Road tunnel lamp cleaning system based on dry ice cleaning technology and operation control method

Abstract

The invention discloses a road tunnel lamp cleaning system based on a dry ice cleaning technology and an operation control method. The road tunnel lamp cleaning system comprises a lamp recognition device, a dry ice cleaning assembly, a dry ice spraying assembly and a mechanical arm assembly which are integrated on a vehicle body. The lamp recognition device is used for recognizing a lamp and acquiring positioning information of the lamp; the dry ice cleaning assembly is used for generating dry ice jet flow for cleaning; the dry ice spraying assembly communicates with the dry ice cleaning assembly and is used for spraying out the dry ice jet flow; and the mechanical arm assembly is used for automatically adjusting the motion amount of each joint according to the positioning information of the lamp, so that the dry ice spraying assembly mounted at the tail end of the mechanical arm assembly is aligned with the lamp to be cleaned. By combining the dry ice cleaning assembly and the spraying assembly, the lamp can be deeply cleaned without pollution and water stain, and lamp surface damage or sewage residue caused by high-pressure water cleaning is avoided; and the posture of the nozzle is self-adaptively adjusted through the mechanical arm assembly according to the recognition result, the complex installation environment in the tunnel can be conveniently adapted, and the cleaning coverage rate is increased.

Description

Technical Field

[0001] The present invention relates to a field, and in particular to a highway tunnel lamp cleaning system and an operation control method based on dry ice cleaning technology. Background Art

[0002] During tunnel operation, a large amount of dust, oil and other stains will accumulate on the surface of the lamps, which will not only affect the lighting effect of the lamps, reduce visibility in highway tunnels, and increase driving safety hazards, but also hinder heat dissipation and shorten the service life of the lamps.

[0003] Currently, tunnel lighting cleaning is primarily done manually. However, manual cleaning has many drawbacks, including high labor intensity, low efficiency, and high safety risks associated with operating in a relatively closed, high-traffic environment like a tunnel.

[0004] To address the drawbacks of manual cleaning, robotic cleaning vehicles are being used to assist in lamp cleaning. However, existing robotic cleaning vehicles often use high-pressure water, making them difficult to adapt to the complex installation environments of tunnel lamps and generating wastewater that pollutes the environment. Furthermore, existing robotic cleaning vehicles cannot accurately sense and adapt to the target during cleaning, and generally lack targeted and efficient cleaning methods, resulting in poor cleaning results and low efficiency.

[0005] Therefore, there is an urgent need for an efficient, accurate and environmentally friendly automated cleaning solution. Summary of the Invention

[0006] The purpose of the present invention is to provide a highway lamp cleaning system and operation control method based on dry ice cleaning technology to solve the problems of existing cleaning robots, such as insufficient intelligence, low cleaning efficiency and environmental pollution.

[0007] To solve the above technical problems, in a first aspect, the present invention provides a highway tunnel lighting cleaning system based on dry ice cleaning technology, comprising:

[0008] A lamp identification device, used to identify the lamp and obtain the location information of the lamp;

[0009] A dry ice blasting assembly for generating a dry ice jet for cleaning;

[0010] A dry ice spraying assembly is connected to the dry ice cleaning assembly and is used to spray dry ice jets;

[0011] A robotic arm assembly, configured to automatically adjust the movement of each joint based on the positioning information of the lamp so that the dry ice spray assembly mounted at its end is aligned with the lamp to be cleaned;

[0012] The lamp recognition device, dry ice cleaning component, dry ice spraying component and robotic arm component are integrated on the vehicle body.

[0013] Furthermore, the dry ice cleaning assembly includes:

[0014] Air compressor unit, used to generate high-pressure gas;

[0015] The dry ice blasting machine is connected to the air compressor unit and is used to mix the dry ice particles stored therein with the high-pressure gas generated by the air compressor unit to generate a dry ice jet for cleaning.

[0016] Furthermore, a buffer tank is provided between the air compressor unit and the dry ice blasting machine.

[0017] Furthermore, the robotic arm assembly includes a base, a retractable upper arm and a retractable lower arm; the upper arm is fixedly mounted on the base, the lower arm is connected to the upper arm through a first pitch joint and a horizontal rotation joint connected in sequence, and the dry ice spraying assembly is mounted at the end of the lower arm through a second pitch joint.

[0018] Furthermore, the horizontal rotation joint includes a first turntable, a first reducer and a first servo motor. The first turntable is installed at the end of the arm away from the base. The first reducer is installed in the first turntable. The power output end of the first servo motor is connected to the power input end of the first reducer. The power output end of the first reducer is connected to the first pitch joint to drive the first pitch joint to perform horizontal rotation.

[0019] Furthermore, the first pitch joint includes a second turntable, a second reducer and a second servo motor; the second turntable is horizontally rotatably connected to the horizontal rotation joint, the second reducer is installed in the second turntable, the power output end of the second servo motor is connected to the power input end of the second reducer, and the power output end of the second reducer is connected to the forearm to drive the forearm to perform pitch movement.

[0020] Furthermore, the second pitch joint includes a third turntable, a third reducer and a fourth servo motor; the third turntable is installed at the end of the forearm away from the first pitch joint, the third reducer is installed in the third turntable, the power output end of the fourth servo motor is connected to the power input end of the third reducer, and the power output end of the third reducer is connected to the dry ice spraying assembly to drive the dry ice spraying assembly to perform pitch movement.

[0021] Furthermore, a laser projection spotlight is installed on the side of the robotic arm, and the laser projection spotlight and the dry ice ejection assembly are in the same vertical plane.

[0022] In a second aspect, the present invention provides a method for performing a cleaning operation using the highway tunnel lamp cleaning system provided in the first aspect, comprising:

[0023] S1: Move the highway tunnel lighting cleaning system until the dry ice spray assembly at the end of the robotic arm is aligned longitudinally with one of the lighting fixtures;

[0024] S2: Adjust and fix the telescopic length L0 of the robot arm and the rotation angle θ0 of the horizontal rotation joint according to the installation position of the lamp;

[0025] S3: A mobile highway tunnel lamp cleaning system uses a lamp recognition device to obtain real-time image information from the tunnel interior. It then uses deep learning methods to identify lamps based on the real-time image information and calculate the location information (X, Y, Z) of each lamp based on the depth information.

[0026] S4: Convert the calculated motion amount D(L0, θ0, θ1, L1, θ2) of each joint of the manipulator into the motion amount D(θ1, L1, θ2) of each joint of the manipulator using the inverse kinematics solution method of the three-degree-of-freedom manipulator in the plane, where L1 is the extension and contraction amount of the forearm, θ1 is the pitch angle of the first pitch joint, and θ2 is the pitch angle of the second pitch joint;

[0027] S5: According to the extension and contraction amount L1 of the forearm, the pitch angle θ1 of the first pitch joint, and the pitch angle θ2 of the second pitch joint calculated in S4, the forearm, the first pitch joint, and the second pitch joint are adjusted respectively.

[0028] Furthermore, step S4 specifically includes:

[0029] S41: The forward kinematic equations of the robotic arm are constructed as follows:

[0030]

[0031] Where L1 is the initial length of the forearm, L2 is the length of the dry ice ejection assembly at the end of the robotic arm, θ1 is the pitch angle of the first pitch joint, θ2 is the pitch angle of the second pitch joint, and d is the extension and retraction of the forearm;

[0032]

[0033] Where ΔD is the position deviation of the two lamps in the X and Y directions, d1, d2...d n Preset value for the extension and retraction of the forearm;

[0034] S42: Solve equation (1) in step S1, and we get

[0035]

[0036] θ2=arctan2(y-L1 sinθ1,x-L1 cosθ1)-θ1

[0037] Where α = arctan2(y,x).

[0038] The beneficial effects of the present invention are:

[0039] 1. The lamp recognition device enables automatic identification and spatial positioning of tunnel lamps, solving the problem of accurate positioning problems of existing cleaning technologies and equipment. By combining a dry ice cleaning component with a spray assembly, the low-temperature freezing and peeling, impact kinetic energy, and sublimation expansion of dry ice are utilized to achieve pollution-free, water-stain-free deep cleaning, avoiding surface damage or sewage residue caused by high-pressure water cleaning. The robotic arm component uses the lamp positioning information (X, Y, Z) obtained by the binocular camera, and then converts the motion of each joint of the five-degree-of-freedom robotic arm D(L0, θ0, θ1, L1, θ2) into the motion of each joint of the robotic arm calculated using the inverse kinematic solution method of a three-degree-of-freedom in-plane robotic arm. The motion of each joint of the robotic arm is automatically adjusted based on the calculated results, so that the nozzle at the end of the robotic arm can accurately align with lamps at different heights and angles. This can easily adapt to the complex installation environment in the tunnel and improve the cleaning coverage rate.

[0040] 2. In view of the installation distribution characteristics of tunnel lamps, the dry ice ejection assembly is aligned with one of the lamps by first adjusting the telescopic length of the robot arm's main arm and the rotation angle of the horizontal rotation joint. Then, the telescopic length of the robot arm and the rotation angle of the horizontal rotation joint are locked, and the telescopic amount of the forearm, the pitch angle of the first pitch joint, and the pitch angle of the second pitch joint are calculated. The motion quantity D(L0, θ0, θ1, L1, θ2) of each joint of the robot arm is calculated by converting the five-degree-of-freedom calculation of each joint of the robot arm into the inverse kinematic solution method of the three-degree-of-freedom robot arm in the plane, which simplifies the calculation and improves real-time performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used in these drawings to represent the same or similar parts. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0042] Figure 1 A schematic structural diagram of an embodiment of the present invention;

[0043] Figure 2 This is a schematic structural diagram of a robotic arm according to an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of a working scenario of an embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a robot arm motion model according to an embodiment of the present invention;

[0046] Figure 5 for Figure 4 The model diagram after further simplification.

[0047] Among them: 1. Vehicle body; 2. Dry ice blasting machine; 3. Buffer tank; 4. Air compressor unit; 5. Binocular camera; 6. Robotic arm; 61. Base; 62. Drag chain; 63. Upper arm; 64. Horizontal rotation joint; 641. First turntable; 642. First reducer; 643. First servo motor; 65. First pitch joint; 651. Second turntable; 652. Second reducer; 653. Second servo motor; 66. Forearm; 661. Third servo motor; 662. First guide rod; 663. Telescopic cylinder; 67. Second pitch joint; 671. Third turntable; 672. Third reducer; 673. Fourth servo motor; 7. Printhead; 8. Laser projection spotlight; 9. Lighting; 10. Tunnel. DETAILED DESCRIPTION

[0048] In a first aspect, the present invention discloses a highway tunnel lighting cleaning system based on dry ice cleaning technology, such as Figure 1 As shown, including:

[0049] A lamp recognition device is used to identify the lamp 9 and obtain the positioning information of the lamp 9; the lamp recognition device can use a binocular camera 5, which is mainly used to capture the image information of the lamps in the tunnel 10 in real time;

[0050] A dry ice blasting assembly for generating a dry ice jet for cleaning;

[0051] The dry ice ejection assembly is connected to the dry ice cleaning assembly and is used to eject a dry ice jet; the dry ice ejection assembly is connected to the dry ice cleaning assembly and is used to eject a dry ice jet for cleaning; the dry ice ejection assembly can use two aluminum alloy nozzles 7 to shape the high-speed dry ice jet into a fan shape and then eject it onto the surface of the lamp 9 to achieve cleaning operation;

[0052] The robotic arm assembly is used to automatically adjust the movement of each joint based on the positioning information of the lamp 9, so that the dry ice spray assembly installed at its end is aimed at the lamp 9 to be cleaned; the robotic arm 6 mainly carries the nozzle via the drag chain 62, and transmits the high-pressure dry ice jet generated by the dry ice cleaning assembly to the nozzle 7 through the nozzle;

[0053] The lamp recognition device, dry ice cleaning component, dry ice spraying component and robotic arm 6 component are integrated on the vehicle body 1, which can be easily deployed and moved to meet the needs of long-distance continuous operation in the tunnel.

[0054] This invention utilizes a dry ice jet for cryogenic ablation, impact kinetic energy, and sublimation expansion to achieve clean, efficient cleaning of tunnel lighting fixtures 9. Dry ice sublimation leaves no residue, eliminating the need for water or chemical reagents. Furthermore, the dry ice jet, combined with precise positioning by a robotic arm 6, enables accurate alignment and adaptive cleaning of tunnel lighting fixtures 9 during cleaning, improving cleaning efficiency while conserving dry ice. This system can cover hundreds of meters of tunnel in a single operation, significantly improving cleaning efficiency.

[0055] According to one embodiment of the present application, a dry ice cleaning assembly includes:

[0056] The air compressor unit 4 is used to generate high-pressure gas. The air compressor unit 4 includes an air compressor, a generator, and a lithium battery pack. The air compressor is used to generate high-pressure gas as a power source for dry ice cleaning, thereby enhancing the dirt removal effect. The generator and lithium battery provide power for the entire machine.

[0057] The dry ice blasting machine 2 is connected to the air compressor unit 4 and is used to mix the dry ice particles stored therein with the high-pressure gas generated by the air compressor unit 4 to generate a dry ice jet for cleaning.

[0058] Dry ice cleaning technology relies on the powerful impact force of the dry ice jet to thoroughly remove dirt. The dry ice pellets are extremely cold, approximately -78.5°C. When sprayed onto the surface of the lamp 9, dirt quickly shrinks and becomes brittle, making it easier to remove. Furthermore, the sublimated CO2 gas from the dry ice rapidly expands, generating a powerful peeling force that further accelerates dirt removal. By adjusting parameters such as dry ice pellet size, spray pressure, and nozzle size, dust and carbon deposits can be deeply cleaned from the surface of the tunnel lamp 9 without damaging the surface material.

[0059] According to one embodiment of the present application, a buffer tank 3 is provided between the air compressor unit 4 and the dry ice blasting machine 2. The buffer tank 3 provides a stable supply of compressed gas by stabilizing the pressure, ensuring the stability of the dry ice jet and preventing inconsistent cleaning results due to sudden pressure changes. It also extends the life of the air compressor unit and reduces energy consumption and wear caused by frequent starts and stops.

[0060] According to one embodiment of the present application, a robotic arm 6 assembly includes a base 61, a retractable upper arm 63, and a retractable lower arm 66. Upper arm 63 is fixedly mounted on base 61, and lower arm 66 is connected to upper arm 63 via a first pitch joint 65 and a horizontal rotation joint 64. The dry ice ejection assembly is mounted at the end of lower arm 66 via a second pitch joint 67. This robotic arm 6 has five degrees of freedom, enabling cleaning operations on highway tunnel lamps 9 at various heights and mounting angles.

[0061] The telescopic length of the small arm 66 is L0, and it includes a telescopic electric cylinder 663, a first guide rod 662 and a third servo motor 661. The telescopic electric cylinder 663 is mainly driven by the third servo motor 661 to achieve the lateral extension length adjustment of the robot arm 6.

[0062] The telescopic length of the upper arm 63 is L1, and a two-stage telescopic mechanism can be adopted, including 4 second guide rods, 1 screw and a fifth servo motor installed inside the base 61. The screw is mainly driven by the fifth servo motor to realize the overall lifting of the robotic arm 6.

[0063] By jointly adjusting the upper arm 63 and the lower arm 66 , the cleaning operation of the tunnel lamp 9 at a height of 3-7 meters can be achieved.

[0064] According to one embodiment of the present application, the horizontal rotary joint 64 has a rotation angle of θ0 and includes a first turntable 641, a first reducer 642, and a first servo motor 643. The first turntable 641 is mounted at the end of the arm 63 away from the base 61, and the first reducer 642 is mounted within the first turntable 641. The power output end of the first servo motor 643 is connected to the power input end of the first reducer 642. The power output end of the first reducer 642 is connected to the first pitch joint 65 to drive the first pitch joint 65 to perform horizontal rotation. The horizontal rotary joint 64 is mainly used to rotate the robot arm 6 out from the interior of the vehicle body to perform cleaning operations.

[0065] According to one embodiment of the present application, the first pitch joint 65 has a pitch angle of θ1 and includes a second turntable 651, a second reducer 652, and a second servo motor 653. The second turntable 651 is horizontally rotatably connected to the horizontal rotation joint 64. The second reducer 652 is mounted within the second turntable 651. The power output of the second servo motor 653 is connected to the power input of the second reducer 652. The power output of the second reducer 652 is connected to the arm 66 to drive the arm 66 to pitch. The first pitch joint 65 is primarily used to enable the robotic arm 6 to tilt and align with the lamp 9.

[0066] According to one embodiment of the present application, the second pitch joint 67 has a pitch angle of θ2 and includes a third turntable 671, a third reducer 672, and a fourth servo motor 673. The third turntable 671 is mounted on the end of the forearm 66 away from the first pitch joint 65. The third reducer 672 is mounted within the third turntable 671. The power output of the fourth servo motor 673 is connected to the power input of the third reducer 672, which is then connected to the dry ice ejection assembly to drive the dry ice ejection assembly to perform pitch motion. The second pitch joint 67 is primarily used to adjust the alignment of the end nozzle 7 with the cleaning lamp 9.

[0067] According to one embodiment of the present application, a laser projection spotlight 8 is mounted on the side of the robotic arm 6. The projected marking line is aligned with the dry ice ejection assembly. Laser projection spotlight 8 assists in initial longitudinal positioning, enabling rapid alignment of the centerline of the lamp 9 and shortening system initialization time. Compared to positioning using a binocular camera 5, this reduces the computational load and improves initial positioning efficiency, particularly in areas with complex lighting conditions, such as tunnel entrances.

[0068] In a second aspect, the present invention discloses a method for performing a cleaning operation using the highway tunnel lamp cleaning system disclosed in the first aspect, comprising:

[0069] S1: Moving the highway tunnel lamp 9 cleaning system until the dry ice spray assembly at the end of the robotic arm 6 is longitudinally aligned with one of the lamps 9;

[0070] S2: Adjust and fix the telescopic length L0 of the upper arm and the rotation angle θ0 of the horizontal rotation joint of the robot arm according to the installation position of the lamp 9; the specific adjustment method includes: adjusting the length of the upper arm 63 of the robot arm 6 so that the distance between the dry ice spraying assembly at the end of the robot arm 6 and the lamp 9 is within the set threshold range; adjusting the rotation angle of the horizontal rotation joint 64 so that the spraying direction of the dry ice spraying assembly at the end of the robot arm 6 is aligned with the lamp 9; then fixing the length of the upper arm 63 and the rotation angle of the horizontal rotation joint 64; at this time, the movement amount of the upper arm 63, the horizontal rotation joint 64, the first pitch joint 65, the lower arm 66 and the first pitch joint 65 of the robot arm 6 is D0(L0', θ0'(90°), θ1', L1', θ2');

[0071] S3: A uniformly moving highway tunnel lamp 9 cleaning system uses a lamp recognition device (such as the aforementioned binocular camera) to obtain real-time image information of the tunnel interior, and uses the YOLOV8 deep learning method to identify the lamps 9 based on the real-time image information and calculate the positioning information (X, Y, Z) of each lamp 9 based on the depth information;

[0072] S4: Convert the calculated motion amount D(L0, θ0, θ1, L1, θ2) of each joint of the manipulator into the motion amount D(θ1, L1, θ2) of each joint of the manipulator using the inverse kinematics solution method of the three-degree-of-freedom manipulator in the plane, where L1 is the extension and contraction amount of the forearm, θ1 is the pitch angle of the first pitch joint, and θ2 is the pitch angle of the second pitch joint;

[0073] S5: According to the length of the forearm 66, the pitch angle of the first pitch joint 65 and the pitch angle of the second pitch joint 67 calculated in S4, the forearm 66, the first pitch joint 65 and the second pitch joint 67 are adjusted respectively.

[0074] In view of the installation distribution characteristics of the tunnel, the present invention first adjusts the length of the upper arm 63 of the robot arm 6 and the rotation angle of the horizontal rotation joint 64 to align the dry ice ejection assembly with one of the lamps 9, then locks the length of the upper arm 63 of the robot arm 6 and the rotation angle of the horizontal rotation joint 64, and then calculates the length of the lower arm 66, the pitch angle of the first pitch joint 65, and the pitch angle of the second pitch joint 67. The motion quantity D(L0, θ0, θ1, L1, θ2) of each joint of the 5-axis robot arm 6 is simplified to the kinematic solution of the three-degree-of-freedom robot arm 6 in the plane, that is, the calculated motion quantity D(L0, θ0, θ1, L1, θ2) is simplified to the calculated motion quantity D(θ1, L1, θ2), which simplifies the calculation amount and can achieve millisecond-level joint adjustment, ensuring that the nozzle 7 is continuously aligned when the cleaning vehicle is traveling at a constant speed.

[0075] According to one embodiment of the present application, step S4 specifically includes:

[0076] S41: Construct the forward kinematics equation of the robot arm 6 as follows:

[0077]

[0078] Wherein, L1 is the initial length of the forearm 66, L2 is the length of the dry ice ejection assembly at the end of the robotic arm, θ1 is the pitch angle of the first pitch joint 65, θ2 is the pitch angle of the second pitch joint 67, and d is the telescopic length of the forearm 66;

[0079] After the binocular camera 5 obtains the position of the lamp 9, it calculates the position deviation ΔD of the two lamps 9 in the X and Y directions. If ΔD < δ min , then the installation errors of the two lamps 9 in the horizontal and height directions are small, so the robot arm 6 does not need to automatically adjust the movement of each joint and does not affect the cleaning effect after the dry ice is sprayed, that is, d = 0; if ΔD>δ max , then the installation errors of the two lamps 9 in front and behind in X and Y are large or the position of the lamp 9 identified by the binocular camera 5 is abnormal, and the range of motion of the robot arm 6 cannot reach this position. At this time, the joints of the robot arm 6 do not need to be adaptively adjusted, that is, d = 0; if δ min <<ΔD<<δ max When the installation errors of the two lamps 9 in the horizontal and height directions are within the reach of the robot 6, the set {d1, d2...d n} can confirm the telescopic length of the telescopic joint; therefore, we can get:

[0080]

[0081] Wherein, ΔD is the position deviation value of the front and rear lamps 9 in the X and Y directions, d1, d2...d nPreset value for the extension and retraction of the forearm;

[0082] After the telescopic length d is determined, the values of the basic pitch joint θ1 and the terminal pitch joint θ2 can be obtained by solving the above equations, and step S42 is executed: solving equation (1) in step S1 to obtain:

[0083]

[0084] θ2=arc tan2(y-L1 sinθ1,x-L1 cosθ1)-θ1

[0085] Where α = arctan2(y,x).

[0086] By ignoring the small installation error (ΔD < δ min ), can reduce unnecessary robot arm 6 movement, save energy consumption, by abnormal position (ΔD>δ max ) Active obstacle avoidance can prevent the robotic arm 6 from being damaged due to over-limit.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A highway tunnel lighting cleaning system based on dry ice cleaning technology, characterized in that: include: A lamp identification device, used to identify the lamp and obtain the location information of the lamp; A dry ice blasting assembly for generating a dry ice jet for cleaning; a dry ice ejection assembly, connected to the dry ice cleaning assembly, for ejecting the dry ice jet; a robotic arm assembly, configured to automatically adjust the movement of each joint based on the positioning information of the lamp so that the dry ice spray assembly mounted at its end is aligned with the lamp to be cleaned; The lamp identification device, dry ice cleaning assembly, dry ice spraying assembly and mechanical arm assembly are integrated on the vehicle body.

2. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 1 is characterized in that: The dry ice cleaning assembly includes: Air compressor unit, used to generate high-pressure gas; The dry ice blasting machine is connected to the air compressor unit and is used to mix the dry ice particles stored therein with the high-pressure gas generated by the air compressor unit to generate a dry ice jet for cleaning.

3. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 2 is characterized in that: A buffer tank is provided between the air compressor unit and the dry ice blasting machine.

4. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 1 is characterized in that: The robotic arm assembly includes a base, a retractable upper arm, and a retractable lower arm; the upper arm is fixedly mounted on the base, the lower arm is connected to the upper arm via a first pitch joint and a horizontal rotation joint connected in sequence, and the dry ice spraying assembly is mounted at the end of the lower arm via a second pitch joint.

5. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 4 is characterized in that: The horizontal rotation joint includes a first turntable, a first reducer and a first servo motor. The first turntable is installed at the end of the arm away from the base. The first reducer is installed in the first turntable. The power output end of the first servo motor is connected to the power input end of the first reducer. The power output end of the first reducer is connected to the first pitch joint to drive the first pitch joint to perform horizontal rotation.

6. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 4 is characterized in that: The first pitch joint includes a second turntable, a second reducer and a second servo motor; the second turntable is horizontally rotatably connected to the horizontal rotation joint, the second reducer is installed in the second turntable, the power output end of the second servo motor is connected to the power input end of the second reducer, and the power output end of the second reducer is connected to the forearm to drive the forearm to perform pitch motion.

7. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 4 is characterized in that: The second pitch joint includes a third turntable, a third reducer and a fourth servo motor; the third turntable is installed at the end of the forearm away from the first pitch joint, the third reducer is installed in the third turntable, the power output end of the fourth servo motor is connected to the power input end of the third reducer, and the power output end of the third reducer is connected to the dry ice spraying assembly to drive the dry ice spraying assembly to perform pitch movement.

8. The highway tunnel lighting cleaning system based on dry ice cleaning technology according to claim 4 is characterized in that: A laser projection spotlight is installed on the side of the robotic arm, and the laser projection marking line and the dry ice ejection assembly are in the same vertical plane.

9. A method for performing cleaning operations using the highway tunnel lighting cleaning system according to any one of claims 1 to 8, characterized in that: include: S1: moving the highway tunnel lamp cleaning system until the dry ice spray assembly at the end of the robotic arm is longitudinally aligned with one of the lamps; S2: Adjust and fix the telescopic length L0 of the robot arm and the rotation angle θ0 of the horizontal rotation joint according to the installation position of the lamp; S3: Moving the highway tunnel lamp cleaning system, using a lamp recognition device to obtain real-time image information inside the tunnel, and using a deep learning method to identify lamps based on the real-time image information and calculate the positioning information (X, Y, Z) of each lamp based on the depth information; S4: Convert the calculated motion amount D(L0, θ0, θ1, L1, θ2) of each joint of the manipulator into the motion amount D(θ1, L1, θ2) of each joint of the manipulator using the inverse kinematics solution method of the three-degree-of-freedom manipulator in the plane, where L1 is the extension and contraction amount of the forearm, θ1 is the pitch angle of the first pitch joint, and θ2 is the pitch angle of the second pitch joint; S5: According to the extension and contraction amount L1 of the forearm, the pitch angle θ1 of the first pitch joint, and the pitch angle θ2 of the second pitch joint calculated in S4, the forearm, the first pitch joint, and the second pitch joint are adjusted respectively.

10. The method according to claim 9, characterized in that The step S4 specifically includes: S41: Construct the forward kinematics equation of the robotic arm as follows: Where L1 is the initial length of the forearm, L2 is the length of the dry ice ejection assembly at the end of the robotic arm, θ1 is the pitch angle of the first pitch joint, θ2 is the pitch angle of the second pitch joint, and d is the extension and retraction of the forearm; Where ΔD is the position deviation of the two lamps in the X and Y directions, d1, d2...d n Preset value for the extension and retraction of the forearm; S42: Solve equation (1) in step S1, and we get θ2=arc tan2(y-L1sinθ1,x-L1cosθ1)-θ1 Where α = arctan2(y,x).

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