Robot for cleaning sound barrier and operation method

Abstract

The invention provides a robot for cleaning a sound barrier, the sound barrier is a totally-closed sound barrier or a semi-closed sound barrier, the robot is arranged on the upper surface of the sound barrier, the robot is characterized by comprising a main transfer robot and a sub-robot, a traction rope is arranged between the main transfer robot and the sub-robot, and the traction rope is connected with the main transfer robot and the sub-robot. The main transfer robot is provided with a connection platform used for being connected with the sub-robot, the main transfer robot and the sub-robot are further provided with a power module used for providing power, a cleaning module and a control module, and the robot can be placed on the upper surface of the sound barrier to conduct cleaning work. All-directional cleaning of the upper surface of the sound barrier can be achieved, safety performance is high, normal traffic passing is not affected, the high-altitude falling risk of operators is avoided through a remote control mode, cleaning efficiency is high, consumed labor is little, and operation is convenient and fast.

Description

Technical Field

[0001] The invention relates to an accessory for a noise protection device, and in particular to a robot and an operation method for cleaning a sound barrier. Background Art

[0002] A sound barrier is a facility inserted between the sound source and the receiver, which makes the sound wave propagation have a significant additional attenuation, thereby reducing the noise impact in a certain area where the receiver is located. It is divided into traffic sound barriers, equipment noise attenuation sound barriers, industrial plant boundary sound barriers, and highways and expressways are the places where various types of sound barriers are used most. In order to enhance the lighting of the sound barrier, the top is generally made of PC, acrylic and other light-transmitting materials. In the natural environment, the light-transmitting roof will accumulate dust and cause the light to decrease, so regular cleaning of the light-transmitting material has become an important task in the daily maintenance of the sound barrier.

[0003] Most of the existing cleaning robots are suitable for flat, vertical or slightly inclined surfaces, such as solar panels, glass curtain walls, etc. However, there are few cleaning methods for existing fully enclosed sound barriers, and most of them are cleaned manually, which is time-consuming and labor-intensive, and the working environment is also unsafe. How to provide a robot and method for automatic cleaning of sound barriers is a problem that urgently needs to be solved. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a safe and reliable robot and operating method for cleaning sound barriers.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: A robot for cleaning a sound barrier, wherein the sound barrier is a fully enclosed sound barrier or a semi-enclosed sound barrier, the robot is arranged on the upper surface of the sound barrier, the robot comprises a main transfer robot and a sub-robot, a traction rope is arranged between the main transfer robot and the sub-robot, a docking platform for docking the sub-robot is arranged on the main transfer robot, the main transfer robot and the sub-robot are also provided with a power module, a cleaning module and a control module for providing power, the cleaning module comprises a spray system and a cleaning roller brush, the control module comprises a mobile drive module for controlling the forward and backward movement of the main transfer robot and the sub-robot, and a cleaning drive module for controlling the spray system and the cleaning roller brush.

[0006] Preferably, there are two cleaning roller brushes on the main transfer robot, which are respectively arranged at the front and rear ends of the main transfer robot, and there is one cleaning roller brush on the sub-robot, which is arranged at the end of the sub-robot away from the traction rope.

[0007] Preferably, a track is fixedly provided in the longitudinal direction of the upper side of the sound barrier for the main transfer robot to travel back and forth.

[0008] Preferably, the track is a double track, and the cleaning roller brush is located between the two tracks.

[0009] Preferably, there are one or two sub-robots, which are respectively arranged on one side or both sides of the main transfer robot.

[0010] Preferably, the main transfer robot is also provided with a functional module and a sensor module, the functional module includes a zipline winch module and a tensioning adjustment module for towing and fixing the sub-robot for retraction and extension, and the sensor module includes an infrared receiver for receiving remote control signals and an ultrasonic ranging sensor for measuring the running distance of the main transfer robot.

[0011] Preferably, the cleaning module further comprises a wastewater collecting device, wherein the wastewater collecting device is arranged on the outside of the cleaning roller brush, and the wastewater collecting device comprises a wiper and a negative pressure water absorption device located at the end of the wiper.

[0012] A method for cleaning a sound barrier, characterized in that it comprises the following steps: Start the main transfer robot: the start control is divided into automatic start control based on the cleaning cycle and manual start control, and the manual start control takes precedence over the automatic start control; Operation and braking of the main transfer robot: The main transfer robot stops after running a set distance. The main transfer robot starts spraying water and cleaning roller brushes while running. The sub-robot is released after the main transfer robot stops. 3) Sub-robot start: After receiving the stop status signal from the main transfer robot, the sub-robot leaves the docking platform, starts the water spray and electric roller brush, and the wastewater collection device starts to collect wastewater; Sub-robot return: After the sub-robot runs to the designated position, it returns to the docking platform along the original route. When returning, the water spraying and electric roller brush are stopped at the same time, and the wastewater collection device continues to collect wastewater; Repeat steps 2) to 4) to complete the cleaning of the entire sound barrier.

[0013] Preferably, in the step 2), the main transfer robot runs a set distance according to the cleaning width of the sub-robot, and the designated position to which the sub-robot in the step 4) runs is the edge position of the upper surface of the sound barrier.

[0014] The beneficial effects of the present invention are as follows: the robot and operating method for cleaning the sound barrier provided by the present invention can be placed on the upper surface of the sound barrier for cleaning, and can achieve all-round cleaning of the upper surface of the sound barrier through remote control, with high safety performance and no impact on normal traffic. The remote control method avoids the risk of operators falling from a high altitude, and has high cleaning efficiency and requires less labor. The robot is economical and applicable, and the operation is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 Schematic diagram of functional modules included in the main transfer robot of an embodiment of the present invention; Figure 3 Schematic diagram of the functional modules included in the sub-robot of an embodiment of the present invention. Implementation

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, an embodiment of the present invention provides a robot for cleaning sound barriers, which is applicable to existing fully enclosed or semi-enclosed sound barriers. The upper surface of the fully enclosed or semi-enclosed sound barriers is generally composed of transparent plates. The robot is arranged on the upper surface of the fully enclosed or semi-enclosed sound barriers, specifically on the outer surface of the upper surface. The robot includes a main transfer robot 1 and a sub-robot 2. A traction rope 3 is arranged between the main transfer robot 1 and the sub-robot 2. The main transfer robot 1 is provided with a docking platform 4 for docking the sub-robot 2. When in an inactive state, the sub-robot 2 is arranged on the docking platform 4. When applied to a semi-enclosed sound barrier, since only one side needs to be cleaned, one sub-robot is arranged. When applied to a fully enclosed sound barrier, both sides need to be cleaned, so two sub-robots 2 are arranged, which are arranged on the left and right sides of the main transfer robot 1 respectively.

[0018] like Figure 2 , 3 As shown, the main transfer robot 1 and the sub-robot 2 are provided with a power module, a cleaning module and a control module for providing power. The cleaning module includes a spray system and a cleaning roller brush. The control module includes a mobile drive module for controlling the forward and backward movement of the main transfer robot 1 and the sub-robot 2, and a cleaning drive module for controlling the spray system and the cleaning roller brush.

[0019] A cleaning roller brush 5 is provided at the end of the main transfer robot, and a cleaning roller brush is provided at the end of the sub-robot away from the traction rope. To facilitate back and forth cleaning, two cleaning roller brushes can be provided on the main transfer robot, respectively provided at the front and rear ends of the main transfer robot.

[0020] In order to facilitate the smooth back and forth movement of the main transfer robot and fix the running route, a track for the main transfer robot to travel back and forth is fixed along the longitudinal direction of the upper surface of the sound barrier. The track can be a single track or a double track. When it is a single track, the cleaning roller brush structure at the end of the main transfer robot should avoid interference with the single track. When a double track is selected, the cleaning roller brush on the main transfer robot is between the two tracks.

[0021] During the cleaning operation, the main transfer robot starts moving forward, the spray system begins to spray water to moisten the surface of the sound barrier, the cleaning roller brush rolls and sweeps, and the main transfer robot stops after running a certain distance. The maximum distance of each operation of the main transfer robot must be less than or equal to the length of the cleaning roller brush on the sub-robot. When the main transfer robot stops, the sub-robot leaves the docking platform and starts to move to both sides. At the same time, the spray system and cleaning roller brush on the sub-robot start working. The sub-robot runs to the set position and then returns. When returning, the cleaning module on the sub-robot can be set to run or not.

[0022] In order to realize the control of the sub-robot and the control of the operation mode, the main transfer robot is also provided with a functional module and a sensor module. The functional module includes a zipline winch module and a tensioning adjustment module for controlling the retraction and extension of the sub-robot. When the main transfer robot stops, the sub-robot receives a signal, and the mobile drive module on the sub-robot controls the sub-robots on both sides to leave the docking platform and move to both sides respectively. At the same time, the cleaning module is started, and the spray system and the cleaning roller brush start working. When the sub-robot runs to the edge, it stops moving forward, the spray system and the cleaning roller brush stop working, and the zipline winch module and the tensioning adjustment module start working to control the traction rope to be recovered and tightened to pull the sub-robot back to the docking platform; the sensor module includes an infrared receiver for receiving remote control signals and an ultrasonic ranging sensor for measuring the running distance of the main transfer robot. The infrared receiver can realize remote operation and remote control, and the ultrasonic ranging sensor can measure the running distance and stop position of the main transfer robot in real time, and transmit the position signal back to the mobile drive module in time.

[0023] In order to prevent wastewater from flowing down and polluting the upright part of the sound barrier, the cleaning module also includes a wastewater collecting device. The wastewater collecting device on the main transfer robot 1 is arranged at the end, which can be arranged at one end or at both ends. The wastewater collecting device on the sub-robot is arranged at the end away from the traction rope. The wastewater collecting device includes a wiper and a negative pressure water absorption device located at the end of the wiper. When the sub-robot travels back and forth, the wiper is used to scrape water stains on the surface of the sound barrier to the wiper area, and the negative pressure water absorption device absorbs the accumulated water to complete the wastewater collection.

[0024] This embodiment also provides a method for cleaning a sound barrier, which includes the following steps: 1) Start the main transfer robot: The start control is divided into automatic start control based on the cleaning cycle and manual start control. The manual start control takes precedence over the automatic start control, that is, when cleaning is required, the main transfer robot will follow the remote control command first. When no one is operating, the main transfer robot will automatically start according to the set cleaning cycle. When the robot starts, the cleaning cycle will be recalculated; 2) Operation and braking of the main transfer robot: After receiving the start signal, the main transfer robot starts to move forward, and the spray system and cleaning roller brush are started at the same time. The main transfer robot stops after running the set distance, and releases the sub-robot after stopping; 3) Sub-robot start: After receiving the stop status signal from the main transfer robot, the sub-robot leaves the docking platform, starts the spray system and the cleaning roller brush, and the wastewater collection device starts to collect wastewater; 4) Sub-robot returns: After the sub-robot runs to the designated position, it returns to the docking platform along the original route. When returning, the spray system and the cleaning roller brush are stopped, and the wastewater collection device continues to collect wastewater; 5) Repeat steps 2) - 4) to complete the cleaning of the entire sound barrier.

[0025] In the above step 2), the main transfer robot runs a set distance according to the cleaning width of the sub-robot, and the designated position to which the sub-robot in the above step 4) runs is the edge position of the upper surface of the sound barrier.

[0026] The embodiment described above is only one of the more preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot for cleaning a sound barrier, wherein the sound barrier is a fully enclosed sound barrier or a semi-enclosed sound barrier, and the robot is arranged on the upper surface of the sound barrier, characterized in that: The robot includes a main transfer robot and a sub-robot, a traction rope is arranged between the main transfer robot and the sub-robot, the main transfer robot is provided with a docking platform for docking the sub-robot, the main transfer robot and the sub-robot are also provided with a power module, a cleaning module and a control module for providing power, the cleaning module includes a spray system and a cleaning roller brush, the control module includes a mobile drive module for controlling the forward and backward movement of the main transfer robot and the sub-robot, and a cleaning drive module for controlling the spray system and the cleaning roller brush.

2. The robot for cleaning the sound barrier according to claim 1, characterized in that: There are two cleaning roller brushes on the main transfer robot, which are respectively arranged at the front and rear ends of the main transfer robot, and there is one cleaning roller brush on the sub-robot, which is arranged at the end of the sub-robot away from the traction rope.

3. The robot for cleaning the sound barrier according to claim 1, characterized in that: A track is fixedly provided in the longitudinal direction of the upper side of the sound barrier for the main transfer robot to travel back and forth.

4. The robot for cleaning the sound barrier according to claim 3, characterized in that: The track is a double track, and the cleaning roller brush is located between the two tracks.

5. The robot for cleaning the sound barrier according to claim 1, characterized in that: There are one or two sub-robots, which are respectively arranged on one side or both sides of the main transfer robot.

6. The robot for cleaning the sound barrier according to claim 5, characterized in that: The main transfer robot is also provided with a functional module and a sensor module. The functional module includes a zipline winch module and a tensioning adjustment module for towing and fixing the sub-robot for retraction and extension. The sensor module includes an infrared receiver for receiving remote control signals and an ultrasonic ranging sensor for measuring the running distance of the main transfer robot.

7. The robot for cleaning the sound barrier according to claim 5, characterized in that: The cleaning module also includes a wastewater collecting device, which is arranged on the outside of the cleaning roller brush. The wastewater collecting device includes a wiper and a negative pressure water absorption device located at the end of the wiper.

8. A method for cleaning a sound barrier, characterized in that: It includes the following steps: 1) Start the main transfer robot: The start control is divided into automatic start control based on the cleaning cycle and manual start control, and the manual start control takes precedence over the automatic start control; 2) Operation and braking of the main transfer robot: The main transfer robot stops after running a set distance. The main transfer robot starts spraying water and cleaning roller brushes while running. The sub-robot is released after the main transfer robot stops. 3) Sub-robot start: After receiving the stop status signal from the main transfer robot, the sub-robot leaves the docking platform, starts the water spray and electric roller brush, and the wastewater collection device starts to collect wastewater; 4) Sub-robot returns: After the sub-robot runs to the designated position, it returns to the docking platform along the original route. When returning, the water spraying and electric roller brush are stopped at the same time, and the wastewater collection device continues to collect wastewater; 5) Repeat steps 2) - 4) to complete the cleaning of the entire sound barrier.

9. The method for cleaning the sound barrier according to claim 8, characterized in that: In the step 2), the main transfer robot runs a set distance according to the cleaning width of the sub-robot, and the designated position to which the sub-robot in the step 4) runs is the edge position of the upper surface of the sound barrier.

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