Tunnel high-altitude work robot and operating method thereof

Abstract

The application provides a tunnel high-altitude operation robot and an operation method thereof, and relates to the technical field of robots.The tunnel high-altitude operation robot comprises a supporting part, a lifting part, a cleaning part and a control part; the lifting part is arranged on the upper part of the supporting part; the cleaning part and the lifting part are movably connected; and the control part is electrically connected or wirelessly connected with the supporting part, the lifting part and the cleaning part.The intelligent cleaning robot can adopt different working modes and has precise control strength and cleaning effect.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot for high-altitude tunnel operations and its operating method, which is classified under IPC category B25J. Background Technology

[0002] In recent years, with the rapid development of my country's transportation network and the continuous increase in highway mileage, the number of tunnels has also increased, as have their lengths and the number of tunnel lights. Currently, tunnel lights are mainly distributed on both sides of the tunnel. Traditionally, most tunnel lights are cleaned manually, with workers using elevated platforms, mobile scaffolding, and related tools, resulting in low efficiency. With technological advancements, more and more cleaning devices are being applied to the cleaning of tunnel lights. However, existing lighting cleaning devices suffer from poor adaptability to working environments, poor cleaning effects, and require multiple power units, resulting in a large and expensive structure.

[0003] The following prior art exists: CN110586537A discloses an invention entitled "A Tunnel Lighting Cleaning Robot". This prior art has the functions of chassis movement, water supply for cleaning, and height and angle adjustment. However, this prior art has the following shortcomings: 1. It requires multiple power sources to complete the functions of water supply for cleaning and chassis movement; 2. It can only use water to clean the lighting lamps and cannot clean the oily substances in automobile exhaust attached to the surface of the lighting lamps, resulting in poor cleaning effect; 3. The water outlet structure and brush roller cannot move, so it cannot clean lighting lamps of different widths, resulting in poor applicability.

[0004] The prior art CN103406315A discloses an automatic street light cleaning machine, including a vehicle, a dual-force lifting cylinder, an angle adjusting cylinder, a scrubbing cylinder, and a scrubbing device. The scrubbing device consists of a nozzle and a cleaning brush. The vehicle is equipped with a lifting cylinder, a decontamination container, and a rinsing container. The lifting cylinder has a cleaning pipeline inside and a hydraulic oil pipeline outside. The pipelines of the decontamination container and the rinsing container are connected to the cleaning pipeline. An angle adjusting cylinder and a scrubbing cylinder are located at the end of the lifting cylinder away from the vehicle. The scrubbing device is fixedly installed on the scrubbing cylinder and is equipped with a position infrared sensor. The vehicle is equipped with a laser rangefinder. During operation, the on-board angle sensor measures the angle between the street light and the ground. The angle adjusting cylinder adjusts the angle, and the lifting cylinder moves in the extension direction, driving the scrubbing device to move. When the scrubbing device is close to the outer surface of the street light, the control circuit starts the washing pump, the nozzle sprays water on the outer surface of the street light, and the scrubbing cylinder drives the scrubbing device to reciprocate.

[0005] Prior art JPH0957219A discloses a highway lighting cleaning vehicle, comprising: a lighting tank for cleaning road lights by means of a cleaning device, mounted on the vehicle body, and a large tank for storing cleaning fluid. A small tank, connected to the large tank via a pipe and connected to a cleaning nozzle via a pipe, is used to store cleaning fluid; and a pressure source, connected to the small tank, pressurizes the cleaning fluid into the small tank.

[0006] Prior art KR100893316B1 discloses a tunnel light cleaning device to improve cleaning efficiency by connecting to the lights for cleaning, regardless of the position of all lights in the tunnel when the brush head is passively rotated; including lights mounted on the tunnel; a derrick arm that rotates horizontally in various ways; a vertical maintenance arm that moves with the derrick; and a brush head connected to the vertical maintenance arm. The brush head is automatically set to horizontality when the vertical control cylinder is at maximum retraction. This improves cleaning efficiency while maintaining the parallelism of the lights.

[0007] The prior art JPH10311011A discloses a tunnel lighting fixture cleaning vehicle, which can safely and effectively clean the lighting fixtures installed in the tunnel without causing adverse effects on human health and the environment, and does not require restrictions on traffic in the tunnel.

[0008] Prior art JP2010167340A discloses a traffic light cleaning tool that can efficiently and easily remove dust adhering to the lens of a traffic light and reduce cleaning costs. The cleaning tool is equipped with a rod 1 formed in a freely extendable and / or freely bendable manner and a cleaning body connected to the rod 1 and in contact with the outer surface. The cleaning body is freely movable by a drive body (e.g., an electric motor). In addition, the cleaning body can deform according to the curvature of the lens body.

[0009] The prior art CN205628714U discloses an automatic street light cleaning vehicle, the purpose of which is to automatically clean and wipe street lights while the vehicle is moving, thereby improving work efficiency and saving manpower and resources. The technical solution adopted is as follows: it includes a liquid storage tank installed on the vehicle body, the liquid storage tank is connected to a nozzle through a water pump, and the nozzle is provided with a roller brush at the rear end of the cleaning vehicle in the direction of travel. Both the nozzle and the roller brush can move on a horizontal line perpendicular to the direction of travel of the cleaning vehicle; both the nozzle and the roller brush can move in the vertical direction, the roller brush is driven by a motor, and both the water pump and the motor are connected to an automatic control device.

[0010] Existing technology CN110125062A discloses an omnidirectional mobile intelligent street light cleaning device and method. The cleaning device includes an omnidirectional mobile trolley with a cab and a cargo box. The cargo box provides a platform for installing a lifting device, which employs a scissor mechanism. A scrubbing device is connected to the top of the lifting device, comprising a scrubbing arm base and a multi-stage linked rotating shaft. The final stage of the rotating shaft is connected to a cleaning end. The cleaning end is located at the center of a wastewater collection funnel and is connected to a clean water storage device via a clean water delivery pipe. A wastewater recovery hole is provided on the wastewater collection funnel, and the generated wastewater is connected to the wastewater storage device via a wastewater recovery pipe. This prior art has a wide range of motion for the cleaning end, resulting in good cleaning efficiency and quality. The generated wastewater can be recovered, avoiding environmental damage. This prior art cleaning device reduces manpower input, eliminating the need for operators to climb to heights, and is safe to use.

[0011] Existing technology WO2021008499A1 discloses a dual-power source tunnel lighting cleaning vehicle based on posture adaptation, belonging to the field of lighting cleaning technology. It includes a vehicle-mounted platform, a lifting platform installed on the vehicle-mounted platform, and a cleaning device installed on the lifting platform. The lifting platform is connected to the vehicle-mounted platform in a height-adjustable and position-changeable manner. The cleaning device includes an outer cover with a top opening for covering the tunnel lighting fixtures, a dry cleaning component installed inside the outer cover for cleaning the surface of the tunnel lighting fixtures, and a negative pressure forming device communicating with the inner cavity of the outer cover. The outer cover has negative pressure holes on its sidewalls, which are connected to the negative pressure forming device to create a negative pressure environment inside the outer cover. This existing tunnel lighting cleaning device can clean the tunnel lighting fixtures sequentially as the vehicle-mounted platform moves. This cleaning method is dry cleaning, and the solid particles cleaned are recovered through negative pressure. It has high cleaning efficiency, does not pollute the tunnel environment, and avoids the safety hazards of working at height.

[0012] Existing technology CN111804633B discloses a device for cleaning and wiping tunnel lighting lamps, including a track installed on the tunnel arch, and a moving component, a pumping component, a telescopic component, a rotating component, a cleaning and wiping component, and a power component. The moving component slides around the track; the pumping component and the telescopic component are installed on the moving component; the rotating component is hinged to the telescopic end of the telescopic component; the cleaning and wiping component is slidably disposed on the rotating component; the water inlet of the cleaning and wiping component is connected to the water outlet of the pumping component; the power component is installed on the moving component, and the power output end of the power component is connected to the power input end of the pumping mechanism and the power input end of the moving component, respectively; the power component drives the moving component to move, and simultaneously drives the pumping component to work, pumping water to the cleaning and wiping component to clean the lighting lamps. The telescopic component and the rotating component automatically adjust according to the different heights and tilt angles of the lighting lamps, making the device applicable to various working environments.

[0013] Existing technology CN103286787A discloses a fully automatic highway and tunnel lighting cleaning device. A camera is mounted on top of a camera bracket, and a base is supported on a lifting platform. The base is connected to the lower end of an articulated extension arm. A first rotating joint is mounted on top of the articulated extension arm, and the rotation axis of the first rotating joint is connected to two second rotating joints. A dust collector is installed on the rotation axis of one of the second rotating joints, and a cleaner is installed on the rotation axis of the other second rotating joint. This prior art can clean highway and tunnel lighting fixtures, ensuring a high degree of cleanliness while cleaning one fixture in only 10-20 seconds, significantly saving cleaning time. This prior art only requires one person to operate from the cab, making it convenient to operate, effectively saving labor, reducing the labor intensity of operators, and effectively eliminating the safety hazards of working at height.

[0014] Prior art JP2020051225A discloses a lamp body cleaning device that enables a vehicle to move even when the workpiece is stationary. The device includes: a vehicle; a working part disposed on the vehicle and capable of changing the position of a nozzle; a cleaning material supply unit disposed in the vehicle and capable of supplying cleaning material to the nozzle; and a movable part disposed in the vehicle, which can move the position of the end portion of the working part away from the road or wall surface on which the lamp body is disposed.

[0015] Prior art JPH01178604A discloses an improvement in a tunnel cleaning device that cleans dust adhering to the walls of highway tunnels using wet or dry methods.

[0016] Prior art KR100592428B1 discloses a multi-functional facility cleaning device, in which a cleaning brush for simultaneously cleaning facilities is directly installed at the top of a multi-angle refraction boom. The direction of the cleaning brush can be selected by operating a knob. The direction of the cleaning brush is achieved by setting a freely switchable inward and outward direction switching device.

[0017] Among the aforementioned existing technologies, the equipment for tunnel cleaning and street light cleaning is relatively mature. However, through research and analysis, it can be found that these existing technologies still have the following shortcomings or problems: (1) In terms of intelligent control, manual or semi-manual control methods are still commonly used, resulting in a low level of automation; (2) Since the items to be cleaned involve tunnel lighting and street light equipment, these devices generally have stubborn stains that are not cleaned for a long time, and the outer shell is prone to aging and cracking in harsh environments such as the open air. If the cleaning force is insufficient, the cleaning effect will be poor. However, if the force is too great, it may cause damage to the aging and cracked outer shell. Therefore, it is difficult to achieve a balance between force control and cleaning effect. (3) For the control of these devices, a relatively simple sensor or control strategy is usually adopted, which makes it difficult to take into account the coordinated control or joint control of many control parameters, or too many parameters are introduced, resulting in redundant and complicated control system and high cost. (4) Its purpose is relatively simple. It can only be used for cleaning. If it is used in other working environments, it will be more limited due to the original design of the special equipment, such as inconvenience in disassembly. Summary of the Invention

[0018] Therefore, the technical problem to be solved by the present invention is the aforementioned technical problem, thereby providing a tunnel high-altitude operation robot and its operation method.

[0019] To this end, the present invention proposes a tunnel high-altitude operation robot and its operation method, including a support part, a lifting part, a cleaning part and a control part; the lifting part is arranged on the upper part of the support part, the cleaning part and the lifting part are movably connected, and the control part is electrically or wirelessly connected to the support part, the lifting part and the cleaning part; The support unit includes a base 1, which includes six sealing plates: front, back, left, right, top, and bottom. Four casters are installed under the base 1, two of which are swivel casters. The front sealing plate has an electrical compartment door, which houses electrical components and the control unit. Several cleaning water pumps 2, cleaning agent tanks 3, and detergent dispensers 4 are installed on the upper sealing plate. Two rotatable and retractable auxiliary support arms 5 are symmetrically arranged at one end of the support unit. Adsorption plates are installed at the bottom of the auxiliary support arms 5. The adsorption plates can be adsorbed and fixed to the surface of the engineering vehicle body or the carrying platform by vacuum, electromagnetic, or magnetic means. The lifting part is located on the upper part of the support part. The lifting part includes a lifting rod 6, which includes several telescopic joints. The telescopic joints are electrically telescopic, pneumatic cylinders, or hydraulic cylinders. A drag chain 7 for electrical control and pipeline transmission is provided on one side of the lifting rod 6. The cleaning part is movably mounted on the upper end of the lifting part via a hinge seat. A cleaning part drive mechanism is provided on one side of the hinge seat. As those skilled in the art will understand, the cleaning part drive mechanism can be a motor, a cylinder, or a hydraulic cylinder. The cleaning part can be rotated around the hinge seat by gear meshing or a gear rack. The cleaning part includes a rotating arm. A counterweight is provided at one end of the rotating arm, and a cleaning roller assembly is provided at the other end. The cleaning roller assembly includes a flexible cleaning roller 12 and an adjustable roller bracket 13. The flexible cleaning roller 12 is detachably mounted on the adjustable roller bracket 13. A sponge or brush is provided on the outer side of the flexible cleaning roller 12. The flexible cleaning roller 12 is driven by an adjustable roller drive mechanism 33. An accordion cover 14 is provided below the adjustable roller bracket 13. The accordion cover 14 and the adjustable roller bracket 13 are movably connected by an adjustable telescopic frame 15. A plurality of first telescopic springs 16 are also provided between the accordion cover 14 and the adjustable roller bracket 13. The contact distance and contact angle between the flexible cleaning roller 12 and the object being cleaned can be dynamically adjusted by the adjustable telescopic frame 15 and the first telescopic springs 16. The accordion cover 14 is equipped with a scissor lift assembly. The scissor lift assembly consists of two symmetrically arranged sets. Each set includes a first scissor 17, a second scissor 18, an upper slide rail 19, and a lower slide rail (not shown in the perspective view but will be clear to those skilled in the art). The first scissor 17 and the second scissor 18 are rotatably connected by a pin. The two ends of the first scissor 17 are also rotatably connected to the upper slide rail 19 and the lower slide rail by pins, respectively. The upper slide rail 19 and the lower slide rail are both provided with grooves 20. The two ends of the second scissor 18 slide in the grooves 20 of the upper slide rail 19 and the lower slide rail, respectively. A connecting shaft 21 is provided between the two sets of first scissor lifts 17. A through hole 22 is opened in the middle of the connecting shaft 21. A pressure sensor contact rod 23 is provided in the through hole 22. A contact rod spring is sleeved on the outside of the pressure sensor contact rod 23. A pressure sensor 24 is provided at the lower part of the pressure sensor contact rod 23. When the scissor lift assembly moves up and down, the pressure change generated will be transmitted to the pressure sensor 24 through the contact rod spring. The pressure sensor 24 collects the changing pressure value and converts it into a signal to be fed back to the control unit.

[0020] The bellows cover 14 is provided with several bellows cover spring guide posts 25, and bellows cover springs 26 are sleeved on the bellows cover spring guide posts 25. The adjustable drum bracket 13 is provided with a plurality of nozzles 28 inside. The nozzles 28 are connected to the detergent pipe 27 via an integrated distribution pipe. Camera brackets 29 are symmetrically arranged on both sides of the adjustable drum bracket 13. Each camera bracket 29 is equipped with a camera 30 and a distance sensor 31. Those skilled in the art will understand that the camera 30 and the distance sensor 31 can also be installed on their respective brackets.

[0021] This invention employs two working modes. The first mode is: 1. The vehicle safety officer extends the auxiliary arm of the tunnel aerial work robot on the pickup truck. The front end of the tunnel aerial work robot is fixed to the cab railing with the connecting bracket 32. Water pipes are connected, cleaning agents are added, and a 220V power supply is plugged in. Then, the machine is turned on to perform a self-check. If the self-check is correct, the subsequent steps are performed. If there is an error in the self-check, troubleshooting is carried out until the self-check is correct.

[0022] 2. Select and switch to lifting mode or manual swing arm mode via the manual control system.

[0023] 3. Enter the selected mode from step 2, where step 3 also includes the following steps: 1) The lifting pole 6 is automatically raised under control. The distance is estimated by human visual inspection. When it is about to reach the required height, it automatically decelerates and slowly rises and falls to the required height, and the lifting pole 6 stops operating.

[0024] 2) After confirmation, the operator starts the camera 30 to track and locate the target. When the street light is detected manually, the operator uses the distance sensor 31 to control the cleaning unit to perform semi-automatic cleaning via remote control.

[0025] 3) After the flexible cleaning roller finishes washing, the camera 30 determines whether it is clean or needs to be cleaned again.

[0026] 4) After manual confirmation, the cleaning section and the expansion joint are reset and fixed, ready to wait for the next cleaning process.

[0027] The second working mode is the automatic working mode, as detailed below: The control unit communicates and transmits signals with the camera 30 and the distance sensor 31 via an electrical or wireless connection (not shown in the figure, but those skilled in the art will understand). The camera 30 and the distance sensor 31 can move and swing on the camera bracket 29 to adjust the distance and angle (not shown in the figure, but those skilled in the art will understand). One end of the flexible cleaning roller 12 is provided with an adjustable roller drive mechanism 33. The adjustable roller drive mechanism 33 can adjust the rotation speed of the flexible cleaning roller 12 as required and adjust the axial position of the flexible cleaning roller 12 within a certain range. The camera 30 captures images of the object being cleaned and transmits the captured real-time images to the control unit; the distance sensor 31 detects the distance between the object being cleaned and the distance sensor 31. The control unit includes an image analysis device that receives a series of images captured by the camera 30 and analyzes the images for detection and comparison. During image analysis, the image analysis device divides the series of images from the same camera into frames according to the order of capture time and a predetermined time interval, and compares the image of the next frame with the image of the previous frame to determine the effect of the cleaning process. If the comparison result between the previous frame and the next frame is always within the set threshold range, then the image captured by another camera is introduced, and the above detection and comparison process is repeated. If the comparison result between the previous frame and the next frame of the other camera is also always within the set threshold range, then it is determined that the cleaning effect within the shooting range meets the predetermined requirements. The camera 30 is finely adjusted on the camera bracket 29, and the above detection and comparison process is repeated again until the predetermined cleaning requirements are met. The distance sensor 31 transmits the detected distance signal to the control unit. After receiving the distance signal, the control unit drives the lifting unit to move up and down. When the distance reaches the first height threshold range, the lifting unit stops moving. The cleaning unit starts, and the pressure sensor 24 collects the pressure signal and transmits it to the control unit. If the collected pressure signal is less than the predetermined pressure signal threshold, the scissor lift assembly moves upward and extends until the collected pressure signal is within the predetermined pressure signal threshold range. At this time, it indicates that the flexible cleaning roller 12 of the cleaning unit has reached the optimal cleaning contact range with the object being cleaned, and the flexible cleaning roller 12 starts working. When the distance sensor 31 and the camera 30 are supported by separate brackets, the position of the distance sensor 31 can be finely adjusted on its own bracket. When the comparison result between the previous frame and the next frame is always within the set threshold range during the aforementioned process, the position of one of the distance sensors 31 is finely adjusted, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, the axial position of the flexible cleaning roller 12 is adjusted within a certain range, and the cleaning process and the aforementioned image detection and comparison process are repeated until the cleaning requirements are met. Then the position of the other distance sensor 31 is finely adjusted, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, in addition to adjusting the axial position of the flexible cleaning roller 12 within a certain range, the rotating arm will rotate at a certain angle, and the cleaning process and the aforementioned image detection and comparison process will be repeated until the cleaning requirements are met.

[0028] The present invention also relates to the use of a tunnel high-altitude operation robot, wherein the cleaning part is replaced with a spray nozzle or welding gun, and the tunnel high-altitude operation robot can be used for spraying or welding operations.

[0029] Furthermore, in order to facilitate the axial position adjustment of the aforementioned flexible cleaning roller 12, the present invention also specially designed an axial adjustment rotation device 34 in the adjustable roller drive mechanism 33. That is, the adjustable roller drive mechanism 33 further includes an axial adjustment rotation device 34, which is installed at one end of the central cylinder of the flexible cleaning roller 12 (not shown in the figure, but those skilled in the art will understand that the flexible cleaning brush can be installed on a hollow cylindrical body in a replaceable or detachable manner).

[0030] The axial adjustment rotation device 34 includes a first adjustment rotation part 35 and a second adjustment rotation part 36. The first adjustment rotation part 35 can be detachably connected (e.g., snapped) to one end of the central cylinder of the flexible cleaning roller 12. The first adjustment rotation part 35 includes a connecting ring 351, the diameter of which is in transition fit with the inner diameter of the central cylinder of the flexible cleaning roller 12. The front end of the connecting ring 351 is provided with a connecting shell 352, and the center of the end face of the connecting shell 352 is provided with a central through hole 353. The end face of the connecting shell 352 is provided with a plurality of snap-fit ​​interfaces 354 and elongated slots 355 at 90° intervals along the circumference (as will be clear to those skilled in the art, this invention is attached). Figure 6 The card interface and the long slot are two in total, but not limited to this. The axial length of the card interface 354 is L1, and the axial length of the long slot 355 is L2. The second adjusting rotating part 36 is movably installed in the first adjusting rotating part 35. The second adjusting rotating part 36 includes an elastic housing 363 with a plurality of open slots 361. The elastic housing is provided with a plurality of ribs 362 that are movably engaged with the locking interface 354 and the elongated slot 355. The first locking block 364 engages with the locking interface 354, and the second locking block 365 slides with the elongated slot 355. The other end of the elastic housing 363 is provided with a bearing bearing part 366, which is used to support a bearing (not shown in the figure, but those skilled in the art will understand).

[0031] When rotating, the flexible cleaning roller 12 can rotate under the drive of the central cylinder. When axial movement of the flexible cleaning roller 12 is required, the second locking block 365, which slides in cooperation with the elongated slot 355, can move along the path shown in the attached figure. Figure 6 As shown, the movement can be completed by sliding within a distance of L2 in the direction shown. If axial movement is restricted, the first card block 364 that cooperates with the card interface 354 can be locked into the card interface 354.

[0032] Through the above settings, the rotation and axial movement of the flexible cleaning roller 12 are cleverly achieved. Moreover, those skilled in the art will understand that different movement length requirements can be achieved by changing the length and position of the long slot and the locking port. Of course, if the first locking block 364 is locked in the locking interface 354, when axial movement is required, since one side of the first locking block 364 is an easily sliding arc structure, it can be dislodged by applying a small force through an internal driving method (such as injecting gas or mechanical ejection), thereby returning to the position where it can slide axially.

[0033] The present invention has the following advantages in adopting the above structure and working method: (1) It adopts semi-manual or fully automatic intelligent control mode as needed, which greatly meets the needs of various industrial control; (2) It adopts a special layout of scissor telescopic combined with spring and pressure sensor, which can accurately and in real time transmit pressure signal, cooperate with other cameras and sensors, and provide feedback to accurately adjust each component, thereby ensuring that the lamp cover shell is not damaged and the cleaning effect is guaranteed; (3) It adopts intelligent image acquisition and analysis and comprehensive judgment control method, and uses multi-dimensional detection and comparison process, which not only ensures the cleaning effect, but also optimizes the best sensor and image acquisition parameters, avoids redundant control system, and reduces cost; (4) Since the present invention adopts a relatively convenient detachable design, the cleaning part can be replaced with other working parts, such as spraying device, to complete the operation of other working environments, which greatly expands the working environment and saves equipment cost. Attached Figure Description

[0034] Figure 1 This is a partial 3D diagram of the tunnel high-altitude operation robot provided by the present invention; Figure 2 A three-dimensional view of the tunnel high-altitude operation robot provided by the present invention; Figure 3 A three-dimensional rendering of the cleaning section of the tunnel high-altitude operation robot provided by the present invention; Figure 4 A 3D view of the cleaning section of the tunnel high-altitude operation robot provided by the present invention; Figure 5 A two-dimensional view of the cleaning section of the tunnel high-altitude operation robot provided by the present invention; Figure 6 A three-dimensional view of the axial adjustment and rotation device for the tunnel high-altitude operation robot provided by the present invention; Figure 7 This is a physical image of the tunnel high-altitude operation robot prototype provided by this invention; Figure 8 This is an actual working diagram of the tunnel high-altitude operation robot provided by the present invention. Detailed Implementation

[0035] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Reference Figure 1-8 According to an embodiment of the present invention, a tunnel high-altitude operation robot and its operation method include a support part, a lifting part, a cleaning part, and a control part; the lifting part is disposed on the upper part of the support part, the cleaning part and the lifting part are movably connected, and the control part is electrically or wirelessly connected to the support part, the lifting part, and the cleaning part; The support unit includes a base 1, which includes six sealing plates: front, back, left, right, top, and bottom. Four casters are installed under the base 1, two of which are swivel casters. The front sealing plate has an electrical compartment door, which houses electrical components and the control unit. Several cleaning water pumps 2, cleaning agent tanks 3, and detergent dispensers 4 are installed on the upper sealing plate. Two symmetrically arranged, rotatable auxiliary support arms 5 are installed at one end of the support unit. An adsorption plate is installed at the bottom of the auxiliary support arm 5. The adsorption plate can be adsorbed and fixed to the surface of the engineering vehicle body or the carrying platform by vacuum, electromagnetic, or magnetic means. The lifting part is located on the upper part of the support part. The lifting part includes a lifting rod 6, which includes several telescopic joints. The telescopic joints are electrically telescopic, pneumatic cylinders, or hydraulic cylinders. A drag chain 7 for electrical control and pipeline transmission is provided on one side of the lifting rod 6. The cleaning part is movably mounted on the upper end of the lifting part via a hinge seat. A cleaning part drive mechanism is provided on one side of the hinge seat. As those skilled in the art will understand, the cleaning part drive mechanism can be a motor, a cylinder, or a hydraulic cylinder. The cleaning part can be rotated around the hinge seat by gear meshing or a gear rack. The cleaning part includes a rotating arm. A counterweight is provided at one end of the rotating arm, and a cleaning roller assembly is provided at the other end. The cleaning roller assembly includes a flexible cleaning roller 12 and an adjustable roller bracket 13. The flexible cleaning roller 12 is detachably mounted on the adjustable roller bracket 13. A sponge or brush is provided on the outer side of the flexible cleaning roller 12. The flexible cleaning roller 12 is driven by an adjustable roller drive mechanism 33. An accordion cover 14 is provided below the adjustable roller bracket 13. The accordion cover 14 and the adjustable roller bracket 13 are movably connected by an adjustable telescopic frame 15. A plurality of first telescopic springs 16 are also provided between the accordion cover 14 and the adjustable roller bracket 13. The contact distance and contact angle between the flexible cleaning roller 12 and the object being cleaned can be dynamically adjusted by the adjustable telescopic frame 15 and the first telescopic springs 16. The accordion cover 14 is equipped with a scissor lift assembly. The scissor lift assembly consists of two symmetrically arranged sets. Each set includes a first scissor 17, a second scissor 18, an upper slide rail 19, and a lower slide rail (not shown in the perspective view but will be clear to those skilled in the art). The first scissor 17 and the second scissor 18 are rotatably connected by a pin. The two ends of the first scissor 17 are also rotatably connected to the upper slide rail 19 and the lower slide rail by pins, respectively. The upper slide rail 19 and the lower slide rail are both provided with grooves 20. The two ends of the second scissor 18 slide in the grooves 20 of the upper slide rail 19 and the lower slide rail, respectively. A connecting shaft 21 is provided between the two sets of first scissor lifts 17. A through hole 22 is opened in the middle of the connecting shaft 21. A pressure sensor contact rod 23 is provided in the through hole 22. A contact rod spring is sleeved on the outside of the pressure sensor contact rod 23. A pressure sensor 24 is provided at the lower part of the pressure sensor contact rod 23. When the scissor lift assembly moves up and down, the pressure change generated will be transmitted to the pressure sensor 24 through the contact rod spring. The pressure sensor 24 collects the changing pressure value and converts it into a signal to be fed back to the control unit.

[0037] The bellows cover 14 is provided with several bellows cover spring guide posts 25, and bellows cover springs 26 are sleeved on the bellows cover spring guide posts 25. The cleaning roller assembly of this invention, employing the aforementioned structure and composition, also possesses the following technical advantages: The use of a two-stage telescopic frame (i.e., an adjustable telescopic frame, bellows cover, and scissor-lift sliding assembly) maximizes flexibility, ensures a wider range of motion, and allows for flexible contact with the lampshade housing, thus preventing excessive pressure from causing the housing to crack. Currently, no such method is disclosed in the existing technologies reviewed. The method of using a through-hole in the middle of the connecting shaft to connect the pressure sensor contact rod ensures balanced acquisition of pressure signals from both sides and avoids the need for excessive sensors. The combination of the contact rod, spring, and pressure sensor, through a preset spring stiffness or spring coefficient, ensures good contact with the pressure sensor while preventing damage to it.

[0038] The adjustable drum bracket 13 is provided with a plurality of nozzles 28 inside. The nozzles 28 are connected to the detergent pipe 27 via an integrated distribution pipe. Camera brackets 29 are symmetrically arranged on both sides of the adjustable drum bracket 13. Each camera bracket 29 is equipped with a camera 30 and a distance sensor 31. Those skilled in the art will understand that the camera 30 and the distance sensor 31 can also be installed on their respective brackets.

[0039] This invention employs two working modes. The first mode is: 1. The vehicle safety officer extends the auxiliary arm of the tunnel aerial work robot on the pickup truck. The front end of the tunnel aerial work robot is fixed to the cab railing with the connecting bracket 32. The water supply pipe is connected, cleaning agent is added, 220V power is plugged in, and the stability and power supply are checked. If there are no problems, the machine can be turned on. The machine will perform a self-test and then it can be used.

[0040] 2. Select and switch to lifting mode or manual swing arm mode via the manual control system.

[0041] 3. In control mode: 1) The lifting pole 6 is automatically raised under control. The distance is estimated by human visual inspection. When it is about to reach the required height, it automatically decelerates and slowly rises and falls to the required height, and the lifting pole 6 stops operating.

[0042] 2) After confirmation, the operator starts the camera 30 to track and locate the target. When the street light is detected manually, the operator uses the distance sensor 31 to control the cleaning unit to perform semi-automatic cleaning via remote control.

[0043] 3) After the flexible cleaning roller 12 finishes brushing, the camera 30 determines whether it is clean or needs to be cleaned again.

[0044] 4) After manual confirmation, the cleaning section and the expansion joint are reset and fixed, ready to wait for the next cleaning process.

[0045] The second working mode is the automatic working mode, as detailed below: The control unit communicates and transmits signals with the camera 30 and the distance sensor 31 via an electrical or wireless connection (not shown in the figure, but those skilled in the art will understand). The camera 30 and the distance sensor 31 can move and swing on the camera bracket 29 to adjust the distance and angle (not shown in the figure, but those skilled in the art will understand). One end of the flexible cleaning roller 12 is provided with an adjustable roller drive mechanism 33. The adjustable roller drive mechanism 33 can adjust the rotation speed of the flexible cleaning roller 12 as required, and adjust the axial position of the flexible cleaning roller 12 within a certain range (the power part of the adjustable roller drive mechanism 33 can be a motor or electric motor installed in the cylinder, not shown in the figure, but those skilled in the art will understand). To facilitate the axial position adjustment of the flexible cleaning roller 12, the present invention also specially designed an axial adjustment rotation device 34 in the adjustable roller drive mechanism 33. That is, the adjustable roller drive mechanism 33 also includes an axial adjustment rotation device 34, which is installed at one end of the central cylinder of the flexible cleaning roller 12 (not shown in the figure, but those skilled in the art will understand that the flexible cleaning brush can be installed on a hollow cylindrical body in a replaceable or detachable manner).

[0046] The axial adjustment rotation device 34 includes a first adjustment rotation part 35 and a second adjustment rotation part 36. The first adjustment rotation part 35 can be detachably connected (e.g., snapped) to one end of the central cylinder of the flexible cleaning roller 12. The first adjustment rotation part 35 includes a connecting ring 351, the diameter of which is in transition fit with the inner diameter of the central cylinder of the flexible cleaning roller 12. The front end of the connecting ring 351 is provided with a connecting shell 352, and the center of the end face of the connecting shell 352 is provided with a central through hole 353. The end face of the connecting shell 352 is provided with a plurality of snap-fit ​​interfaces 354 and elongated slots 355 at 90° intervals along the circumference (as will be clear to those skilled in the art, this invention is attached). Figure 6 The diagram shows two card interfaces and two elongated slots (but is not limited to this), the axial length of the card interface 354 is L1, and the axial length of the elongated slot 355 is L2; The second adjusting rotating part 36 is movably installed in the first adjusting rotating part 35. The second adjusting rotating part 36 includes an elastic housing 363 with a plurality of open slots 361. The elastic housing is provided with a plurality of ribs 362 that are movably engaged with the locking interface 354 and the elongated slot 355. The first locking block 364 engages with the locking interface 354, and the second locking block 365 slides with the elongated slot 355. The other end of the elastic housing 363 is provided with a bearing bearing part 366, which is used to support a bearing (not shown in the figure, but those skilled in the art will understand).

[0047] When rotating, the flexible cleaning roller 12 can rotate under the drive of the central cylinder. When axial movement of the flexible cleaning roller 12 is required, the second locking block 365, which slides in cooperation with the elongated slot 355, can move along the path shown in the attached figure. Figure 6 As shown, the movement can be completed by sliding within a distance of L2 in the direction shown. If axial movement is restricted, the first card block 364 that cooperates with the card interface 354 can be locked into the card interface 354.

[0048] Through the above settings, the rotation and axial movement of the flexible cleaning roller 12 are cleverly achieved. Moreover, those skilled in the art will understand that different movement length requirements can be achieved by changing the length and position of the long slot and the locking port. Of course, if the first locking block 364 is locked in the locking interface 354, when axial movement is required, since one side of the first locking block 364 is an easily sliding arc structure, it can be dislodged by applying a small force through an internal driving method (such as injecting gas or mechanical ejection), thereby returning to the position where it can slide axially.

[0049] The camera 30 captures images of the object being cleaned and transmits the captured real-time images to the control unit; the distance sensor 31 detects the distance between the object being cleaned and the distance sensor 31. The control unit includes an image analysis device that receives a series of images captured by the camera 30 and analyzes the images for detection and comparison. During image analysis, the image analysis device divides the series of images from the same camera into frames according to the order of capture time and a predetermined time interval, and compares the image of the next frame with the image of the previous frame to determine the effect of the cleaning process. If the comparison result between the previous frame and the next frame is always within the set threshold range, then the image captured by another camera is introduced, and the above detection and comparison process is repeated. If the comparison result between the previous frame and the next frame of the other camera is also always within the set threshold range, then it is determined that the cleaning effect within the shooting range meets the predetermined requirements. The camera 30 is finely adjusted on the camera bracket 29, and the above detection and comparison process is repeated again until the predetermined cleaning requirements are met. The distance sensor 31 transmits the detected distance signal to the control unit. After receiving the distance signal, the control unit drives the lifting unit to move up and down. When the distance reaches the first height threshold range, the lifting unit stops moving. The cleaning unit starts, and the pressure sensor 24 collects the pressure signal and transmits it to the control unit. If the collected pressure signal is less than the predetermined pressure signal threshold, the scissor lift assembly moves upward and extends until the collected pressure signal is within the predetermined pressure signal threshold range. At this time, it indicates that the flexible cleaning roller of the cleaning unit has reached the optimal cleaning contact range with the object being cleaned, and the flexible cleaning roller starts working. When the distance sensor 31 and the camera 30 are supported by separate brackets, the position of the distance sensor 31 can be finely adjusted on its own bracket. When the comparison result between the previous frame and the next frame is always within the set threshold range during the aforementioned process, the position of one of the distance sensors 31 is finely adjusted, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, the axial position of the flexible cleaning roller 12 is adjusted within a certain range, and the cleaning process and the aforementioned image detection and comparison process are repeated until the cleaning requirements are met. Then the position of the other distance sensor 31 is finely adjusted, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, in addition to adjusting the axial position of the flexible cleaning roller 12 within a certain range, the rotating arm will rotate at a certain angle, and the cleaning process and the aforementioned image detection and comparison process will be repeated until the cleaning requirements are met.

[0050] Those skilled in the art will also understand that the present invention also relates to the use of a tunnel high-altitude operation robot, that is, replacing the cleaning part with a spray nozzle or welding gun, and the tunnel high-altitude operation robot can be used for spraying or welding operations.

[0051] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

[0052] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A tunnel high-altitude operation robot, comprising a support unit, a lifting unit, a cleaning unit, and a control unit; characterized in that: The lifting unit is located on the upper part of the support unit. The cleaning unit and the lifting unit are movably connected. The control unit is electrically or wirelessly connected to the support unit, the lifting unit, and the cleaning unit. The cleaning unit includes a rotating arm with a counterweight at one end and a cleaning roller assembly at the other end. The cleaning roller assembly includes a flexible cleaning roller with an adjustable roller drive mechanism at one end. The flexible cleaning roller is driven by the adjustable roller drive mechanism. The adjustable roller drive mechanism also includes an axial adjustment rotation device installed at one end of the central cylinder of the flexible cleaning roller. The axial adjustment rotation device includes a first adjustment rotation part and a second adjustment rotation part. The first adjusting rotating part is connected to one end of the central cylinder of the flexible cleaning roller; the first adjusting rotating part includes a connecting ring body, the front end of the connecting ring body is provided with a connecting column shell, and the end face of the connecting column shell is provided with a plurality of snap-fit ​​interfaces and long slot holes. The second adjusting rotating part is installed in the first adjusting rotating part. The second adjusting rotating part includes an elastic shell with a plurality of open slots. The elastic shell is provided with a plurality of ribs corresponding to the locking interface and the long slot hole. The first locking block is engaged with the locking interface, and the second locking block is engaged with the long slot hole. The other end of the elastic shell is provided with a bearing bearing part for supporting the bearing.

2. The tunnel high-altitude operation robot as described in claim 1, characterized in that, The support unit includes a base, which has six sealing plates: front, rear, left, right, upper, and lower. Four casters are installed under the base, two of which are swivel casters. The front sealing plate has an electrical compartment door, which houses electrical components and the control unit. Several cleaning water pumps, cleaning agent tanks, and cleaning agent dispensers are installed on the upper sealing plate. Two rotatable auxiliary support arms are symmetrically arranged at one end of the support unit. Adsorption plates are installed at the bottom of the auxiliary support arms, which can be adsorbed and fixed to the surface of the engineering vehicle body or the carrying platform by vacuum or magnetic means.

3. The tunnel high-altitude operation robot as described in claim 2, characterized in that, The lifting unit is located on the upper part of the support unit. The lifting unit includes a lifting rod, which includes several telescopic joints. The telescopic joints are electrically operated, pneumatically operated, or hydraulically operated. A drag chain for electrical control and pipeline transmission is provided on one side of the lifting rod.

4. The tunnel high-altitude operation robot as described in claim 3, characterized in that, The cleaning unit is movably mounted on the upper end of the lifting unit via a hinge seat. A cleaning unit drive mechanism is provided on one side of the hinge seat. The cleaning unit drive mechanism adopts a motor, a cylinder, or a hydraulic cylinder, and realizes the rotation of the cleaning unit around the hinge seat through gear meshing or a gear rack.

5. A tunnel high-altitude operation robot as described in claim 4, characterized in that, The cleaning roller assembly also includes an adjustable roller bracket, on which the flexible cleaning roller is detachably mounted. A sponge or brush is provided on the outer side of the flexible cleaning roller, and a bellows cover is provided below the adjustable roller bracket. The bellows cover and the adjustable roller bracket are movably connected by an adjustable telescopic frame. Several first telescopic springs are also provided between the bellows cover and the adjustable roller bracket. The contact distance and contact angle between the flexible cleaning roller and the object being cleaned are dynamically adjusted by the adjustable telescopic frame and the first telescopic springs.

6. A tunnel high-altitude operation robot as described in claim 5, characterized in that, The accordion cover is equipped with a scissor lift assembly, which consists of two symmetrically arranged sets. Each set includes a first scissor, a second scissor, an upper slide rail, and a lower slide rail. The first and second scissor are rotatably connected by a pin. The two ends of the first scissor are also rotatably connected to the upper slide rail and the lower slide rail by pins, respectively. Slide grooves are provided on both the upper and lower slide rails, and the two ends of the second scissor slide in the slide grooves of the upper and lower slide rails, respectively.

7. A tunnel high-altitude operation robot as described in claim 6, characterized in that, A connecting shaft is provided between the two sets of first scissor lifts. A through hole is opened in the middle of the connecting shaft, and a pressure sensor contact rod is installed in the through hole. A contact rod spring is sleeved on the outside of the pressure sensor contact rod, and a pressure sensor is installed at the lower part of the pressure sensor contact rod. When the scissor lift assembly moves up and down, the resulting pressure change is transmitted to the pressure sensor through the contact rod spring. The pressure sensor collects the changing pressure value and converts it into a signal to be fed back to the control unit. Several bellows cover spring guide posts are provided inside the bellows cover, and bellows cover springs are sleeved on the bellows cover spring guide posts.

8. A tunnel high-altitude operation robot as described in claim 7, characterized in that, The adjustable roller bracket is equipped with several nozzles inside, and the nozzles are connected to the cleaning agent pipeline via an integrated distribution pipe. Camera brackets are symmetrically arranged on both sides of the outside of the adjustable roller bracket, and each camera bracket is equipped with a camera and a distance sensor; or, the camera and distance sensor are installed on their respective brackets.

9. The operation method of the tunnel high-altitude operation robot as described in claim 8, characterized in that, Includes the following steps: S1. The vehicle safety officer opens the auxiliary arm of the tunnel aerial work robot on the pickup truck. The front end of the tunnel aerial work robot is fixed to the cab railing with the connecting bracket. Water pipes are connected, cleaning agent is added, and 220V power is connected. Then the machine is turned on to perform a self-test. If the self-test is correct, the next step is carried out. If the self-test is incorrect, the troubleshooting is carried out until the self-test is correct. S2. Select to switch to lifting mode or manual swing arm mode via the manual control system; S3. Enter the selected mode in S2, where S3 also includes the following steps: S3-1. The lifting boom is automatically raised under control. The distance is estimated by the operator. When it is about to reach the required height, it automatically decelerates and slowly rises and falls to the required height, and then the lifting boom stops. S3-2. After confirmation, the operator starts camera tracking, locates the target, and when the street light is manually detected, the operator uses a distance sensor to control the cleaning unit for semi-automatic cleaning via remote control. S3-3. After the flexible cleaning roller finishes brushing, a camera determines whether it is clean or needs to be cleaned again. S3-4. After manual confirmation, the cleaning unit and expansion joint are reset and fixed, ready for the next cleaning process.

10. The operation method of the tunnel high-altitude operation robot as described in claim 8, characterized in that: The control unit communicates and transmits signals with the camera and distance sensor via electrical or wireless connection. The camera and distance sensor move and swing on the camera bracket or their respective brackets to adjust the distance and angle. The camera captures images of the object being cleaned and transmits the real-time images to the control unit; the distance sensor detects the distance between the object being cleaned and the distance sensor. The control unit includes an image analysis device that receives a series of images captured by a camera and analyzes the images for detection and comparison. During image analysis, the image analysis device divides a series of images from the same camera into frames according to the order of capture time and a predetermined time interval, and compares the image of the next frame with the image of the previous frame to determine the effect of the cleaning process. If the comparison result between the previous frame and the next frame is always within the set threshold range, then the image captured by another camera is introduced, and the above detection and comparison process is repeated. If the comparison result between the previous frame and the next frame of the other camera is also always within the set threshold range, then it is determined that the cleaning effect within the shooting range meets the predetermined requirements. The camera is finely adjusted on the camera bracket, and the above detection and comparison process is repeated until the predetermined cleaning requirements are met. The distance sensor transmits the detected distance signal to the control unit. After receiving the distance signal, the control unit drives the lifting unit to move up and down. When the distance reaches the first height threshold range, the lifting unit stops moving. The cleaning unit starts, and the pressure sensor collects the pressure signal and transmits it to the control unit. If the collected pressure signal is less than the predetermined pressure signal threshold, the scissor lift assembly moves upward and extends until the collected pressure signal is within the predetermined pressure signal threshold range. At this time, it indicates that the flexible cleaning roller of the cleaning unit has reached the optimal cleaning contact range with the object being cleaned, and the flexible cleaning roller starts working. When the distance sensor and camera are supported by separate brackets, the position of the distance sensor can be fine-tuned on its own bracket. If the comparison result between the previous frame and the next frame in the aforementioned process is always within the set threshold range, the position of one of the distance sensors is fine-tuned, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, the axial position of the flexible cleaning roller is adjusted within a certain range, and the cleaning process and the aforementioned image detection and comparison process are repeated until the cleaning requirements are met. Then the position of the other distance sensor is fine-tuned, and the aforementioned image detection and comparison process is repeated. If the cleaning requirements are not met, in addition to adjusting the axial position of the flexible cleaning roller within a certain range, the rotating arm will rotate at a certain angle, and the cleaning process and the aforementioned image detection and comparison process will be repeated until the cleaning requirements are met.

Images