Tunnel luminaire cleaning robot

Abstract

This invention discloses a tunnel lighting cleaning robot, comprising a walking mechanism, a cleaning mechanism, a robotic arm, a turntable mechanism, and a water conveying mechanism. The robot first blows away dust from the tunnel lighting fixtures through its casing, then wets the cleaning cloth and brushes through the water conveying mechanism, wipes the fixtures with the dust-blowing component, and finally dries them again through the casing, thus completing the cleaning process. This method offers excellent cleaning results. Furthermore, the wastewater is collected by the water conveying mechanism, preventing it from dripping into the tunnel or onto the walking and water conveying mechanisms, thus avoiding pollution. The walking mechanism, robotic arm, and turntable mechanism work together to enable omnidirectional movement of the cleaning mechanism, expanding its cleaning range and achieving automated cleaning. This not only reduces manual labor intensity but also ensures personnel safety.

Description

Technical Field

[0001] This invention relates to the field of tunnel lighting maintenance and management technology, and more specifically, to a tunnel lighting cleaning robot. Background Technology

[0002] Tunnels are increasingly being built as important transportation channels. Tunnel lights provide illumination to tunnels and ensure the safety of vehicle passage. However, exhaust fumes and dust inside tunnels can cause dust to accumulate on the surface of tunnel lights, reducing the effectiveness of road lighting. Therefore, we need to clean tunnel lights during routine tunnel maintenance.

[0003] Currently, tunnel lights are cleaned using high-pressure water guns or by manual wiping. This method is prone to leaving the lights unclean, poses a significant risk to personnel working inside the tunnel, and obstructs traffic on roads with high traffic volume.

[0004] To address this, a tunnel lighting cleaning robot is proposed. Summary of the Invention

[0005] The technical objective of this invention is to address the above-mentioned shortcomings by providing a tunnel lighting cleaning robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] Tunnel lighting cleaning robot, including:

[0008] The walking mechanism provides forward and backward power for the tunnel lighting cleaning robot.

[0009] A cleaning mechanism for blowing away dust and wiping tunnel lights, and the cleaning mechanism is located above the traveling mechanism;

[0010] A robotic arm is used to perform extension, vertical rotation, and lifting operations on the cleaning mechanism, and the robotic arm is located between the walking mechanism and the cleaning mechanism.

[0011] A turntable mechanism is used to realize the horizontal rotation and reciprocating linear motion of the cleaning mechanism, and the turntable mechanism is located between the walking mechanism and the robotic arm;

[0012] A water conveying mechanism is used to perform spraying and wetting operations on local components of the cleaning mechanism and to recycle wastewater, and the water conveying mechanism is mounted on the traveling mechanism.

[0013] Preferably, the cleaning mechanism includes a housing with openings on both sides, the housing being fixedly connected to the top of the robotic arm, and a dust-blowing component being provided on one side of the inner cavity of the housing;

[0014] The soot blowing assembly includes a blower installed on the other side of the housing cavity, and an air outlet hood is fixedly connected to the side of the housing away from the soot blowing assembly.

[0015] Preferably, a wiping assembly is provided on the other side of the inner cavity of the housing;

[0016] The wiping assembly includes a first motor installed in the inner cavity of the housing and positioned opposite to the blower. The output shaft of the first motor passes through one of the openings to the outside of the housing and is fixedly connected to a turntable. A cleaning cloth is detachably connected to the side of the turntable away from the first motor. Several bristles distributed in a ring at equal intervals are sewn onto the side of the cleaning cloth away from the turntable.

[0017] Preferably, the turntable is fixedly connected to at least three hook-and-loop fasteners arranged in a ring at equal intervals on the side facing the cleaning cloth, and the cleaning cloth is fixedly connected to the same number of loop fasteners on the side away from the bristles. The hook-and-loop fasteners and the loop fasteners are arranged in a one-to-one correspondence and are bonded to each other.

[0018] Preferably, the turntable mechanism includes a rotating component located at the bottom end of the robotic arm;

[0019] The rotating assembly includes a support, with a rotating rod movably passing through the center of the top of the support. The top end of the rotating rod is fixedly connected to the bottom end of the robotic arm. The top end of the rotating rod is rotatably connected to the through-hole of the support via a bearing, and the bottom end of the rotating rod is rotatably connected to the bottom of the support via a bearing. A first gear is fixedly connected to the surface of the rotating rod, and a second motor is installed at the bottom of the inner cavity of the support. The output shaft of the second motor is fixedly connected to a second gear that meshes with the first gear.

[0020] Preferably, a reciprocating mechanism is provided between the rotating component and the traveling mechanism;

[0021] The reciprocating mechanism includes a rodless cylinder mounted on the top of the traveling mechanism. The top of the rodless cylinder slide is fixedly connected to the bottom of the support. Sliding sleeves are fixedly connected to both sides of the bottom of the support. A bracket is slidably connected to the inner cavity of the sliding sleeve. Both ends of the bracket are fixedly connected to the top of the traveling mechanism.

[0022] Preferably, the water supply mechanism includes a water tank fixedly connected to one side of the top of the walking mechanism. The top of the water tank is connected to a first flexible hose. The first flexible hose has a Y-shaped structure, and both ends of the top of the first flexible hose are connected to nozzles. The nozzles are located diagonally above the bristles. The inner cavity of the water tank is equipped with a water pump that is connected to the first flexible hose.

[0023] Preferably, the top of the water tank is connected to a second hose, the top of the second hose is connected to a connecting pipe, the connecting pipe is located below the cleaning cloth, the surface of the turntable is covered with a water collection cover, the connecting pipe is connected to the bottom of the water collection cover, the nozzle is installed obliquely through the water collection cover, and multiple fixing plates are fixedly connected to the outer surface of the water collection cover, one side of the fixing plate is fixedly connected to the outer surface of the shell.

[0024] Preferably, the inner cavity of the water tank is integrally formed with a partition, which divides the inner cavity of the water tank into a clean water zone and a wastewater zone. The water pump is installed in the inner cavity of the clean water zone. The bottom end of the first hose extends through the inner cavity of the clean water zone and is connected to the outlet end of the water pump. The bottom end of the second hose extends through the inner cavity of the wastewater zone. Two water pipes are connected to the surface of the water tank. One of the water pipes is connected to the upper part of the inner cavity of the clean water zone, and the other water pipe is connected to the lower part of the inner cavity of the wastewater zone.

[0025] Preferably, a transparent observation window is installed on both sides of the surface of the water tank, and the two transparent observation windows are respectively set to correspond to the clean water area and the sewage area.

[0026] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0027] 1. This invention first blows soot off the tunnel lights through the housing, then wets the cleaning cloth and brushes through the water supply mechanism, then wipes the tunnel lights through the soot blowing component, and finally dries the tunnel lights again through the housing, thus completing the cleaning operation of the tunnel lights. It has the advantage of good cleaning effect. At the same time, the wastewater after cleaning can be collected in a unified manner by the water supply mechanism, thereby avoiding the phenomenon of wastewater dripping into the tunnel or even onto the traveling mechanism and water supply mechanism, causing pollution.

[0028] 2. This invention, through the combined use of a walking mechanism, a robotic arm, and a turntable mechanism, enables omnidirectional movement of the cleaning mechanism, expands its cleaning range, and achieves automated cleaning. This not only reduces the intensity of manual labor but also ensures personnel safety and avoids traffic congestion caused by cleaning on the road. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a three-dimensional structural schematic diagram of the tunnel lighting cleaning robot according to an embodiment of the present invention;

[0031] Figure 2 This is a three-dimensional sectional view of the cleaning mechanism of the tunnel lighting cleaning robot according to an embodiment of the present invention;

[0032] Figure 3 This is a three-dimensional structural schematic diagram of the cleaning mechanism of the tunnel lighting cleaning robot according to an embodiment of the present invention;

[0033] Figure 4 This is a three-dimensional exploded view of the cleaning mechanism of the tunnel lighting cleaning robot according to an embodiment of the present invention;

[0034] Figure 5 This is a three-dimensional sectional view of the robotic arm and turntable mechanism of the tunnel lighting cleaning robot according to an embodiment of the present invention;

[0035] Figure 6 This is a three-dimensional cross-sectional view of the water tank structure of the tunnel lighting cleaning robot according to an embodiment of the present invention.

[0036] In the diagram: 1. Walking mechanism;

[0037] 2. Cleaning mechanism; 21. Housing; 22. Blowing assembly; 221. Blower; 222. Air outlet hood; 23. Wiping assembly; 231. First motor; 232. Turntable; 233. Cleaning cloth; 234. Brush bristles; 235. Hook and loop fasteners; 236. Loose-knit hook and loop fasteners;

[0038] 3. Robotic arm;

[0039] 4. Turntable mechanism; 41. Rotating assembly; 411. Support; 412. Rotating rod; 413. First gear; 414. Second motor; 415. Second gear; 42. Reciprocating mechanism; 421. Rodless cylinder; 422. Sliding sleeve; 423. Bracket;

[0040] 5. Water delivery mechanism; 51. Water tank; 511. Partition; 512. Clean water zone; 513. Sewage zone; 514. Water pipe; 52. First flexible hose; 53. Sprinkler head; 54. Second flexible hose; 55. Connecting pipe; 56. Water collection cover; 57. Fixing plate; 58. Transparent observation window;

[0041] 6. Card sleeve. Detailed Implementation

[0042] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] Example 1

[0045] like Figures 1-6 As shown, the tunnel lighting cleaning robot according to an embodiment of the present invention includes: a walking mechanism 1, a cleaning mechanism 2, a robotic arm 3, a turntable mechanism 4, and a water conveying mechanism 5.

[0046] The walking mechanism 1 is used to provide forward and backward power for the tunnel lighting cleaning robot, and the walking mechanism 1 is self-powered.

[0047] The cleaning mechanism 2 is used to blow away dust and wipe the tunnel lights, and the cleaning mechanism 2 is located above the walking mechanism 1.

[0048] The robotic arm 3 is used to realize the extension, vertical rotation and lifting operations of the cleaning mechanism 2. The robotic arm 3 is located between the walking mechanism 1 and the cleaning mechanism 2. The robotic arm 3 has three degrees of freedom and is used to send the cleaning mechanism 2 to the lamp position.

[0049] The turntable mechanism 4 is used to realize the horizontal rotation and reciprocating linear motion of the cleaning mechanism 2, and the turntable mechanism 4 is located between the walking mechanism 1 and the robotic arm 3.

[0050] The water conveying mechanism 5 is used to perform spraying and wetting operations on local parts of the cleaning mechanism 2 and to recycle wastewater. The water conveying mechanism 5 is mounted on the walking mechanism 1.

[0051] Example 2

[0052] like Figures 1-6 As shown, the tunnel lighting cleaning robot provided in this embodiment differs from that in Embodiment 1 in that:

[0053] like Figures 1-2 As shown, the cleaning mechanism 2 includes a housing 21 with openings on both sides. The housing 21 is fixedly connected to the top of the robotic arm 3. A dust blowing assembly 22 is provided on one side of the inner cavity of the housing 21.

[0054] The dust blowing assembly 22 includes a blower 221 installed on the other side of the inner cavity of the housing 21. An air outlet hood 222 is fixedly connected to the side of the housing 21 away from the dust blowing assembly 22. A ventilation duct is formed between the housing 21, the blower 221 and the air outlet hood 222. By starting the blower 221, a strong airflow can be blown onto the tunnel lights, thereby blowing away the dust or water droplets on the surface of the lights, so as to achieve preliminary cleaning or final drying of the tunnel lights.

[0055] like Figures 2-4 As shown, a wiping assembly 23 is provided on the other side of the inner cavity of the housing 21;

[0056] The wiping assembly 23 includes a first motor 231 installed in the inner cavity of the housing 21 and positioned opposite to the blower 221. The output shaft of the first motor 231 passes through one of the openings to the outside of the housing 21 and is fixedly connected to a turntable 232. A cleaning cloth 233 is detachably connected to the side of the turntable 232 away from the first motor 231. Several bristles 234 arranged in a ring and equidistantly distributed are sewn onto the side of the cleaning cloth 233 away from the turntable 232. By starting the first motor 231, the cleaning cloth 233 and the bristles 234 can be driven to rotate synchronously around the output shaft of the first motor 231, thereby enabling the cleaning cloth 233 and the bristles 234 to rotate and wipe the dust on the tunnel lights.

[0057] like Figure 4 As shown, at least three hook-and-loop Velcro 235s are fixedly connected to the side of the turntable 232 facing the cleaning cloth 233 in a ring-shaped and equidistant arrangement. The side of the cleaning cloth 233 away from the bristles 234 is fixedly connected to the same number of loose-fitting Velcro 236s as the hook-and-loop Velcro 235s. The hook-and-loop Velcro 235s and loose-fitting Velcro 236s are arranged in a one-to-one correspondence and are glued to each other. Both the hook-and-loop Velcro 235s and loose-fitting Velcro 236s have an arc-shaped structure. Through the combined use of the hook-and-loop Velcro 235s and loose-fitting Velcro 236s, the turntable 232 and the cleaning cloth 233 can be detachably connected. This allows for the periodic replacement of the cleaning cloth 233 and the bristles 234, improving the wiping effect of the cleaning cloth 233 and the bristles 234, and also facilitates the disassembly and assembly of the cleaning cloth 233, improving the replacement efficiency.

[0058] like Figure 5 As shown, the turntable mechanism 4 includes a rotating assembly 41 located at the bottom end of the robotic arm 3;

[0059] The rotating assembly 41 includes a support 411. A rotating rod 412 is movably connected through the center of the top of the support 411. The top end of the rotating rod 412 is fixedly connected to the bottom end of the robotic arm 3. The top end of the rotating rod 412 is rotatably connected to the through-hole of the support 411 through a bearing. The bottom end of the rotating rod 412 is rotatably connected to the bottom of the support 411 through a bearing. A first gear 413 is fixedly connected to the surface of the rotating rod 412. A second motor 414 is installed at the bottom of the inner cavity of the support 411. The second motor 414 is a stepper motor, which can realize the functions of stopping at any position and rotating in both directions. The output shaft of the second motor 414 is fixedly connected to a second gear 415 that meshes with the first gear 413. By starting the second motor 414, the cleaning mechanism 2 and the robotic arm 3 can be driven to rotate horizontally.

[0060] like Figure 5 As shown, a reciprocating mechanism 42 is provided between the rotating component 41 and the traveling mechanism 1;

[0061] The reciprocating mechanism 42 includes a rodless cylinder 421 mounted on the top of the traveling mechanism 1. The centerline of the rodless cylinder 421 is perpendicular to the centerline of the rotating rod 412. The top of the slide of the rodless cylinder 421 is fixedly connected to the bottom of the support 411. Sliding sleeves 422 are fixedly connected to both sides of the bottom of the support 411. The two sliding sleeves 422 are symmetrically arranged about the rodless cylinder 421. A bracket 423 is slidably connected to the inner cavity of the sliding sleeve 422. Both ends of the bracket 423 are fixedly connected to the top of the traveling mechanism 1. By activating the rodless cylinder 421, the rotating component 41, the robotic arm 3, and the cleaning mechanism 2 can be driven to reciprocate horizontally, thereby enabling the cleaning cloth 233 and the brush bristles 234 to wipe the dust on the tunnel lights horizontally.

[0062] like Figures 1-4 As shown, the water supply mechanism 5 includes a water tank 51 fixedly connected to one side of the top of the walking mechanism 1. The top of the water tank 51 is connected to a first hose 52, which has a Y-shaped structure. Both ends of the top of the first hose 52 are connected to nozzles 53, which are located diagonally above the bristles 234. A water pump connected to the first hose 52 is installed in the inner cavity of the water tank 51. By starting the water pump, water in the inner cavity of the water tank 51 can be drawn into the inner cavity of the first hose 52 and sprayed onto the cleaning cloth 233 and the bristles 234 through the nozzles 53, thereby wetting the cleaning cloth 233 and the bristles 234.

[0063] like Figures 1-4 As shown, the top of the water tank 51 is also connected to a second hose 54, and the top of the second hose 54 is connected to a connecting pipe 55. The connecting pipe 55 is located below the cleaning cloth 233. The surface of the turntable 232 is covered with a water collection cover 56. The connecting pipe 55 is connected to the bottom of the water collection cover 56. The nozzle 53 is installed obliquely through the water collection cover 56. Multiple fixing plates 57 are fixedly connected to the outer surface of the water collection cover 56. One side of the fixing plate 57 is fixedly connected to the outer surface of the housing 21. The wastewater generated by the cleaning cloth 233 and the brush bristles 234 can be collected through the water collection cover 56 and introduced into the inner cavity of the water tank 51 through the connecting pipe 55 and the second hose 54 for unified collection, avoiding the phenomenon of wastewater dripping down and causing pollution during the cleaning process.

[0064] like Figure 1 and Figure 6As shown, the inner cavity of the water tank 51 is integrally formed with a partition 511, which divides the inner cavity of the water tank 51 into a clean water zone 512 and a wastewater zone 513. The water pump is installed in the inner cavity of the clean water zone 512. The bottom end of the first hose 52 passes through the inner cavity of the clean water zone 512 and is connected to the outlet of the water pump. The bottom end of the second hose 54 passes through the inner cavity of the wastewater zone 513. Two water pipes 514 are connected to the surface of the water tank 51. One water pipe 514 is connected to the upper part of the inner cavity of the clean water zone 512, and the other water pipe 514 is connected to the lower part of the inner cavity of the wastewater zone 513. A clean water channel is formed between one water pipe 514, the clean water zone 512, the first hose 52, and the nozzle 53. A wastewater channel is formed between the water collection cover 56, the connecting pipe 55, the second hose 54, the wastewater zone 513, and the other water pipe 514. By separating the wastewater and the clean water, the phenomenon of the clean water being contaminated by the wastewater and reducing the subsequent cleaning effect is effectively avoided.

[0065] like Figure 1 and Figure 6 As shown, a transparent observation window 58 is installed on both sides of the surface of the water tank 51. The two transparent observation windows 58 are respectively set to the clean water area 512 and the sewage area 513. Through the transparent observation windows 58, the staff can intuitively understand the water usage inside the clean water area 512 and the sewage area 513, so as to replenish or release water in a timely manner.

[0066] like Figure 1 As shown, multiple regularly distributed clamps 6 are fixedly connected to the surface of the robotic arm 3. The first hose 52 and the second hose 54 are both clamped into the inner cavity of the clamp 6. The clamps 6 can limit the first hose 52 and the second hose 54, preventing the first hose 52 and the second hose 54 from drooping downwards due to their own weight, causing mess or even knots. This helps to improve the overall cleanliness and aesthetics of the tunnel lighting cleaning robot.

[0067] The traveling mechanism 1 travels on the safety maintenance track inside the tunnel. It uses a standard trajectory graphic input and an interpolation algorithm for motion control, driving the motor to run along the pre-input trajectory.

[0068] The cleaning mechanism 2 uses an improved neural network algorithm to optimize its search for light fixtures, ensuring that it can accurately locate them.

[0069] First, cleaning agency 2 searches in multiple directions from its initial position with a fixed travel distance. Based on the evaluation indicators, it analyzes and integrates the search results to determine the effective direction. This direction is then used as the new search direction, and the coordinates of this point are used as the new search starting point. The search continues in multiple directions.

[0070] In the first scenario, once the target light fixture is found within the specified search distance in the initial direction, the search ends, and the cleaning of the first light fixture begins.

[0071] In the second case, when the search in multiple directions results in directions that are close or overlapping, the two close or overlapping directions are merged, and the coordinates of the merge point are used as the new starting point. The search continues along multiple angles, and so on, until the first target lamp is found.

[0072] In the third scenario, if no target light fixture is found in the search direction, and there are no adjacent or overlapping search directions, then the current location is used as a new starting point, and the search continues in multiple directions.

[0073] After locating the first light fixture, we know the distance between it and the second light fixture. The first step involves selecting multiple angles to travel the distance between the two light fixtures. The second step is to determine if the cleaning mechanism 2 has reached the next light fixture. If it has, the path error is calculated, and the path with the smallest error is found, resulting in the optimal search direction and distance. If it hasn't reached the light fixture, the angle is changed, and the search continues at a fixed distance until the light fixture is reached. The third step involves inputting the optimal search direction and distance obtained in the second step into the mechanism and executing the action. Based on the judgment conditions and results, the error is calculated, and the optimal search direction and distance in the second step are corrected. This process is repeated until the cleaning head is perfectly aligned with the light fixture to be cleaned. This path is recorded as the optimal method, and the remaining light fixtures are cleaned using this optimal method.

[0074] Working principle:

[0075] S1. The tunnel lighting cleaning robot is moved to the lighting position by the walking mechanism 1. The dust blowing component 22 is sent to the lighting position by the robotic arm 3. The blower 221 is started so that the strong airflow blows through the air hood 222 to the surface of the lighting, which can blow away the dust on the surface of the lighting and thus complete the initial cleaning operation of the lighting.

[0076] S2. Start the second motor 414 to rotate in the forward direction. The second motor 414 drives the second gear 415 to rotate. The second gear 415 drives the first gear 413, the rotating rod 412, the robotic arm 3 and the cleaning mechanism 2 to rotate around the rotating rod 412 as the axis, so that the wiping component 23 faces the lamp. Then, the robotic arm 3 sends the wiping component 23 to the lamp position. Start the first motor 231. The output shaft of the first motor 231 drives the turntable 232, hook-and-loop fasteners 235, loop fasteners 236, cleaning cloth 233 and brush bristles 234 to rotate synchronously around the output shaft of the first motor 231 as the center, so that the surface of the lamp can be rotated and wiped.

[0077] S3. Start the rodless cylinder 421. The slide of the rodless cylinder 421 drives the turntable mechanism 4, the robotic arm 3 and the cleaning mechanism 2 to move horizontally and reciprocally in the length direction of the rodless cylinder 421. This allows the lamp surface to be wiped in both rotation and horizontal reciprocating motion. At the same time, the support 411 drives the sliding sleeve 422 to slide on the surface of the bracket 423, so that the turntable mechanism 4 moves horizontally stably.

[0078] S4. Start the water pump. The water pump delivers clean water from the inner cavity of the clean water zone 512 to the inner cavity of the first hose 52, and finally sprays it onto the cleaning cloth 233 and brush bristles 234 through the nozzle 53, thereby wetting the cleaning cloth 233 and brush bristles 234, thus realizing the wet wiping operation on the surface of the lamp. At the same time, the wastewater after wiping drips into the inner cavity of the water collection cover 56 and is transported to the inner cavity of the wastewater zone 513 through the connecting pipe 55 and the second hose 54 for unified collection and treatment.

[0079] S5. After the wet wiping is completed, the second motor 414 is started to rotate in the opposite direction, so that the blowing component 22 is eventually facing the lamp. The blower 221 is started again to blow away the water droplets on the surface of the lamp, thus achieving the air drying operation and completing the cleaning operation of the lamp.

[0080] In summary, this tunnel lighting cleaning robot first blows away dust from the tunnel lights through its housing 21, then sprays water onto the cleaning cloth 233 and brush 234 through the water delivery mechanism 5, then wipes the tunnel lights through the dust blowing component 22, and finally dries the tunnel lights again through the housing 21, thus completing the cleaning operation. It has the advantage of good cleaning effect. At the same time, the wastewater after cleaning can be collected uniformly by the water delivery mechanism 5, thus avoiding the phenomenon of wastewater dripping into the tunnel or onto the walking mechanism 1 and the water delivery mechanism 5, causing pollution. Through the coordinated use of the walking mechanism 1, the robotic arm 3, and the turntable mechanism 4, the robot can achieve omnidirectional movement of the cleaning mechanism 2, expanding the cleaning range of the cleaning mechanism 2 and achieving automated cleaning. This not only reduces the intensity of manual labor but also ensures personnel safety and avoids traffic congestion caused by cleaning occupying the road.

[0081] Through the specific embodiments described above, those skilled in the art can easily implement the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. Based on the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features to achieve different technical solutions.

Claims

1. A method for cleaning tunnel lighting fixtures, comprising using a tunnel lighting fixture cleaning robot, characterized in that, The tunnel lighting cleaning robot includes: The walking mechanism (1) is used to provide forward and backward power for the tunnel lighting cleaning robot; A cleaning mechanism (2) is used to blow away dust and wipe the tunnel lights, and the cleaning mechanism (2) is located above the walking mechanism (1); A robotic arm (3) is used to realize the extension, vertical rotation and lifting operations of the cleaning mechanism (2), and the robotic arm (3) is located between the walking mechanism (1) and the cleaning mechanism (2); A turntable mechanism (4) is used to realize the horizontal rotation and reciprocating linear motion of the cleaning mechanism (2), and the turntable mechanism (4) is located between the walking mechanism (1) and the robotic arm (3); Water conveying mechanism (5) is used to perform spraying wet operation on local parts of cleaning mechanism (2) and to perform wastewater recycling operation, and the water conveying mechanism (5) is mounted on walking mechanism (1); The cleaning method includes: An improved neural network algorithm is used to optimize the cleaning mechanism (2) in finding the lamp target, so as to ensure that the cleaning mechanism (2) accurately finds the lamp; First, the cleaning agency (2) searches in multiple directions from the initial position with a fixed distance of movement, and analyzes and integrates the search results according to the evaluation indicators to determine the effective direction. This direction is used as the new search direction, and the search continues in multiple directions from the new starting point. In the first scenario, once the target light fixture is found within the specified search distance in the initial direction, the search ends, and the cleaning of the first light fixture begins. In the second case, when the search in multiple directions results in directions that are close or overlapping, the two close or overlapping directions are merged, and the coordinates of the merge point are used as the new starting point. The search continues along multiple angles, and so on, until the first target lamp is found. In the third scenario, if no target light fixture is found in the search direction, and there are no close or overlapping search directions, the current location is used as a new starting point to continue searching in multiple directions. After finding the first lamp, the distance between the first and second lamps is known. The first step is to select multiple angles and travel the distance between the two lamps. The second step is to determine whether the cleaning mechanism (2) has contacted the next lamp. If it has contacted the next lamp, the error of the path is calculated, the path with the smallest error is found, and the optimal search direction and search distance are obtained. If it has not contacted the next lamp, the angle is changed and the search continues at a fixed distance until the next lamp is contacted. The third step is to input the optimal search direction and search distance obtained in the second step into the mechanism and execute the action. The error is calculated according to the judgment conditions and results, and the optimal search direction and search distance in the second step are corrected. The third step process is repeated until the cleaning head is completely aligned with the lamp to be cleaned. The corresponding path method is recorded as the optimal method, and the cleaning of the remaining lamps is continued according to the optimal method.

2. The cleaning method for tunnel lighting fixtures according to claim 1, characterized in that: The cleaning mechanism (2) includes a housing (21) with openings on both sides. The housing (21) is fixedly connected to the top of the robotic arm (3). A dust blowing assembly (22) is provided on one side of the inner cavity of the housing (21). The soot blowing assembly (22) includes a blower (221) installed on the other side of the inner cavity of the housing (21), and an air outlet hood (222) is fixedly connected to the side of the housing (21) away from the soot blowing assembly (22).

3. The method for cleaning tunnel lighting fixtures according to claim 2, characterized in that: A wiping assembly (23) is provided on the other side of the inner cavity of the housing (21); The wiping assembly (23) includes a first motor (231) installed in the inner cavity of the housing (21) and arranged opposite to the blower (221). The output shaft of the first motor (231) passes through one of the openings to the outside of the housing (21) and is fixedly connected to a turntable (232). A cleaning cloth (233) is detachably connected to the side of the turntable (232) away from the first motor (231). A number of bristles (234) arranged in a ring and equidistantly distributed are sewn onto the side of the cleaning cloth (233) away from the turntable (232).

4. The method for cleaning tunnel lighting fixtures according to claim 3, characterized in that: At least three hook-and-loop fasteners (235) are fixedly connected to the side of the turntable (232) facing the cleaning cloth (233) in a ring and equidistant arrangement. The cleaning cloth (233) away from the bristles (234) is fixedly connected to the side with the same number of loop fasteners (235). The hook-and-loop fasteners (235) and loop fasteners (236) are arranged in a one-to-one correspondence and are glued to each other.

5. The cleaning method for tunnel lighting fixtures according to claim 1, characterized in that: The turntable mechanism (4) includes a rotating assembly (41) located at the bottom of the robotic arm (3); The rotating assembly (41) includes a support (411), a rotating rod (412) is movably connected through the center of the top of the support (411), the top end of the rotating rod (412) is fixedly connected to the bottom end of the robotic arm (3), the top end of the rotating rod (412) is rotatably connected to the through end of the support (411) through a bearing, the bottom end of the rotating rod (412) is rotatably connected to the bottom of the support (411) through a bearing, a first gear (413) is fixedly connected to the surface of the rotating rod (412), a second motor (414) is installed at the bottom of the inner cavity of the support (411), and the output shaft of the second motor (414) is fixedly connected to a second gear (415) that meshes with the first gear (413).

6. The method for cleaning tunnel lighting fixtures according to claim 5, characterized in that: A reciprocating mechanism (42) is provided between the rotating component (41) and the traveling mechanism (1); The reciprocating mechanism (42) includes a rodless cylinder (421) installed on the top of the walking mechanism (1). The top of the slide of the rodless cylinder (421) is fixedly connected to the bottom of the support (411). Sliding sleeves (422) are fixedly connected to both sides of the bottom of the support (411). A bracket (423) is slidably connected to the inner cavity of the sliding sleeve (422). Both ends of the bracket (423) are fixedly connected to the top of the walking mechanism (1).

7. The method for cleaning tunnel lighting fixtures according to claim 3, characterized in that: The water conveying mechanism (5) includes a water tank (51) fixedly connected to one side of the top of the walking mechanism (1). The top of the water tank (51) is connected to a first hose (52). The first hose (52) has a Y-shaped structure. Both ends of the top of the first hose (52) are connected to nozzles (53). The nozzles (53) are located diagonally above the bristles (234). The inner cavity of the water tank (51) is equipped with a water pump that is connected to the first hose (52).

8. The method for cleaning tunnel lighting fixtures according to claim 7, characterized in that: The top of the water tank (51) is also connected to a second hose (54), the top of the second hose (54) is connected to a connecting pipe (55), the connecting pipe (55) is located below the cleaning cloth (233), the surface of the turntable (232) is covered with a water collection cover (56), the connecting pipe (55) is connected to the bottom of the water collection cover (56), the nozzle (53) is installed obliquely through the water collection cover (56) above it, and multiple fixing plates (57) are fixedly connected to the outer surface of the water collection cover (56), one side of the fixing plate (57) is fixedly connected to the outer surface of the shell (21).

9. The method for cleaning tunnel lighting fixtures according to claim 8, characterized in that: The inner cavity of the water tank (51) is integrally formed with a partition (511), which divides the inner cavity of the water tank (51) into a clean water area (512) and a sewage area (513). The water pump is installed in the inner cavity of the clean water area (512). The bottom end of the first hose (52) penetrates into the inner cavity of the clean water area (512) and is connected to the outlet of the water pump. The bottom end of the second hose (54) penetrates into the inner cavity of the sewage area (513). The surface of the water tank (51) is connected to two water pipes (514). One of the water pipes (514) is connected to the upper part of the inner cavity of the clean water area (512), and the other water pipe (514) is connected to the lower part of the inner cavity of the sewage area (513).

10. The method for cleaning tunnel lighting fixtures according to claim 9, characterized in that: A transparent observation window (58) is installed on both sides of the surface of the water tank (51), and the two transparent observation windows (58) are respectively set to correspond to the clean water area (512) and the sewage area (513).

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