Intelligent cleaning system and method for subway entrance and exit canopy

Abstract

The present application belongs to the technical field of intelligent cleaning equipment, and particularly relates to a subway entrance and exit ceiling intelligent cleaning system and method. The specific technical scheme is as follows: the sweeping and brushing integrated mechanism comprises a rotatable hollow roller and a brush, the hollow roller is provided with a rotatable rotating drum in the periphery, a plurality of blocking strips are uniformly arranged on the periphery of the rotating drum along the axial direction, a plurality of brushes are movably arranged on the periphery of the hollow roller through movable pieces, and the end of the movable piece away from the brush penetrates through the side wall of the hollow roller and extends into the cavity of the roller, and is matched with the blocking strip. In the flushing mode, the hollow roller and the rotating drum rotate in opposite directions, the rotating drum drives the blocking strip to rotate when rotating, the top of the blocking strip is in contact with the end of the movable piece to generate vibration, thereby driving the brush to vibrate and improving the cleaning effect of the brush.

Description

Technical Field

[0001] This invention belongs to the field of intelligent cleaning equipment technology, specifically relating to an intelligent cleaning system and method for the ceiling of a subway entrance. Background Technology

[0002] Subway stations consist of entrance / exit canopies, U-shaped platforms, ventilation shafts, accessible elevators, emergency evacuation routes, and other components. These parts require regular cleaning to ensure the cleanliness of the subway station. Cleaning the entrance / exit canopies typically involves high-pressure water jets or manual cleaning using extension ladders. This method is labor-intensive, poses significant safety risks, and is costly, making it a major challenge in station cleaning operations.

[0003] Some researchers have proposed using intelligent cleaning devices to clean the ceilings of entrances and exits. However, how to transport the intelligent cleaning devices to the ceilings and back to the ground are problems that need to be solved at this stage. The current practice is to manually climb up to retrieve the intelligent cleaning devices, which poses safety hazards. In addition, some intelligent cleaning devices are heavy and bulky, and manual operation is time-consuming and laborious. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an intelligent cleaning system and method for the ceiling of subway entrances and exits.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by the present invention is: a smart cleaning system for the ceiling of a subway entrance, comprising a conveying device, a smart cleaning device, and a control device. The control device is communicatively connected to the conveying device and the smart cleaning device, and controls the operation of the conveying device and the smart cleaning device. The conveying device is used to convey the smart cleaning device, and the smart cleaning device is used to clean the ceiling of the subway entrance.

[0006] The intelligent cleaning device includes a frame body and a walking mechanism, a spraying mechanism, and a sweeping and brushing integrated mechanism mounted on the frame body. The walking mechanism is a tracked walking mechanism. The sweeping and brushing integrated mechanism includes a rotatable hollow roller and brushes. A rotatable drum is arranged inside the hollow roller. Several baffles are evenly arranged around the outside of the drum along its axial direction. Several brushes are movably arranged around the hollow roller through movable parts. The end of the movable part away from the brushes passes through the side wall of the hollow roller and extends into the cavity of the roller, adapting to the baffles.

[0007] Preferably, the movable component is a spherical block with a large middle section and small ends. The hollow roller sidewall is provided with a first through hole that matches the middle section of the movable component. The two ends extend out of the first through hole respectively. The end of the movable component near the rotating drum is made of an elastic material. When the rotating drum rotates, the baffle contacts the elastic end of the movable component, causing the movable component and the brush to vibrate. The middle section of the movable component also wobbles within the first through hole, changing the brush's scouring direction.

[0008] Preferably, the integrated sweeping and brushing mechanism further includes a garbage collection component, which includes an arc-shaped shovel box, a garbage bin, and a vacuum pump. The arc-shaped shovel box is adapted to the outer periphery of the hollow roller and is located behind the hollow roller near the bottom. The arc-shaped shovel box is connected to the garbage bin, and the vacuum pump creates a vacuum environment inside the garbage bin, which facilitates the suction of garbage from the arc-shaped shovel box into the garbage bin.

[0009] Preferably, the waste collection assembly includes a storage box, the lower end of which is provided with a sliding cavity adapted to the arc-shaped shovel box. A third motor is provided at the top of the sliding cavity, and a steel wire rope is provided at the output end of the third motor. 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 waste bin, and the second through hole connects the storage box and the waste bin. The steel wire rope pulls the arc-shaped shovel box into the sliding cavity, and the side wall of the arc-shaped shovel box blocks the second through hole.

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

[0011] Preferably, the conveying device includes a trolley frame body, a guide rail frame body, a load-bearing 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 set at an acute angle. A guide rail is provided on the guide rail frame body, and a pulley adapted to the guide rail is provided at the lower end of the load-bearing frame body. A guide wheel is provided on the load-bearing frame body. One end of the traction steel rope is connected to a traction winch provided on the trolley frame body, and the other end passes through the guide wheel and is connected to the load-bearing frame body.

[0012] Preferably, the main body of the supporting frame includes a rectangular movable frame and a tray. The upper part of the rectangular movable frame is connected to the tray through a support plate. The pulley is arranged at the lower part of the rectangular movable frame. The rectangular movable frame and the tray form an acute angle.

[0013] The main body of the guide rail frame is a rectangular guide rail frame; two sets of L-shaped limiting 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 limiting 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 to the human-machine interaction mechanism and the camera, and the microprocessor is communicatively connected to the power mechanism on the intelligent cleaning device.

[0015] The camera is mounted on the main frame. The camera is used to capture the surrounding environment of the area to be cleaned and transmit the captured images to the microprocessor in real time. The microprocessor displays the image information on the human-machine interface. 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 ceiling of the entrance and exit based on the image, thereby controlling the movement path of the intelligent cleaning device on the ceiling of the entrance and exit.

[0016] 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.

[0017] Preferably, it also includes a lidar, 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.

[0018] Accordingly, a method for intelligent cleaning of subway entrance / exit canopies includes the following steps:

[0019] S1. Use a conveyor to transport the intelligent cleaning device to the roof of the subway entrance / 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-machine interface. The operator selects the cleaning mode according to the environment. If there is large volume of garbage or a lot of dust in the environment, the sweeping-rinsing mode is selected. If there is no large volume of garbage or a lot of dust in the environment, the rinsing mode is selected.

[0021] S3. The human-machine interaction mechanism transmits the operator's selection results to the microprocessor, and the microprocessor controls the intelligent cleaning device to work according to the cleaning mode.

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

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

[0024] By designing the integrated sweeping and brush mechanism as a rotatable hollow roller and drum, the drum is set inside the hollow roller, and several baffles are set around the drum along its axis. The brush is movably connected to the side wall of the hollow roller through a movable part, and the end of the movable part near the drum is adapted to the baffle. In the rinsing mode, the hollow roller and the drum rotate in opposite directions. When the drum rotates, it drives the baffles to rotate together. The top of the baffle contacts the end of the movable part and generates vibration, thereby driving the brush to vibrate and improving the cleaning effect of the brush. In the sweeping mode, the hollow roller and the drum rotate synchronously, and the baffle contacts one end of the movable part and remains relatively stationary. The baffle limits the range of movement of the movable part within the first through hole to a certain extent. Attached Figure Description

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

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

[0027] Figure 3 This is a top view of the intelligent cleaning device of the present invention;

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

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

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

[0031] Figure 7 This is a schematic diagram of the main structure of the load-bearing frame of the present invention;

[0032] Figure 8 This is a schematic diagram of the main structure of the trolley frame of the present invention;

[0033] Figure 9 This is a schematic diagram of the main structure of the guide rail frame of the present invention;

[0034] Figure 10 This is a bottom view of the main body of the supporting frame of the present invention;

[0035] Figure 11 This is a physical image of the intelligent cleaning device of the present invention;

[0036] Figure 12 This is a photograph of the guide rail conveying device of the present invention in use.

[0037] The attached diagram shows the following components: 1. Moving frame; 2. Support plate; 3. Limiting frame; 4. Bridge; 5. Baffle; 6. Baffle frame; 7. Tray; 8. Guide rail frame body; 9. Guide rail; 10. Handle; 11. Trolley frame body; 12. Lifting motor; 13. Electric telescopic rod; 14. Pulley; 15. Guide wheel; 16. Frame body; 17. Camera; 18. Alarm; 19. Power pump; 20. Walking mechanism; 21. First motor; 22. First connecting plate; 23. First circular cover; 24. Brush; 25. Hollow roller; 26. Second motor; 27. Second connecting plate; 28. Second circular cover; 29. ​​Nozzle; 30. Liquid distribution pipe; 31. Main pipe; 32. Storage box; 33. Vacuum pump; 34. Trash can; 35. Third motor; 36. Arc-shaped shovel box; 37. Steel wire rope; 38. Second through hole; 39. Sliding cavity; 40. Rotating rod; 41. Rotating cylinder; 42. Stop bar; 43. Moving part; 44. First through hole; 45. Radar. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all 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 this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

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

[0041] like Figure 1-12 As shown, a smart cleaning system for subway entrance / exit canopies includes a conveying device, a smart cleaning device, and a control device. The control device is communicatively connected to the conveying device and the smart cleaning device, and controls the operation of the conveying device and the smart cleaning device. The conveying device is used to transport the smart cleaning device, that is, to transport the smart cleaning device from the ground to the entrance / exit canopy and from the entrance / exit canopy to the ground. The smart cleaning device is used to clean the subway entrance / exit canopy.

[0042] The intelligent cleaning device includes a frame body 16 and a traveling mechanism 20, a spraying mechanism, and a sweeping and brushing mechanism mounted on the frame body 16. The traveling mechanism 20 drives the intelligent cleaning device forward, the spraying mechanism sprays clean water and detergent onto the area to be cleaned, and the sweeping and brushing mechanism cleans debris or dust from the ceiling. The spraying mechanism is located at the front end of the frame body 16, and the sweeping and brushing mechanism is located between the spraying mechanism and the traveling mechanism 20. Figure 4 As shown, the integrated sweeping and brushing mechanism includes a rotatable hollow roller 25 and brushes 24. A rotatable rotating drum 41 is arranged around the inner circumference of the hollow roller 25. A plurality of baffles 42 are evenly arranged around the rotating drum 41 along its axial direction. A plurality of brushes 24 are movably disposed around the hollow roller 25 via movable members 43. The end of the movable member 43 away from the brushes 24 extends through the side wall of the hollow roller 25 and into the cavity of the hollow roller 25, fitting into the baffles 42. During operation, the hollow roller 25 and the rotating drum 41 rotate in opposite directions. When the rotating drum 41 rotates, it drives the baffles 42 to rotate as well. The top of the baffles contacts the end of the movable member 43, generating vibration, which in turn causes the brushes 24 to vibrate, improving the cleaning effect of the brushes 24.

[0043] The phrase "one end of the movable part 43 is adapted to the baffle 42" means that during the reverse rotation of the hollow roller 25 and the rotating drum 41, one end of the same movable part 43 will continuously contact the baffle 42. Several baffles 42 continuously tap one end of the movable part 43, causing the brush 24 to vibrate, thereby improving the rinsing effect of the brush 24 and improving the cleaning effect of the intelligent cleaning device.

[0044] It should be noted that the movable part 43 is movably connected to the hollow roller 25, meaning that the movable part 43 can rotate and sway on the side wall of the hollow roller 25 but will not fall off the side wall of the hollow roller 25. The end of the movable part 43 near the rotating drum 41 is made of elastic material, and the stop strip 42 presses against one end of the movable part 43, thereby allowing the rotating drum 41 to rotate continuously inside the hollow roller 25. Alternatively, the end of the movable part 43 near the rotating drum 41 may not be made of elastic material. In this case, the length of the first through hole 44 is slightly greater than the length of the middle part of the movable part 43. When one end of the movable part 43 contacts the stop strip 42, the stop strip 42 presses the movable part 43 outward, thereby allowing the rotating drum 41 to rotate continuously inside the hollow roller 25.

[0045] Specifically, a first connecting plate 22 is provided on the lower surface of the frame body 16, 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 roller 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 roller 25, and a second circular cover 28 is fixedly provided at the end of the hollow roller 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 roller 25 to rotate.

[0046] A second connecting plate 27 is provided on the lower surface of the frame body 16. A second motor 26 is fixedly installed 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 this application has two cleaning modes: a sweeping-rinsing mode, which involves sweeping first and then rinsing, and a rinsing mode, which involves direct rinsing. The sweeping-rinsing mode is used when the entrance ceiling contains large-volume garbage or a large amount of accumulated dust; the rinsing mode is used when the entrance ceiling does not contain large-volume garbage or has only a small amount of accumulated dust.

[0048] The walking mechanism 20 is a tracked walking mechanism 20, which can realize climbing and turning functions. The power mechanism that drives the tracked walking mechanism 20 and the tracked walking mechanism 20 are both existing technologies. This application does not improve these two mechanisms, so they will not be described in detail here.

[0049] Furthermore, such as Figure 4-6 As shown, the movable part 43 is a spherical block with a large middle part and small ends. The hollow roller 25 has a first through hole 44 on its side wall that matches the middle part of the movable part 43. The two ends extend out of the first through hole 44 respectively. The end of the movable part 43 near 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 part 43 and the baffle 42 presses one end of the movable part 43. The rotating drum 41 rotates continuously inside the hollow roller 25, causing the movable part 43 and the brush 24 to vibrate. The volume of the first through hole 44 is slightly larger than the volume of the middle part of the movable part 43, so that the middle part of the movable part 43 is movably connected to the side wall of the hollow roller 25, which can change the brushing direction of the brush 24.

[0050] Furthermore, such as Figure 4-6As shown, the integrated 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 roller 25 and is located behind the hollow roller 25 near the bottom. The arc-shaped shovel box 36 is connected to the garbage bin 34. The vacuum pump 33 creates a vacuum environment inside the garbage bin 34, which facilitates the suction of garbage from the arc-shaped shovel box 36 into the garbage bin 34.

[0051] When the cleaning mode is in sweeping mode, the vacuum pump 33 starts working, the arc-shaped shovel box 36 is connected to the garbage bin 34, the hollow roller 25 and the rotating drum 41 rotate synchronously, and the baffle 42 contacts one end of the moving part 43. The baffle 42 restricts the range of movement of the moving part 43 in the first through hole 44. The brush 24 sweeps the garbage towards the arc-shaped shovel box 36. When the garbage reaches the entrance of the arc-shaped shovel box 36, since the garbage bin 34 is in a vacuum environment, the garbage in the arc-shaped shovel box 36 can be sucked into the garbage bin 34, thereby cleaning up the large garbage and a lot of dust on the ceiling.

[0052] Furthermore, the waste collection assembly includes a collection box 32, the lower end of which is provided with a sliding cavity 39 adapted to the arc-shaped shovel box 36. 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. 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 waste bin 34, and the second through hole 38 connects the collection box 32 and the waste bin 34. The steel wire rope 37 pulls the arc-shaped shovel box 36 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 rinsing mode, the vacuum pump 33 stops working, and the third motor 35 tightens the steel wire rope 37. The arc-shaped shovel box 36 is moved into the sliding cavity 39 by the traction of the steel wire rope 37. The side wall of the arc-shaped shovel box 36 blocks the second through hole 38 to seal the garbage bin 34, preventing the garbage in the garbage bin 34 from falling out during the rinsing mode. When the next cleaning mode is activated, the third motor 35 loosens the steel wire rope 37, and the arc-shaped shovel box 36 slides out from the sliding cavity 39 to the bottom of the hollow roller 25 under 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, which would increase the difficulty of cleaning the garbage bin 34. The spraying mechanism continuously sprays cleaning liquid in front, and the hollow roller 25 rotates in the opposite direction to the rotating drum 41. Several baffles 42 continuously tap one end of the moving part 43, causing the brush 24 to vibrate, thereby improving the rinsing effect of the brush 24.

[0054] Furthermore, such as Figure 1As shown, the spraying mechanism is located at the front end of the frame body 16 and the integrated sweeping and brushing mechanism. The spraying mechanism includes a power pump 19, a main pipe 31, a distribution pipe 30, and several nozzles 29. The power pump 19 is located at the top of the frame body 16. The input end of the power pump 19 is connected to the storage tank via a water pipe, and its output end is connected to the distribution pipe 30 via the main pipe 31. Several nozzles 29 are arranged on the distribution pipe 30, and the spraying direction of the nozzles 29 is downward. The arrangement direction of the nozzles 29 on the frame body 16 is parallel to the axial direction of the hollow roller 25. In the rinsing mode, the power pump 19 draws the cleaning fluid from the storage tank into the main pipe 31 and distributes it to the nozzles 29 through the distribution pipe 30.

[0055] Furthermore, such as Figure 7-10 As shown, the conveying device includes a trolley frame body 11, a guide rail frame body 8, a load-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 set at an acute angle. During operation, the end of the guide rail frame body 8 away from the trolley frame body 11 overlaps the ceiling of the subway entrance / exit. A guide rail 9 is provided on the guide rail frame body 8, and a pulley 14 adapted to the guide rail 9 is provided at the lower end of the load-bearing frame body. The load-bearing frame body slides on the guide rail frame body 8 through the cooperation of the guide rail 9 and the pulley 14. A rotatable guide wheel 15 is provided on the load-bearing frame body. One end of the traction steel rope is connected to a traction winch set on the trolley frame body, and the other end passes through the guide wheel 15 and connects to the load-bearing frame body. Several rubber pads are provided along the conveying direction at the end of the guide rail frame body 8 that overlaps with the ceiling to achieve a soft overlap between the guide rail frame body 8 and the ceiling, avoiding scratches to the ceiling by the guide rail frame body 8 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, such as Figure 5As shown, the trolley frame body 11 is first fixedly placed on the ground. Then, one end of the guide rail frame body 8 is installed on the trolley frame body 11. The guide rail frame body 8 and the trolley frame body 11 are rotatably connected, and the angle between the guide rail frame body 8 and the trolley frame body 11 can be adjusted according to different heights (the height of the subway entrance canopy) and different distances (the distance between the subway entrance canopy and the trolley frame body 11). The other end of the guide rail frame body 8 overlaps the canopy, making the guide rail frame body 8 form an angle with the ground, specifically an acute angle between the guide rail frame body 8 and the trolley frame body 11. Then, the load-bearing frame body is installed on the guide rail frame body 8 through the cooperation of pulleys 14 and guide rails 9. The intelligent cleaning device is placed on the load-bearing frame body. The traction winch is started, and the traction winch tightens the traction steel cable, thereby pulling the load-bearing frame body upward on the guide rail frame body 8, sending the intelligent cleaning device from the ground to the subway entrance canopy.

[0057] When the intelligent cleaning device needs to be lowered from the subway entrance canopy to the ground, the device is remotely controlled to reach the supporting frame. The traction winch is then activated, slowly releasing the traction cable. Under its own weight, the supporting frame and the intelligent cleaning device move downwards along the guide rail frame 8 until they reach the ground. After use, the guide rail frame 8 is removed from the trolley frame 11, and the supporting frame is removed from the guide rail frame 8.

[0058] Furthermore, the main body of the supporting frame includes a movable frame 1 and a tray 7. The upper part of the movable frame 1 is connected to the tray 7 via a support plate 2, and the pulleys 14 are disposed at the lower part of the movable frame 1. The movable frame 1 and the tray 7 form an acute angle. Four pulleys 14 are provided, arranged in a rectangular array. Two guide rails 9 are symmetrically arranged on the guide rail frame body 8. By making the movable frame 1 and the tray 7 form an acute angle, the tray 7 can be kept relatively horizontal when the movable frame 1 slides up and down on the guide rail frame body 8.

[0059] Furthermore, a U-shaped baffle frame 6 with an opening on one side is provided above the tray 7. A bridge 4 is movably installed on the tray 7 at the open end of the baffle frame 6, and the bridge 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 the open end of the baffle frame 6 is away from the trolley frame body 11. The baffle frame 6 is provided to prevent objects from falling off the tray 7 during up and down movement. Baffles 5 are provided on both sides of the bridge 4 and along the moving direction of the moving frame 1. The baffles 5 are provided to prevent objects from falling off the side ends of the bridge 4. The support plate 2 is a triangular plate.

[0060] Furthermore, the movable frame 1 is a rectangular movable frame, and the main body 8 of the guide rail frame is a rectangular guide rail frame; two sets of limiting frames 3 are symmetrically arranged at the bottom of the rectangular movable frame and on both sides along the moving direction of the rectangular movable frame. The limiting frames 3 are L-shaped limiting frames, and the limiting frames 3 are adapted to the rectangular guide rail frame. The rectangular guide rail frame is precisely limited between the L-shaped limiting frame 3 and the rectangular guide rail frame, preventing the rectangular movable frame from falling off the rectangular guide rail frame.

[0061] Furthermore, the guide rail frame body 8 is a telescopic rectangular guide rail frame or a folding rectangular guide rail frame, which facilitates storage and transportation. The telescopic and folding structures of the guide rail frame body 8 are existing technologies and will not be described in detail here.

[0062] Furthermore, a lifting motor 12 is provided on the trolley frame body 11, and an electric telescopic rod 13 is provided at the output end of the lifting motor 12. The 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 trolley frame body 11 can be adjusted, and the guide rail frame body 8 can be supported to prevent damage to it.

[0063] Furthermore, the trolley frame body 11 includes a rectangular trolley frame with lockable casters (not shown in the figure) at the bottom for easy movement. The front end of the trolley frame body 11 is designed as a closed shape, with an equipment box at the front containing a traction winch and a water pump, and a water tank at the rear end with a drain hole at the bottom.

[0064] Furthermore, the rectangular trolley frame is provided with a handle 10, which facilitates manual pushing of the trolley frame body 11.

[0065] Furthermore, the control device includes a microprocessor, a human-machine interface mechanism, and a camera 17. The microprocessor is communicatively connected to the human-machine interface mechanism and the camera 17, and is also communicatively connected to the power mechanism on the intelligent cleaning device. The camera 17 is mounted on the frame body 16. The camera 17 is used to capture images of the surrounding environment of the area to be cleaned and transmits the captured images to the microprocessor in real time. The microprocessor displays the image information on the human-machine interface mechanism, allowing the operator to select a cleaning mode based on the environment. The microprocessor determines the position of the intelligent cleaning device on the entrance / exit ceiling based on the image, thereby controlling the movement path of the intelligent cleaning device on the entrance / exit ceiling. The human-machine interface mechanism is used to feed back the input cleaning parameters to the microprocessor, which then controls the operation of the intelligent cleaning device.

[0066] Furthermore, the control device also includes a lidar 45, which measures the distance between the intelligent cleaning device and the edge of the ceiling and transmits 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 or backward and issues an alarm via the alarm 18. The first preset threshold is greater than the second preset threshold. Two lidars 45 are respectively installed at the front and rear ends of the frame body 16, for a total of four lidars 45.

[0067] This application also discloses a method for intelligent cleaning of the ceiling at subway entrances and exits, including the following steps:

[0068] S1. Use a conveyor to transport the intelligent cleaning device to the roof of the subway entrance / exit;

[0069] S2 and camera 17 transmit the captured image of the environment to be cleaned to the microprocessor and display it in real time on the human-machine interface. The operator selects the cleaning mode according to the environment to be cleaned. If there is a large volume of garbage or a lot of dust in the environment to be cleaned, the sweeping-rinsing mode is selected. If there is no large volume of garbage or a lot of dust in the environment to be cleaned, the rinsing mode is selected.

[0070] S3. The human-machine interaction mechanism transmits the operator's selection results to the microprocessor, and the microprocessor controls the intelligent cleaning device to work according to the cleaning mode.

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

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, alterations, substitutions, or variations made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A smart cleaning system for the ceiling of a subway entrance / exit, characterized in that: It includes a conveying device, an intelligent cleaning device, and a control device. The control device is communicatively connected to the conveying device and the intelligent cleaning device. The control device controls the operation of the conveying device and the intelligent cleaning device. 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. The intelligent cleaning device includes a frame body and a walking mechanism (20), a spraying mechanism, and a sweeping and brushing integrated mechanism mounted on the frame body (16). The walking mechanism (20) is a tracked walking mechanism. The sweeping and brushing integrated mechanism includes a rotatable hollow roller (25) and a brush (24). The hollow roller (25) is surrounded by a rotatable drum (41). The drum (41) is surrounded by a number of baffles (42) evenly arranged along its axial direction. A number of brushes (24) are movably mounted around the hollow roller (25) through movable parts (43). The end of the movable part (43) away from the brushes (24) passes through the side wall of the hollow roller (25) and extends into the cavity of the hollow roller (25), which is adapted to the baffles (42). The movable part (43) is a spherical block with a large middle part and small ends. The hollow roller (25) has a first through hole (44) on its side wall that matches the middle part of the movable part (43). The two ends extend out of the first through hole (44). The end of the movable part (43) near 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 part (43), causing the movable part (43) and the brush (24) to vibrate. The middle part of the movable part (43) shakes in the first through hole (44), changing the brushing direction of the brush (24).

2. The intelligent cleaning system for subway entrance / exit canopies according to claim 1, characterized in that: The sweeping and brushing integrated 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 box (36) is adapted to the periphery of the hollow roller (25) and is located behind the hollow roller (25) near the bottom. The arc-shaped shovel box (36) is connected to the garbage bin (34). The vacuum pump (33) creates a vacuum environment inside the garbage bin (34), which facilitates the suction of garbage from the arc-shaped shovel box (36) into the garbage bin (34).

3. The intelligent cleaning system for subway entrance / exit canopies according to claim 2, characterized in that: The garbage collection assembly includes a collection box (32), the lower end of which is provided with a sliding cavity (39) adapted to the arc-shaped shovel box (36). A third motor 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. 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 provided on the side wall of the garbage bin (34), and the second through hole (38) connects the collection box (32) and the garbage bin (34). The steel wire rope (37) pulls the arc-shaped shovel box (36) into the sliding cavity (39), and the side wall of the arc-shaped shovel box (36) blocks the second through hole (38).

4. The intelligent cleaning system for subway entrance / exit canopies according to claim 1, characterized in that: The spraying mechanism is located at the front end of the frame body (16) and the integrated sweeping and brushing mechanism. The spraying mechanism includes a power pump (19), a main pipe (31), a distribution pipe (30), and several nozzles (29). The power pump (19) is located at the top of the frame body (16). The input end of the power pump (19) is connected to the storage tank through a water pipe, and its output end is connected to the distribution pipe (30) through the main pipe (31). Several nozzles (29) are arranged on the distribution pipe (30). The spraying direction of the nozzles (29) is downward. The arrangement direction of the several nozzles (29) on the frame body (16) is parallel to the axial direction of the hollow roller (25).

5. The intelligent cleaning system for subway entrance / exit canopies according to claim 1, characterized in that: The conveying device includes a trolley frame body (11), a guide rail frame body (8), a load-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 set at an acute angle. A guide rail (9) is provided on the guide rail frame body (8), and a pulley (14) adapted to the guide rail (9) is provided at the lower end of the load-bearing frame body. A guide wheel (15) is provided on the load-bearing frame body. One end of the traction steel rope is connected to a traction winch provided on the trolley frame body (11), and the other end passes through the guide wheel (15) and is connected to the load-bearing frame body.

6. The intelligent cleaning system for subway entrance / exit canopies according to claim 5, characterized in that: The main body of the supporting frame includes a rectangular movable frame (1) and a tray (7). The upper part of the rectangular movable frame (1) is connected to the tray (7) through a support plate (2). The pulley (14) is set at the lower part of the rectangular movable frame (1). The rectangular movable frame (1) and the tray (7) form an acute angle. The main body of the guide rail frame is a rectangular guide rail frame; two sets of L-shaped limiting 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 limiting frames (3) are adapted to the rectangular guide rail frame.

7. The intelligent cleaning system for subway entrance / exit canopies according to claim 1, characterized in that: 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 mounted on the main body (16) of the frame. The camera (17) is used to capture the surrounding environment of the area to be cleaned and transmit the captured image to the microprocessor in real time. The microprocessor displays the image information on the human-computer interaction mechanism. 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 ceiling of the entrance and exit based on the image, thereby controlling the movement path of the intelligent cleaning device on the ceiling of the entrance and exit. 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.

8. The intelligent cleaning system for subway entrance / exit canopies according to claim 7, characterized in that: It also includes a lidar (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.

9. A method for intelligent cleaning of the ceiling at subway entrances and exits, characterized in that: The intelligent cleaning system for subway entrance canopies as described in any one of claims 1-8 includes the following steps: S1. Use a conveyor to transport the intelligent cleaning device to the roof of the subway entrance / exit; S2. The camera (17) transmits the image of the environment to be cleaned to the microprocessor and displays it in real time in the human-machine interaction mechanism. The operator selects the cleaning mode according to the environment to be cleaned. If there is a large volume of garbage or a lot of dust in the environment to be cleaned, the cleaning-rinsing mode is selected. If there is no large volume of garbage or a lot of dust in the environment to be cleaned, the rinsing mode is selected. S3. The human-machine interaction mechanism transmits the operator's selection results to the microprocessor, and the microprocessor controls the intelligent cleaning device to work according to the cleaning mode. S4. After cleaning is completed, the intelligent cleaning device is transported to the ground using a conveyor.

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