057] It is understood that the external cleaning module 20 and the internal cleaning module 30 can be manipulator devices each equipped with a nozzle. The manipulator device is positioned on one side of the cleaning station 11 to move the nozzles, causing the nozzles to spray the container 10a in all directions. The drying module 40 and the disinfection module 50 can be high-temperature drying equipment and high-temperature disinfection equipment capable of providing heat to the container 10a, thereby drying and disinfecting the container 10a by providing a high-temperature environment.

[0058] In one embodiment, the robotized container cleaning system also includes a support module 60, which includes a support platform 61, a base plate 62, a control unit 63 and a plurality of support columns 64. The support platform 61 is arranged at the cleaning position 11 for supporting the container 10a. The base plate 62 is arranged opposite to the support platform 61. Each support column 64 is located in the circumferential direction of the base plate 62. The upper end of each support column 64 is fixed to the support platform 61. The control unit 63 is installed on the base plate 62 and is connected to the lower end of each support column 64 for driving each support column 64 to swing, so that each support column 64 drives the support platform 61 to swing.

[0059] Specifically, the support platform 61 can be used to place the container 10a and provide support for the container 10a to be cleaned. Because some debris may be present inside the container 10a, before cleaning the container 10a, the control unit 63 can coordinate and control the free rotation of each support seat, and each support column 64 can drive the support platform 61 to vibrate, ultimately driving the container 10a on the support platform 61 to move, separating the remaining objects in the container 10a and pouring them out of the container 10a. At the same time, after flushing and cleaning the interior and exterior of the container 10a, some water may remain inside the container 10a. Therefore, after cleaning the container 10a, the control unit 63 coordinates and controls the free rotation of each support seat, and each support column 64 can drive the support platform 61 to vibrate and yaw, thereby shaking out the remaining water from the container 10a.

[0060] In this embodiment, further, the number of the support columns 64 is six, so that the support module 60 forms a six-axis gimbal structure.

[0061] In this embodiment, after the outer cleaning module 20 completes cleaning the left side, right side and top surface, the container 10a can also be rotated through the support module 60 so that the rear end surface of the container 10a is aligned with the inner cleaning module 30, so that the inner cleaning module 30 cleans the rear end surface of the container 10a.

[0062] In this embodiment, the cleaning station 11 is further provided with a through hole 111, and the support platform 61 is provided on the through hole 111. The through hole 111 can make the surface of the support platform 61 lower than the surface of the cleaning station 10, thereby facilitating the transportation of the container 10a to the support platform 61.

[0063] In one embodiment, the outside cleaning module 20 includes a support frame 21, a slide rail 22, a water tank 23 and a cleaning rack 24. The support frame 21 is fixed to the cleaning table 10, the slide rail 22 is fixed to the support frame 21 and extends in the length direction of the container 10a, the water tank 23 is slidably connected to the slide rail 22, and the cleaning rack 24 is connected to the water tank 23 and extends toward both sides of the container 10a, and is used to clean the outer side of the container 10a with the water in the water tank 23.

[0064] Specifically, when cleaning the exterior of container 10a, cleaning rack 24 sprays water from three sides, cleaning the left, right, and top of container 10a. Water tank 23 slides along rails 22, driving cleaning rack 24 to clean the entire left, right, and top surfaces of container 10a. The above configuration of exterior cleaning module 20 enables efficient cleaning of the exterior of container 10a while ensuring high-quality cleaning.

[0065] In this embodiment, the cleaning rack 24 is further rotatably connected to the water tank 23. Specifically, since the cleaning rack 24 is rotatably connected to the water tank 23, when cleaning the front and rear sides, the water tank 23 moves to one side of the front or rear side, and the cleaning rack 24 rotates around the water tank 23, so that the lateral spraying portion of the cleaning rack 24 is aligned with the front or rear side of the container 10a, thereby achieving cleaning of the front and rear sides of the container 10a.

[0066] It is understandable that the sliding of the water tank 23 along the slide rail 22 can be controlled manually or automatically by the control unit 63 .

[0067] In this embodiment, the support frame 21 is provided with a controller 25 , and the controller 25 is used to control the sliding of the water tank 23 , the water spraying of the cleaning frame 24 , and the rotation of the cleaning frame 24 .

[0068] In one embodiment, the inside cleaning module 30 includes a cleaning bracket 31, a pipe connection 32, and a flushing nozzle 33. The cleaning bracket 31 is fixed to the cleaning station 10 and is located on one side of the end of the cleaning position 11. The flushing nozzle 33 is fixed to the cleaning bracket 31 and is used to spray the inside of the container 10a through the port side of the container 10a. The pipe connection 32 is fixed to the flushing nozzle 33 and is used to connect to a water supply device. Specifically, the cleaning bracket 31 is fixed to the port side of the container 10a, so that when cleaning the inside of the container 10a, it is only necessary to connect a water pipe to the pipe connection 32, and then the flushing nozzle 33 sprays water toward the port of the container 10a and into the interior of the container 10a to achieve cleaning of the inside of the container 10a, providing convenience for cleaning the inside of the container 10a.

[0069] In one embodiment, the robotic container cleaning system further includes a cleaning detection module 70, which travels along the cleaning station 10 and is used to detect cleaned containers 10a and flush any detected stains. Specifically, after cleaning the container 10a, the cleaning detection module 70 inspects the side walls of the container 10a. After inspecting the side walls, the module then inspects the upper and lower walls of the container 10a. If any unwashed stains are detected on the interior of the container 10a, these areas are flushed until the entire interior of the container 10a is clean, thereby ensuring the quality of cleaning.

[0070] In one embodiment, the cleaning detection module 70 includes a walking chassis 71, a detection body, a nozzle rack 73, a nozzle body 74, a second laser radar 75, a first camera 76, and a gallows 77. The walking chassis 71 is provided with tracks and water pipe joints. The tracks are installed on both sides of the walking chassis 71. The water pipe joint is located on the rear side of the walking chassis 71. The detection body is located above the walking chassis 71. The control center 72 is installed in the middle of the detection body. There is a groove on the rear side of the detection body. The gallows 77 is fixed in the groove of the control center 72. A water pipe is coiled on the gallows 77. There are three first cameras 76. Two of the first cameras 76 are installed on both sides of the control center 72 respectively, and the other first camera 76 is located above the nozzle body 74. The detection nozzle is hinged to the front side of the detection body and can rotate 360 ​​degrees in the horizontal direction around its hinge. The nozzle body 74 can rotate 90 degrees in the vertical direction and 60 degrees in the elevation around the lower part. The second laser radar 75 is installed on the upper part of the nozzle frame 73.

[0071] Specifically, during post-cleaning inspection of container 10a, the cleaning detection module 70 moves within container 10a via a crawler-driven walking chassis 71. The water pipes on the gallows 77 are connected to a water pipe connector, which can be connected to a water pump. The nozzle holder 73 adjusts the direction of the water spray from the nozzle body 74 by rotating around the detection body. The second laser radar 75 scans the surrounding environment and constructs a 3D model of the terrain. Three first cameras 76 monitor the interior of container 10a in real time and transmit the constructed 3D model and information about the interior of container 10a to the control center 72 for analysis. The control center 72 then determines the robot's precise route. After cleaning is complete, the first cameras 76 transmit images of the interior of container 10a to the control center 72 for evaluation. If the images do not meet the standards, the interior of container 10a will be re-inspected until the container 10a meets the cleaning standards.

[0072] In one embodiment, the robotic container cleaning system further includes a conveying module 80. The cleaning station 10 is further provided with a drying station 12. The conveying module 80 extends from the cleaning station 11 to the drying station 12 and is used to move the container 10a in the cleaning station 11 to the drying station 12. The drying module 40 is fixed to the cleaning station 10 and is located on one side of the drying station 12 and is used to dry the container 10a in the drying station 12. Specifically, when cleaning the container 10a, the conveying module 80 conveys the container 10a to the cleaning station 11 for cleaning. After cleaning, the container 10a is further conveyed to the drying station 12 for drying by the drying module 40. This arrangement prevents interference between the cleaning and drying processes. While the container 10a is undergoing the drying process, the next container 10a can be cleaned in the cleaning station 11, thereby improving the cleaning efficiency of the container 10a.

[0073] In this embodiment, the washing station 10 is further provided with a disinfection station 13, which is located on the side of the drying station 12 away from the washing station 11. The conveyor module 80 also extends into the drying station. After the container 10a is dried in the drying station, it can be further transported by the conveyor module 80 to the disinfection station 13 for disinfection. This ensures that the disinfection and drying processes do not affect each other. While the disinfection process of container 10a is in progress, the drying process of the next container 10a can be carried out.

[0074] It can be understood that the conveying module 80 can be a conveyor belt, a conveyor chain, etc.

[0075] In one embodiment, the drying module 40 includes a drying rack 41, a heating unit 42, and a blower 43. The drying rack 41 is fixed to the washing station 10, the heating unit 42 is hingedly connected to the drying rack 41, and the blower 43 is fixed to the heating unit 42 and communicates with the interior of the heating unit 42, and is used to dry the container 10a by blowing air toward the container 10a. Specifically, when drying the container 10a, the air is heated by the heating unit 42 and then blown into the interior of the container 10a through the blower 43 through the port of the container 10a, thereby drying the interior of the container 10a.

[0076] In one embodiment, the disinfection module 50 includes a walking body 51, an ultrasonic detector 52, a main control unit 53, a disinfection nozzle 54, a disinfection chamber 55, a second camera 56, and a first laser radar 57. The ultrasonic detector 52 is fixed to the front side of the main body, the main control unit 53 and the disinfection chamber 55 are installed on the upper side of the main body, and the disinfection chamber 55 is located on the rear side of the main control unit 53. Three second cameras 56 are provided, respectively installed on the front, left, and right sides of the main control unit 53. The disinfection nozzle 54 is fixed to the upper side of the main control unit 53. The first laser radar 57 is fixed to the upper side of the disinfection chamber 55.

[0077] Specifically, the disinfection module 50 moves within the container 10a through the walking body 51. The disinfection chamber 55 is responsible for storing the disinfectant used during disinfection. The disinfection nozzle 54 is installed on the upper side of the control center 72 and can rotate 360 ​​degrees in the horizontal direction and can rotate vertically within a range of 30 degrees of depression and 60 degrees of elevation. The first laser radar 57 and the ultrasonic detector 52 are responsible for scanning the surrounding environment and constructing three-dimensional coordinates. The three first cameras 76 are responsible for viewing the surrounding environment in real time and checking the status inside the container 10a. The information collected by the equipment on the robot will be transmitted to the main control unit 53, which will integrate and analyze the collected information and plan the robot's route and the direction of spraying the disinfectant. After the disinfection is completed, the second camera 56 will transmit the image inside the container 10a to the control center 72 for evaluation. If it does not meet the standards, the robot will disinfect again until it meets the requirements.

[0078] To achieve the above technical objectives, the technical solution of the present invention provides a container cleaning process, which is performed by a robotic container cleaning system and includes the following steps:

[0079] S100: The outer cleaning module 20 cleans the outer side of the container 10a;

[0080] S200: The inside cleaning module 30 cleans the inside of the container 10a;

[0081] S300: The drying module 40 dries the cleaned container 10a;

[0082] S400: The disinfection module 50 disinfects and dries the container 10a.

[0083] Specifically, through the above cleaning process of the container 10a, the cleaning processes of the inside cleaning, outside cleaning, drying and disinfection of the container 10a can be realized through the division of labor of each module, which can effectively improve the cleaning efficiency and cleaning quality of the container 10a, and through the disinfection process of drying first and then disinfecting, the disinfection quality of the container 10a can be effectively guaranteed.

[0084] In one embodiment, before the exterior cleaning module 20 cleans the exterior of the container 10a in step S100, the support module 60 empties debris from the container 10a by swinging the support platform 61. Specifically, the support module 60 facilitates cleaning of the container 10a by clearing debris.

[0085] In one embodiment, in step S100 , the outer cleaning module 20 cleans the left side, right side, and top surface of the container 10 a .

[0086] In one embodiment, after step S100, the support module 60 rotates the container 10a so that the rear side of the container 10a is aligned with the inside cleaning module 30, and the inside cleaning module 30 cleans the rear side of the container 10a. After cleaning the rear side of the container 10a, the support module 60 rotates the container 10a so that the inside cleaning module 30 is aligned with the front port of the container 10a, and then cleans the inside of the container 10a through the front port of the container 10a in step S200.

[0087] In one embodiment, before the drying module 40 dries the cleaned container 10a in step S300, the support module 60 shakes the container 10a by swinging the support platform 61. Specifically, the shaking of the container 10a before drying can effectively improve the drying efficiency of the container 10a.

[0088] In one embodiment, after step S300 and before the supporting module 60 removes water from the container 10a, the cleaning and detecting module 70 detects the container 10a and cleans the detected stains.

[0089] The specific working principle of the container cleaning process provided by the present invention is as follows: when cleaning the container 10a, the conveying module 80 conveys the container 10a to the supporting module 60, which supports and pours out the debris in the container 10a. The outer cleaning module 20 rinses the top and sides of the container 10a 2 to 3 times to clean the top and sides of the container 10a. The supporting module 60 is then used to rotate the container 10a so that the rear side of the container 10a is aligned with the inner cleaning module 30. The inner cleaning module 30 is used to rinse the rear side of the container 10a. The rinsing is stopped after 2 to 3 minutes. The supporting module 60 is then used to rotate the container 10a so that the front door of the container 10a is aligned with the inner cleaning module 30. The inner cleaning module 30 is used to rinse the inner side of the container 10a from five directions in sequence: left, top, back, right, and bottom. The rinsing area covers the entire interior of the container 10a. The operation is then repeated 2 to 3 times to achieve full coverage of the inner and outer walls of the container 10a for cleaning. The rinsing of the inner cleaning module 30 is then stopped.

[0090] After the interior cleaning module 30 completes its flushing, the cleaning detection module 70 enters the interior of the container 10a. As it moves within the container 10a, the cleaning detection module 70 uses its first camera 76 to observe any unwashed areas on the interior walls of the container 10a. If so, the flushing equipment re-flushes these areas. The cleaning detection module 70 then inspects the interior walls, then sequentially checks the upper and lower walls of the container 10a until the entire interior of the container 10a is completely clean.

[0091] After completing the cleaning of both the inside and outside of the container 10a, the support module 60 is first used to tilt the container 10a at a large angle in all directions to shake off the water, so that a large amount of accumulated water inside the container 10a flows out from the front port of the container 10a, and then the container 10a is transferred to the next area through the conveying module 80. The front end of the container 10a faces the drying module 40, and then the drying module 40 is used to dry the remaining water in the container 10a in preparation for disinfection.

[0092] Then the disinfection process is carried out. During the disinfection process, the disinfection module 50 is used to surround the inner wall of the container 10a, and the second camera 56 is used to inspect and disinfect it by spraying. After one circle, the upper and lower walls of the container 10a are inspected to see if there are any missed areas and disinfect them. After the inspection is completed, the container 10a is driven out and the outer wall of the container 10a is inspected and disinfected to achieve full coverage of the inner and outer walls of the container 10a for disinfection, ensuring that all positions of the container 10a are inspected and disinfected.

[0093] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robotic container cleaning system, characterized in that: include: A washing table is provided with a washing position for placing a container; an outer cleaning module, installed on the cleaning station, for cleaning the outer side of the container; an inner cleaning module, fixed to the cleaning station, for cleaning the inner side of the container; A drying module, fixed to the cleaning table, for drying the cleaned container; A disinfection module, moving on the cleaning table, for disinfecting the dried container; Wherein, it also includes a support module, which includes a support platform, a bottom plate, a control unit and a plurality of support columns. The support platform is arranged at the cleaning position for supporting the container. The bottom plate and the support platform are arranged opposite to each other. Each of the support columns is located in the circumferential direction of the bottom plate. The upper end of each of the support columns is fixed to the support platform. The control unit is installed on the bottom plate and connected to the lower end of each of the support columns for driving each of the support columns to swing, so that each of the support columns drives the support platform to swing. The outer cleaning module includes a support frame, a slide rail, a water tank and a cleaning rack, wherein the support frame is fixed to the cleaning table, the slide rail is fixed to the support frame and extends in the length direction of the container, the water tank is slidably connected to the slide rail, and the cleaning rack is connected to the water tank and extends toward both sides of the container, and is used to clean the outer side of the container with water in the water tank; The inside cleaning module includes a cleaning bracket, a pipe connection port, and a flushing nozzle. The cleaning bracket is fixed to the cleaning table and is located at one end of the cleaning position. The flushing nozzle is fixed to the cleaning bracket and is used to spray the inside of the container through the port side of the container. The pipe connection port is fixed to the flushing nozzle and is used to connect to a water supply device. It also includes a cleaning detection module, which moves on the cleaning platform and is used to detect the container after cleaning and rinse the detected stains; The washing station also includes a conveying module, and the washing station is also provided with a drying position. The conveying module extends from the washing position to the drying position and is used to move the container in the washing position to the drying position. The drying module is fixed to the washing station and is located on one side of the drying position and is used to dry the container in the drying position. When cleaning the container, the outside cleaning module first cleans the outside of the container, and then the inside cleaning module cleans the inside of the container.

2. The robotic container cleaning system according to claim 1, characterized in that: The drying module includes a drying rack, a heating unit and an air duct. The drying rack is fixed to the washing table. The heating unit is hinged to the drying rack. The air duct is fixed to the heating unit and communicates with the interior of the heating unit for drying the container by blowing air toward the container.

3. A container cleaning process, characterized in that: The method is performed by the robotic container cleaning system according to any one of claims 1 to 2, comprising the following steps: The outside cleaning module cleans the outside of the container; An inside cleaning module cleans the inside of the container; A drying module dries the cleaned container; The container is disinfected and dried by a disinfection module.

4. The container cleaning process according to claim 3, characterized in that: Before the step of the outside cleaning module cleaning the outside of the container, the support module dumps the debris in the container by swinging the support platform.

5. The container cleaning process according to claim 3, characterized in that: Before the step of drying the cleaned container by the drying module, the supporting module shakes off water from the container by swinging the supporting platform.

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