Intelligent cleaning system and method for subway entrance and exit ceiling

Abstract

The invention belongs to the technical field of intelligent cleaning equipment, and particularly relates to an intelligent cleaning system and method for a subway entrance and exit ceiling. According to the specific technical scheme, the sweeping and brushing integrated mechanism comprises a rotatable hollow roller and brushes, a rotatable rotary drum is arranged on the inner periphery of the hollow roller, a plurality of barrier strips are evenly arranged on the periphery of the rotary drum in the axis direction of the rotary drum, and the brushes are movably arranged on the periphery of the hollow roller through movable parts; and one end, far away from the brush, of the movable part penetrates through the side wall of the hollow roller, extends into the cavity of the roller and is matched with the barrier strip. In the washing mode, the hollow roller and the rotating drum rotate reversely, the rotating drum drives the blocking strip to rotate together when rotating, the top of the blocking strip makes contact with the end of the movable part to generate vibration, and therefore the brush is driven to vibrate, and the cleaning effect of the brush is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent cleaning equipment, and in particular relates to an intelligent cleaning system and method for subway entrance and exit ceilings. Background Art

[0002] Subway stations are composed of entrance and exit ceilings, U-shaped platforms, wind shelters, barrier-free elevators, emergency evacuation passages, etc. These parts need to be cleaned regularly to ensure the cleanliness of the subway station. For the cleaning of entrance and exit ceilings, high-pressure water guns are usually used for washing, or manual cleaning using telescopic ladders. The large amount of cleaning and the high risk of safety hazards in the operation and the high cleaning cost are the key and difficult issues in station cleaning work.

[0003] Some researchers have proposed the idea of ​​using intelligent cleaning devices to clean entrance and exit ceilings, but how to transport the intelligent cleaning devices to the entrance and exit ceilings and send the intelligent cleaning devices back to the ground from the entrance and exit ceilings is a problem that needs to be solved at this stage. The current practice is to manually climb up to pick up the intelligent cleaning devices, which poses a safety hazard; and some intelligent cleaning devices are heavy and large in size, and manual operation is time-consuming and labor-intensive. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a subway entrance and exit ceiling intelligent cleaning system and method.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a subway entrance and exit ceiling intelligent cleaning system, including a conveying device, an intelligent cleaning device, and a control device, wherein the control device is communicatively connected with the conveying device and the intelligent cleaning device, and the control device controls the conveying device and the intelligent cleaning device to work, the conveying device is used to convey the intelligent cleaning device, and the intelligent cleaning device is used to clean the subway entrance and exit ceiling;

[0006] The intelligent cleaning device includes a frame body and a walking mechanism, a liquid spraying mechanism, and a sweeping and brushing integrated mechanism arranged on the frame body, wherein the walking mechanism is a crawler-type walking mechanism; the sweeping and brushing integrated mechanism includes a rotatable hollow drum and a brush, a rotatable rotating drum is arranged on the inner periphery of the hollow drum, a plurality of baffles are evenly arranged on the outer periphery of the rotating drum along its axial direction, a plurality of the brushes are movably arranged on the outer periphery of the hollow drum through movable parts, and an end of the movable part away from the brush passes through the side wall of the hollow drum and extends into the cavity of the drum, and is matched with the baffle.

[0007] Preferably, the movable part is a spherical block with a large middle portion and small ends. A first through hole adapted to the middle portion of the movable part is provided on the side wall of the hollow drum, and both end portions extend out of the first through hole respectively. The end of the movable part close to the rotating drum is made of elastic material; when the rotating drum rotates, the baffle contacts the elastic end of the movable part, causing the movable part and the brush to vibrate, and the middle portion of the movable part swings in the first through hole, changing the flushing direction of the brush.

[0008] Preferably, the integrated sweeping and brushing mechanism also includes a garbage collection component, which includes an arc-shaped shovel box, a garbage bin, and a vacuum pump. The arc-shaped shovel is adapted to the periphery of the hollow drum and is located behind the hollow drum near the bottom. The arc-shaped shovel box is connected to the garbage bin, and the vacuum pump puts the garbage bin in a vacuum environment, thereby facilitating the suction of garbage in the arc-shaped shovel box into the garbage bin.

[0009] Preferably, the garbage collection component includes a storage box, a sliding cavity adapted to the arc-shaped shovel box is provided at the lower end of the storage box, a third motor is provided at the top of the sliding cavity, a steel wire rope is provided at the output end of the third motor, and the end of the steel wire rope away from the third motor is connected to the arc-shaped shovel box; a second through hole is provided on the side wall of the garbage bin, and the second through hole connects the storage box and the garbage bin; the steel wire rope pulls the arc-shaped shovel box to slide into the sliding cavity, and the side wall of the arc-shaped shovel box blocks the second through hole.

[0010] Preferably, the liquid spraying mechanism is arranged at the front end of the frame body and the sweeping and brushing integrated mechanism, and the liquid spraying mechanism includes a power pump, a main pipe, a liquid dispensing pipe, and a plurality of nozzles. The power pump is arranged on the top of the frame body, and the input end of the power pump is connected to the liquid storage tank through a water pipe, and the output end thereof is connected to the liquid dispensing pipe through the main pipe. A plurality of nozzles are arranged on the liquid dispensing pipe, and the water spraying direction of the nozzles is downward, and the arrangement direction of the plurality of nozzles on the frame body is parallel to the axial direction of the hollow drum.

[0011] Preferably, the conveying device includes a trolley frame body, a guide rail frame body, a supporting frame body, and a traction steel rope, one end of the guide rail frame body is movably connected to the trolley frame body, and the two are arranged at an acute angle; a guide rail is arranged on the guide rail frame body, and a pulley adapted to the guide rail is arranged at the lower end of the supporting frame body; a guide wheel is arranged on the supporting frame body, one end of the traction steel rope is connected to the traction winch arranged on the trolley frame body, and the other end passes through the guide wheel and is connected to the supporting frame body.

[0012] Preferably, the main body of the carrying frame comprises a rectangular moving frame and a pallet, the upper portion of the rectangular moving frame is connected to the pallet via a support plate, the pulley is arranged at the lower portion of the rectangular moving frame, and an acute angle is formed between the rectangular moving frame and the pallet;

[0013] The guide rail frame body is a rectangular guide rail frame; two groups of L-shaped limit frames are symmetrically arranged at the bottom of the rectangular moving frame and on both sides along the moving direction of the rectangular moving frame, and the L-shaped limit frames are adapted to the rectangular guide rail frame.

[0014] Preferably, the control device includes a microprocessor, a human-machine interaction mechanism, and a camera, the microprocessor is communicatively connected with the human-machine interaction mechanism and the camera, and the microprocessor is communicatively connected with the power mechanism on the intelligent cleaning device;

[0015] The camera is arranged on the frame body; the camera is used to photograph the surrounding environment of the area to be cleaned, and transmit the photographed image to the microprocessor in real time, and the microprocessor displays the image information on the human-computer interaction mechanism, and the operator selects the cleaning mode according to the environment to be cleaned, and the microprocessor determines the position of the intelligent cleaning device on the entrance and exit ceiling according to the image, thereby controlling the moving path of the intelligent cleaning device on the entrance and exit ceiling;

[0016] The human-machine interaction mechanism is used to feed back the input cleaning parameters to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device.

[0017] Preferably, it also includes a laser radar, which is used to measure the distance between the intelligent cleaning device and the edge of the ceiling, and transmit the measured distance information to the microprocessor. When the distance is lower than a first preset threshold, the microprocessor controls the intelligent cleaning device to turn; when the distance is lower than a second preset threshold, the microprocessor controls the intelligent cleaning device to stop moving and issues an alarm.

[0018] Accordingly, a method for intelligently cleaning the ceiling of a subway entrance and exit comprises the following steps:

[0019] S1. Use a conveying device to transfer the intelligent cleaning device to the ceiling of the subway entrance and exit;

[0020] S2. The camera transmits the image of the environment to be cleaned to the microprocessor and displays it in real time on the human-computer interaction mechanism. The operator selects a cleaning mode according to the environment to be cleaned. If there is a large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the cleaning-flushing mode is selected; if there is no large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the flushing mode is selected.

[0021] S3, the human-machine interaction mechanism transmits the operator's selection result to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device according to the cleaning mode;

[0022] S4. After cleaning is completed, the intelligent cleaning device is transported to the ground using a conveying device.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The sweeping and brushing integrated mechanism is designed as a rotatable hollow drum and a rotating drum, the rotating drum is arranged in the inner periphery of the hollow drum, and a plurality of baffles are arranged on the outer periphery of the rotating drum along its axial direction, and the brush is movably connected to the side wall of the hollow drum through a movable part, and the end of the movable part close to the rotating drum is adapted to the baffle; in the flushing mode, the hollow drum and the rotating drum rotate in opposite directions, and the baffles are driven to rotate together when the rotating drum rotates, and the top of the baffles contacts with the end of the movable part to generate vibration, thereby driving the brush to vibrate and improving the cleaning effect of the brush; in the cleaning mode, the hollow drum and the rotating drum rotate synchronously, and the baffles contact with one end of the movable part to remain relatively motionless, and the movable range of the movable part in the first through hole is limited to a certain extent by the baffles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of the intelligent cleaning device of the present invention;

[0026] Figure 2 It is a right side view of the intelligent cleaning device of the present invention;

[0027] Figure 3 A top view of the intelligent cleaning device of the present invention;

[0028] Figure 4 It is a front cross-sectional view of the sweeping and brushing integrated mechanism of the present invention;

[0029] Figure 5 It is a side cross-sectional view of the sweeping and brushing integrated mechanism of the present invention (sweeping mode);

[0030] Figure 6 It is a side cross-sectional view of the sweeping and brushing integrated mechanism of the present invention (flushing mode);

[0031] Figure 7 It is a structural schematic diagram of the main body of the load-bearing frame of the present invention;

[0032] Figure 8 It is a structural schematic diagram of the main body of the push cart frame of the present invention;

[0033] Fig. 9 It is a structural schematic diagram of the guide rail frame body of the present invention;

[0034] Fig.10 It is a bottom view of the main body of the load-bearing frame of the present invention;

[0035] Fig.11 This is a physical picture of the intelligent cleaning device of the present invention;

[0036] Fig.12 This is a physical picture of the guide rail conveying device of the present invention when in use.

[0037] Markings in the accompanying drawings: mobile frame 1, support plate 2, limit frame 3, bridge 4, baffle 5, baffle frame 6, tray 7, guide rail frame body 8, guide rail 9, handle 10, cart frame body 11, lifting motor 12, electric telescopic rod 13, pulley 14, guide wheel 15, frame body 16, camera 17, alarm 18, power pump 19, walking mechanism 20, first motor 21, first connecting plate 22, first circular cover 23, brush 24, hollow drum 25, second motor 26, second connecting plate 27, second circular cover 28, nozzle 29, liquid dispensing tube 30, main pipe 31, storage box 32, vacuum pump 33, trash bin 34, third motor 35, arc shovel box 36, wire rope 37, second through hole 38, sliding cavity 39, rotating rod 40, rotating drum 41, baffle bar 42, movable part 43, first through hole 44, radar 45. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0039] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] It should be noted that the front end, rear end, front and rear of the frame body 16 in this embodiment are described based on the forward direction of the intelligent cleaning device.

[0041] like Figure 1-12 As shown, a subway entrance and exit ceiling intelligent cleaning system includes a conveying device, an intelligent cleaning device, and a control device. The control device is communicatively connected with the conveying device and the intelligent cleaning device, and the control device controls the conveying device and the intelligent cleaning device to work; the conveying device is used to convey the intelligent cleaning device, that is, to convey the intelligent cleaning device from the ground to the entrance and exit ceiling, and from the entrance and exit ceiling to the ground; the intelligent cleaning device is used to clean the subway entrance and exit ceiling;

[0042] The intelligent cleaning device includes a frame body 16 and a walking mechanism 20, a liquid spraying mechanism, and a sweeping and brushing integrated mechanism arranged on the frame body 16. The walking mechanism 20 is used to drive the intelligent cleaning device forward, the liquid spraying mechanism is used to spray clean water and detergent to the position to be cleaned, and the sweeping and brushing integrated mechanism is used to clean garbage or dust on the ceiling; the liquid spraying mechanism is arranged at the front end of the frame body 16, and the sweeping and brushing integrated mechanism is arranged between the liquid spraying mechanism and the walking mechanism 20; Figure 4 As shown, the sweeping and brushing integrated mechanism includes a rotatable hollow drum 25 and a brush 24. A rotatable rotating drum 41 is arranged inside the hollow drum 25. A plurality of baffles 42 are evenly arranged on the outer periphery of the rotating drum 41 along its axial direction. A plurality of brushes 24 are movably arranged on the outer periphery of the hollow drum 25 through a movable member 43. The end of the movable member 43 away from the brush 24 passes through the side wall of the hollow drum 25 and extends into the cavity of the hollow drum 25, and is matched with the baffles 42. During operation, the hollow drum 25 rotates in the opposite direction to the rotating drum 41. When the rotating drum 41 rotates, the baffles 42 are driven to rotate together. The top of the baffles contacts the end of the movable member 43 to generate vibration, thereby driving the brush 24 to vibrate, thereby improving the cleaning effect of the brush 24.

[0043] Here, one end of the movable part 43 is adapted to the baffle 42, which means that during the reverse rotation of the hollow drum 25 and the rotating drum 41, one end of the same movable part 43 will continuously contact the baffle 42, and several baffles 42 will continuously beat one end of the movable part 43 to vibrate the brush 24, thereby improving the flushing effect of the brush 24 and the cleaning effect of the intelligent cleaning device.

[0044] It should be noted that the movable member 43 is movably connected to the hollow drum 25, that is, the movable member 43 can rotate and shake on the side wall of the hollow drum 25 but will not fall off the side wall of the hollow drum 25. The end of the movable member 43 close to the rotating drum 41 is made of elastic material, and the baffle 42 squeezes one end of the movable member 43, so that the rotating drum 41 can rotate continuously inside the hollow drum 25. Alternatively, the end of the movable member 43 close to the rotating drum 41 is not made of elastic material. In this case, the length of the first through hole 44 is slightly larger than the length of the middle part of the movable member 43. When one end of the movable member 43 contacts the baffle 42, the baffle 42 squeezes the movable member 43 outward, so that the rotating drum 41 can rotate continuously inside the hollow drum 25.

[0045] Specifically, a first connecting plate 22 is provided on the lower surface of the frame body 16, and a first motor 21 is fixedly provided on the first connecting plate 22. A first circular cover 23 adapted to the end of the hollow drum 25 is provided at the output end of the first motor 21. The first circular cover 23 is fixedly connected to the end of the hollow drum 25, and a second circular cover 28 is fixedly provided at one end of the hollow drum 25 away from the first circular cover 23. The first motor 21 drives the first circular cover 23 to rotate, and the first circular cover 23 drives the hollow drum 25 to rotate.

[0046] A second connecting plate 27 is provided on the lower surface of the frame body 16, and a second motor 26 is fixedly provided on the second connecting plate 27. A rotating rod 40 is connected to the output end of the second motor 26. The other end of the rotating rod 40 passes through the second circular cover 28 and is fixedly connected to the rotating drum 41. The rotating rod 40 is rotatably connected to the second circular cover 28 through a bearing. The second motor 26 drives the rotating rod 40 to rotate, thereby driving the rotating drum 41 to rotate.

[0047] The intelligent cleaning device of the present application has two cleaning modes, one is the cleaning-flushing mode, i.e. cleaning first and then flushing, and the other is the flushing mode, i.e. direct flushing. When the entrance and exit ceiling contains large volume of garbage or a large amount of dust accumulation, the cleaning-flushing mode is adopted; when the entrance and exit ceiling does not contain large volume of garbage or a small amount of dust accumulation, the flushing mode is adopted.

[0048] The walking mechanism 20 is a crawler walking mechanism 20, and the crawler walking mechanism 20 of the present application can realize climbing and turning functions. The power mechanism driving the crawler walking mechanism 20 and the crawler walking mechanism 20 are both prior art, and the present application does not improve these two mechanisms, so they will not be repeated here.

[0049] Further, such as Figure 4-6 As shown, the movable member 43 is a spherical block with a large middle portion and small ends. A first through hole 44 adapted to the middle portion of the movable member 43 is provided on the side wall of the hollow drum 25, and both ends extend out of the first through hole 44 respectively. The end of the movable member 43 close to the rotating drum 41 is made of elastic material; when the rotating drum 41 rotates, the baffle 42 contacts the elastic end of the movable member 43, and the baffle 42 squeezes one end of the movable member 43. The rotating drum 41 rotates continuously inside the hollow drum 25, causing the movable member 43 and the brush 24 to vibrate, and the volume of the first through hole 44 is slightly larger than the volume of the middle portion of the movable member 43, so that the middle portion of the movable member 43 is movably connected to the side wall of the hollow drum 25, and the flushing direction of the brush 24 can be changed.

[0050] Further, such as Figure 4-6As shown, the sweeping and brushing mechanism also includes a garbage collection component, which includes an arc-shaped shovel box 36, a garbage bin 34, and a vacuum pump 33. The arc-shaped shovel is adapted to the periphery of the hollow drum 25 and is located behind the hollow drum 25 near the bottom. The arc-shaped shovel box 36 is connected to the garbage bin 34. The vacuum pump 33 puts the garbage bin 34 in a vacuum environment, which facilitates the garbage in the arc-shaped shovel box 36 to be sucked into the garbage bin 34.

[0051] When the cleaning mode is the sweeping mode, the vacuum pump 33 starts to work, the arc shovel box 36 is connected to the garbage bin 34, the hollow drum 25 rotates synchronously with the rotating drum 41, and the baffle 42 contacts one end of the movable part 43, and the baffle 42 limits the movable range of the movable part 43 in the first through hole 44, and the garbage is swept toward the arc shovel box 36 by the brush 24. When the garbage reaches the entrance of the arc shovel box 36, since the garbage bin 34 is a vacuum environment, the garbage in the arc shovel box 36 can be sucked into the garbage bin 34, thereby cleaning up the larger garbage and a lot of dust on the ceiling.

[0052] Furthermore, the garbage collection assembly includes a storage box 32, a sliding cavity 39 adapted to the arc-shaped shovel box 36 is provided at the lower end of the storage box 32, a third motor 35 is provided at the top of the sliding cavity 39, and a steel wire rope 37 is provided at the output end of the third motor 35, and the end of the steel wire rope 37 away from the third motor 35 is connected to the arc-shaped shovel box 36; a second through hole 38 is provided on the side wall of the garbage bin 34, and the second through hole 38 connects the storage box 32 and the garbage bin 34; the steel wire rope 37 pulls the arc-shaped shovel box 36 to slide into the sliding cavity 39, and the side wall of the arc-shaped shovel box 36 blocks the second through hole 38.

[0053] When the cleaning mode is the flushing mode, the vacuum pump 33 stops working, the third motor 35 works to tighten the wire rope 37, and the arc shovel box 36 is moved into the sliding cavity 39 by the traction of the wire rope 37, and the side wall of the arc shovel box 36 is just used to block the second through hole 38 to seal the garbage bin 34, so as to prevent the garbage in the garbage bin 34 from falling out in the flushing mode. When the next cleaning mode is in the next cleaning mode, the third motor 35 relaxes the wire rope 37, and the arc shovel box 36 slides out of the sliding cavity 39 to the bottom of the rear of the hollow drum 25 under the action of its own gravity; at the same time, it can prevent the cleaning liquid from entering the garbage bin 34 through the second through hole 38, increasing the difficulty of cleaning the garbage bin 34; the spray mechanism continuously sprays the cleaning liquid in the front, the hollow drum 25 rotates in the opposite direction to the rotating drum 41, and a plurality of baffles 42 continuously beat one end of the movable part 43 to vibrate the brush 24, thereby improving the flushing effect of the brush 24.

[0054] Further, such as Figure 1As shown, the liquid spraying mechanism is arranged at the front end of the frame body 16 and the sweeping and brushing integrated mechanism, and the liquid spraying mechanism includes a power pump 19, a main pipe 31, a liquid dispensing pipe 30, and a plurality of nozzles 29. The power pump 19 is arranged at the top of the frame body 16, and the input end of the power pump 19 is connected to the liquid storage tank through a water pipe, and the output end thereof is connected to the liquid dispensing pipe 30 through the main pipe 31. A plurality of nozzles 29 are arranged on the liquid dispensing pipe 30, and the water spraying direction of the nozzles 29 is downward, and the arrangement direction of the plurality of nozzles 29 on the frame body 16 is parallel to the axial direction of the hollow drum 25. In the flushing mode, the power pump 19 draws the cleaning liquid in the liquid storage tank into the main pipe 31, and distributes the liquid to the plurality of nozzles 29 through the liquid dispensing pipe 30.

[0055] Further, such as Figure 7-10 As shown, the conveying device includes a trolley frame body 11, a guide rail frame body 8, a bearing frame body, and a traction steel rope. One end of the guide rail frame body 8 is movably connected to the trolley frame body 11, and the two are arranged at an acute angle. When working, the end of the guide rail frame body 8 away from the trolley frame body 11 is overlapped on the ceiling of the subway entrance and exit; the guide rail frame body 8 is provided with a guide rail 9, and the lower end of the bearing frame body is provided with a pulley 14 adapted to the guide rail 9, and the bearing frame body slides on the guide rail frame body 8 by the cooperation of the guide rail 9 and the pulley 14; the bearing frame body is provided with a rotatable guide wheel 15, one end of the traction steel rope is connected to the traction winch arranged on the trolley frame body, and the other end passes through the guide wheel 15 and is connected to the bearing frame body. Several rubber pads are provided at the end of the guide rail frame body 8 that overlaps with the ceiling along the conveying direction, so as to realize the soft overlap between the guide rail frame body 8 and the ceiling and prevent the guide rail frame body 8 from scratching the ceiling during the overlap process.

[0056] When it is necessary to move the intelligent cleaning device from the ground to the ceiling of the subway entrance and exit, Figure 5As shown in the figure, first fix the main body 11 of the trolley frame on the ground, and then install one end of the main body 8 of the guide rail frame on the main body 11 of the trolley frame. One end of the main body 8 of the guide rail frame is rotatably connected to the main body 11 of the trolley frame, and the angle between the main body 8 of the guide rail frame and the main body 11 of the trolley frame can be adjusted according to different heights (this height refers to the height of the ceiling of the subway entrance and exit) and different distances (this distance refers to the distance between the ceiling of the subway entrance and exit and the main body 11 of the trolley frame). The other end of the main body 8 of the guide rail frame is lapped on the ceiling, so that the main body 8 of the guide rail frame forms an angle with the ground, specifically, an acute angle is formed between the main body 8 of the guide rail frame and the main body 11 of the trolley frame. Then, the main body of the carrying frame is installed on the main body 8 of the guide rail frame by means of the cooperation of the pulley 14 and the guide rail 9. The intelligent cleaning device is placed on the main body of the carrying frame. Start the traction winch, and the traction winch works to tighten the traction steel rope, thereby pulling the main body of the carrying frame to move upward on the main body 8 of the guide rail frame, and sending the intelligent cleaning device from the ground to the ceiling of the subway entrance and exit.

[0057] When the intelligent cleaning device needs to be sent from the ceiling of the subway entrance and exit to the ground, remotely control the intelligent cleaning device to reach the main body of the carrying frame, start the traction winch, and the traction winch works to slowly release the traction steel rope. The main body of the carrying frame and the intelligent cleaning device move downward on the main body 8 of the guide rail frame under their own gravity, and finally reach the ground. After use, remove the main body 8 of the guide rail frame from the main body 11 of the trolley frame, and remove the main body of the carrying frame from the main body 8 of the guide rail frame.

[0058] Further, the main body of the carrying frame includes a moving frame 1 and a tray 7. The upper part of the moving frame 1 is connected to the tray 7 through a support plate 2, and the pulley 14 is arranged at the lower part of the moving frame 1; an acute angle is formed between the moving frame 1 and the tray 7. There are 4 pulleys 14, and the 4 pulleys 14 are arranged in a rectangular array. Two guide rails 9 are symmetrically arranged on the main body 8 of the guide rail frame. By setting an acute angle between the moving frame 1 and the tray 7, when the moving frame 1 slides up and down on the main body 8 of the guide rail frame, the tray 7 can be kept in a relatively horizontal state.

[0059] Further, a "冂"-shaped baffle frame 6 with an open side is arranged above the tray 7. A bridging plate 4 is movably arranged on the tray 7 and at the open end of the baffle frame 6, and the bridging plate 4 is used for loading and unloading objects. The opening direction of the baffle frame 6 is perpendicular to the moving direction of the moving frame 1, and at the same time, the open end of the baffle frame 6 is far away from the main body 11 of the trolley frame. By setting the baffle frame 6, it is avoided that objects fall from the tray 7 during the up and down movement. Baffles 5 are arranged on both sides of the bridging plate 4 and along the moving direction of the moving frame 1. By setting the baffles 5, it is avoided that objects fall from the side ends of the bridging plate 4. The support plate 2 is a triangular plate.

[0060] Further, the moving frame 1 is a rectangular moving frame, and the guide rail frame body 8 is a rectangular guide rail frame; two groups of limit frames 3 are symmetrically arranged at the bottom of the rectangular moving frame and on both sides along the moving direction of the rectangular moving frame, and the limit frames 3 are L-shaped limit frames, and the limit frames 3 are adapted to the rectangular guide rail frame. The rectangular guide rail frame is just limited between the L-shaped limit frame 3 and the rectangular guide rail frame to prevent the rectangular moving frame from falling from the rectangular guide rail frame.

[0061] Furthermore, the guide rail frame body 8 is a telescopic rectangular guide rail frame or a foldable rectangular guide rail frame, which is convenient for storage and transportation. The telescopic structure and folding structure of the guide rail frame body 8 are prior art and will not be described in detail here.

[0062] Furthermore, a lifting motor 12 is provided on the cart frame body 11, and an electric telescopic rod 13 is provided at the output end of the lifting motor 12, and a working end of the electric telescopic rod 13 is connected to the guide rail frame body 8. By providing the electric telescopic rod 13, the angle between the guide rail frame body 8 and the cart frame body 11 can be adjusted, and the guide rail frame body 8 can be supported at the same time to prevent the guide rail frame body 8 from being damaged.

[0063] Furthermore, the cart frame body 11 includes a rectangular cart frame, and a lockable universal wheel is arranged below the rectangular cart frame, which is not shown in the figure, so as to facilitate the movement of the cart frame body. The front end of the cart frame body 11 is designed to be closed, the front end is an equipment box, and a traction winch and a water pump are built in. A water tank is placed at the rear end, and a drain hole is arranged at the bottom of the water tank.

[0064] Furthermore, a handle 10 is provided on the rectangular trolley frame to facilitate manual pushing of the trolley frame body 11 .

[0065] Furthermore, the control device includes a microprocessor, a human-computer interaction mechanism, and a camera 17. The microprocessor is communicatively connected to the human-computer interaction mechanism and the camera 17, and the microprocessor is communicatively connected to the power mechanism on the intelligent cleaning device; the camera 17 is arranged on the frame body 16; the camera 17 is used to photograph the surrounding environment of the area to be cleaned, and transmit the photographed image to the microprocessor in real time. The microprocessor displays the image information on the human-computer interaction mechanism, and the operator selects the cleaning mode according to the environment to be cleaned, and the microprocessor determines the position of the intelligent cleaning device on the entrance and exit ceiling according to the image, thereby controlling the moving path of the intelligent cleaning device on the entrance and exit ceiling; the human-computer interaction mechanism is used to feed back the input cleaning parameters to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device.

[0066] Furthermore, the control device also includes a laser radar 45, which is used to measure the distance between the intelligent cleaning device and the edge of the ceiling, and transmit the measured distance information to the microprocessor. When the distance is lower than the first preset threshold, the microprocessor controls the intelligent cleaning device to turn; when the distance is lower than the second preset threshold, the microprocessor controls the intelligent cleaning device to stop moving forward or backward, and issues an alarm through the alarm 18. The first preset threshold is greater than the second preset threshold. Two laser radars 45 are respectively set at the front and rear ends of the frame body 16, and a total of four laser radars 45 are set.

[0067] The present application also discloses a method for intelligently cleaning the ceiling of a subway entrance and exit, comprising the following steps:

[0068] S1. Use a conveying device to transfer the intelligent cleaning device to the ceiling of the subway entrance and exit;

[0069] S2, the camera 17 transmits the photographed environment to be cleaned to the microprocessor and displays it in real time on the human-computer interaction mechanism, and the operator selects a cleaning mode according to the environment to be cleaned; if there is a large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the cleaning-flushing mode is selected; if there is no large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the flushing mode is selected;

[0070] S3, the human-machine interaction mechanism transmits the operator's selection result to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device according to the cleaning mode;

[0071] S4. After cleaning is completed, the intelligent cleaning device is transported to the ground using a conveying device.

[0072] The embodiments described above are only descriptions of the preferred modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations, modifications, and substitutions made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent cleaning system for subway entrance and exit ceilings, characterized in that: It includes a conveying device, an intelligent cleaning device, and a control device. The control device is connected to the conveying device and the intelligent cleaning device in communication. The control device controls the conveying device and the intelligent cleaning device to work. The conveying device is used to convey the intelligent cleaning device, and the intelligent cleaning device is used to clean the ceiling of the subway entrance and exit; The intelligent cleaning device comprises a frame body and a walking mechanism (20), a liquid spraying mechanism and a sweeping and brushing integrated mechanism arranged on the frame body (16); the walking mechanism (20) is a crawler-type walking mechanism; the sweeping and brushing integrated mechanism comprises a rotatable hollow drum (25) and a brush (24); a rotatable rotating drum (41) is arranged on the inner periphery of the hollow drum (25); a plurality of retaining bars (42) are evenly arranged on the outer periphery of the rotating drum (41) along its axial direction; a plurality of the brushes (24) are movably arranged on the outer periphery of the hollow drum (25) through a movable member (43); an end of the movable member (43) away from the brush (24) passes through the side wall of the hollow drum (25) and extends into the cavity of the hollow drum (25), and is matched with the retaining bar (42).

2. The intelligent cleaning system for subway entrance and exit ceiling according to claim 1 is characterized by: The movable member (43) is a spherical block with a large middle portion and small ends. A first through hole (44) adapted to the middle portion of the movable member (43) is provided on the side wall of the hollow drum (25), and both ends extend out of the first through hole (44). The end of the movable member (43) close to the rotating drum (41) is made of elastic material. When the rotating drum (41) rotates, the baffle (42) contacts the elastic end of the movable member (43), causing the movable member (43) and the brush (24) to vibrate, and the middle portion of the movable member (43) shakes in the first through hole (44), changing the flushing direction of the brush (24).

3. The intelligent cleaning system for subway entrance and exit ceiling according to claim 2 is characterized by: The integrated sweeping and brushing mechanism further comprises a garbage collection assembly, which comprises an arc-shaped shovel box (36), a garbage bin (34), and a vacuum pump (33). The arc-shaped shovel box (36) is adapted to the periphery of the hollow drum (25) and is located behind the hollow drum (25) and close to the bottom. The arc-shaped shovel box (36) is connected to the garbage bin (34). The vacuum pump (33) puts the garbage bin (34) in a vacuum environment, so as to facilitate the garbage in the arc-shaped shovel box (36) to be sucked into the garbage bin (34).

4. The intelligent cleaning system for subway entrance and exit ceiling according to claim 3 is characterized by: The garbage collection assembly comprises a storage box (32), a sliding cavity (39) adapted to the arc-shaped shovel box (36) is arranged at the lower end of the storage box (32), a third motor is arranged at the top of the sliding cavity (39), a steel wire rope (37) is arranged at the output end of the third motor, and the end of the steel wire rope (37) away from the third motor is connected to the arc-shaped shovel box (36); a second through hole (38) is arranged on the side wall of the garbage bin (34), and the second through hole (38) connects the storage box (32) and the garbage bin (34); the steel wire rope (37) pulls the arc-shaped shovel box (36) to slide into the sliding cavity (39), and the side wall of the arc-shaped shovel box (36) blocks the second through hole (38).

5. The intelligent cleaning system for subway entrance and exit ceiling according to claim 2 is characterized by: The liquid spraying mechanism is arranged at the front end of the frame body (16) and the sweeping and brushing integrated mechanism, and comprises a power pump (19), a main pipe (31), a liquid dispensing pipe (30), and a plurality of nozzles (29). The power pump (19) is arranged at the top of the frame body (16), the input end of the power pump (19) is connected to the liquid storage tank through a water pipe, and the output end of the power pump (19) is connected to the liquid dispensing pipe (30) through the main pipe (31), and a plurality of nozzles (29) are arranged on the liquid dispensing pipe (30). The water spraying direction of the nozzles (29) is downward, and the arrangement direction of the plurality of nozzles (29) on the frame body (16) is parallel to the axial direction of the hollow drum (25).

6. The intelligent cleaning system for subway entrance and exit ceiling according to claim 2 is characterized by: The conveying device comprises a trolley frame body (11), a guide rail frame body (8), a supporting frame body, and a traction steel rope, wherein one end of the guide rail frame body (8) is movably connected to the trolley frame body (11), and the two are arranged at an acute angle; a guide rail (9) is arranged on the guide rail frame body (8), and a pulley (14) adapted to the guide rail (9) is arranged at the lower end of the supporting frame body; a guide wheel (15) is arranged on the supporting frame body, and one end of the traction steel rope is connected to a traction winch arranged on the trolley frame body (11), and the other end passes through the guide wheel (15) and is connected to the supporting frame body.

7. The intelligent cleaning system for subway entrance and exit ceiling according to claim 6, characterized in that: The main body of the load-bearing frame comprises a rectangular mobile frame (1) and a tray (7); the upper part of the rectangular mobile frame (1) is connected to the tray (7) via a support plate (2); the pulley (14) is arranged at the lower part of the rectangular mobile frame (1); and an acute angle is formed between the rectangular mobile frame (1) and the tray (7); The guide rail frame body is a rectangular guide rail frame; two groups of L-shaped limit frames (3) are symmetrically arranged at the bottom of the rectangular moving frame (1) and on both sides along the moving direction of the rectangular moving frame (1), and the L-shaped limit frames (3) are adapted to the rectangular guide rail frame.

8. The intelligent cleaning system for subway entrance and exit ceiling according to claim 1, characterized in that: The control device comprises a microprocessor, a human-machine interaction mechanism, and a camera (17); the microprocessor is communicatively connected to the human-machine interaction mechanism and the camera (17); and the microprocessor is communicatively connected to a power mechanism on the intelligent cleaning device; The camera (17) is arranged on the frame body (16); the camera (17) is used to photograph the surrounding environment of the area to be cleaned, and transmit the photographed image to the microprocessor in real time; the microprocessor displays the image information on the human-computer interaction mechanism; the operator selects a cleaning mode according to the environment to be cleaned, and the microprocessor determines the position of the intelligent cleaning device on the entrance ceiling according to the image, thereby controlling the moving path of the intelligent cleaning device on the entrance ceiling; The human-machine interaction mechanism is used to feed back the input cleaning parameters to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device.

9. The intelligent cleaning system for subway entrance and exit ceiling according to claim 8, characterized in that: It also includes a laser radar (45), which is used to measure the distance between the intelligent cleaning device and the edge of the ceiling, and transmit the measured distance information to the microprocessor. When the distance is lower than a first preset threshold, the microprocessor controls the intelligent cleaning device to turn; when the distance is lower than a second preset threshold, the microprocessor controls the intelligent cleaning device to stop moving forward and issues an alarm.

10. An intelligent cleaning method for subway entrance and exit ceilings, characterized in that: The steps include: S1. Use a conveying device to transfer the intelligent cleaning device to the ceiling of the subway entrance and exit; S2, the camera (17) transmits the image of the environment to be cleaned to the microprocessor and displays it in real time on the human-computer interaction mechanism, and the operator selects a cleaning mode according to the environment to be cleaned; if there is a large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the cleaning-flushing mode is selected; if there is no large volume of garbage or a large amount of dust accumulation in the environment to be cleaned, the flushing mode is selected; S3, the human-machine interaction mechanism transmits the operator's selection result to the microprocessor, and the microprocessor controls the operation of the intelligent cleaning device according to the cleaning mode; S4. After cleaning is completed, the intelligent cleaning device is transported to the ground using a conveying device.

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