Automatic cleaning equipment for tunnel maintenance and cleaning method

Abstract

The invention discloses automatic cleaning equipment for tunnel maintenance and a cleaning method. The problems that in the prior art, tunnel cleaning equipment is single in function and low in maintenance and cleaning efficiency are solved. The automatic cleaning equipment for tunnel maintenance comprises a movable vehicle body, wherein a cleaning mechanism, a rolling brush mechanism and a visual inspection mechanism are sequentially arranged on the movable vehicle body from front to back; telescopic walking wheels are arranged at the bottom of the movable trolley body. The cleaning mechanism comprises an annular track and a moving seat arranged on the annular track, a rotary spray head assembly and a front image acquisition device are arranged on the moving seat, and the rolling brush mechanism comprises a power roller assembly and a telescopic rolling brush assembly. The visual detection mechanism comprises an axial rotation telescopic mechanism and a folding telescopic rod, and a rear image acquisition device is arranged on the folding telescopic rod. The device is high in integration level, realizes the integration of washing and detection functions, and is wide in equipment application range; high efficiency, intellectualization and refinement of tunnel cleaning are achieved through composite motion of an annular track and axial sliding, a telescopic self-adaptive structure and a visual closed loop of front detection and rear detection.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a tunnel inspection and cleaning device. Background Technology

[0002] With the rapid development of my country's highway and urban rail transit networks, the construction mileage of highway tunnels, high-speed rail tunnels, and subway tunnels continues to increase. As an important component of transportation infrastructure, tunnels are prone to accumulating pollutants such as dust, oil, exhaust gas deposits, and scale on their inner walls during long-term operation. This not only reduces tunnel lighting efficiency and affects visibility, but also corrodes the lining structure, shortens its service life, and can even lead to traffic accidents. Therefore, regular, efficient, and thorough cleaning and maintenance of tunnel inner walls has become a necessary measure to ensure tunnel operational safety and extend structural life.

[0003] Currently, tunnel cleaning operations mainly employ two modes: First, traditional manual cleaning, where workers use aerial work platforms or scaffolding to perform close-range cleaning with high-pressure water guns and cleaning brushes. Second, vehicle-mounted cleaning equipment, such as the tunnel cleaning vehicle described in application publication number CN119041333A, which mounts high-pressure spray devices or fixed roller brush systems on ordinary vehicles for mobile operations. However, both of these existing technical solutions have significant technical defects and limitations: First, manual cleaning is inefficient and carries extremely high safety risks. This mode is labor-intensive and has a long operation cycle, making it difficult to meet the rapid maintenance needs of long-distance tunnels. Second, traditional mechanical cleaning equipment has limited functionality and poor adaptability. Existing vehicle-mounted cleaning devices mostly use fixed sprayers or single-diameter roller brushes, whose cleaning radius and angle cannot be flexibly adjusted according to the tunnel cross-sectional dimensions (such as single-centered circles, three-centered circles, rectangles, etc.), the flatness of the lining surface, and the degree of contamination, resulting in incomplete cleaning coverage and numerous dead corners. Third, there is a lack of a synchronous cleaning quality detection and feedback mechanism. Existing equipment typically relies on manual visual inspection or independent testing devices for acceptance after cleaning operations are completed. This approach fails to assess the pollution removal effectiveness in real time and dynamically adjust the cleaning strategy during the cleaning process. Therefore, there is an urgent need for an automated tunnel maintenance and cleaning equipment that integrates adaptive travel, full-section cleaning, multi-stage scrubbing, and real-time visual inspection to achieve an intelligent upgrade of tunnel cleaning operations. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this invention proposes an automatic tunnel cleaning equipment and cleaning method, which solves the problems of limited functionality and low efficiency in the existing tunnel cleaning equipment.

[0005] The technical solution of this invention is implemented as follows: An automatic cleaning device for tunnel maintenance includes a mobile vehicle body, on which a cleaning mechanism, a roller brush mechanism, and a vision inspection mechanism are arranged sequentially from front to back; telescopic wheels are provided at the bottom of the mobile vehicle body; the cleaning mechanism, roller brush mechanism, vision inspection mechanism, and telescopic wheels are all connected to a control system installed on the mobile vehicle body. The cleaning mechanism includes a circular track and a movable seat mounted on the circular track. A rotating nozzle assembly and a front image acquisition device are mounted on the movable seat. The rotating nozzle assembly and the front image acquisition device can move along the circular track under the action of the movable seat; the circular track is connected to an axial sliding assembly installed on the mobile vehicle body; the axial sliding assembly drives the circular track to move axially back and forth. The roller brush mechanism includes a powered roller assembly and a telescopic roller brush assembly mounted on the powered roller assembly. The powered roller assembly can drive the telescopic roller brush assembly to rotate circumferentially. The vision inspection mechanism includes an axially rotating telescopic mechanism and a folding telescopic rod mounted on the axially rotating telescopic mechanism. A rear image acquisition device is mounted on the folding telescopic rod.

[0006] Further preferably, the annular track includes an inner ring seat and an outer ring track, with the movable seat located on the outer ring track. A connecting column is provided between the inner ring seat and the outer ring track. A slide and roller are provided on the inner ring surface of the inner ring seat. A supporting main beam is provided on the movable vehicle body. Axial grooves are provided on both sides of the supporting main beam. The slide and the axial groove cooperate with each other. The axial sliding assembly is an axial hydraulic cylinder, which is located in the axial groove and hinged to the slide. The roller makes rolling contact with the supporting main beam.

[0007] Further preferably, the outer ring channel has a rectangular box structure with an opening on one side. The movable seat includes a base and a U-shaped seat. The base is located inside the rectangular box structure and a power drive mechanism is provided between the base and the rectangular box structure. One end of the U-shaped seat is fixed to the base, and the other end extends through the opening to the top of the rectangular box structure. The rotating nozzle assembly is located on the U-shaped seat. A rubber sealing ring is provided at the opening. The power drive mechanism includes a first motor mounted on the base. A first drive gear is provided on the output shaft of the first motor. The first drive gear meshes with a first rack mounted on the inner wall of the rectangular box structure.

[0008] Further preferably, the rotary nozzle assembly includes a first telescopic rod mounted on a movable base, an arc-shaped tube for connecting to a high-pressure water pipe on the first telescopic rod, and a plurality of nozzles on the arc-shaped tube; a connecting sleeve rotatably connected to the first telescopic rod is provided at the lower part of the arc-shaped tube, a toothed ring is provided on the outer circumference of the connecting sleeve, a cover is provided at the upper part of the first telescopic rod, a small motor is provided inside the cover, a small gear is provided on the output shaft of the small motor, and the small gear meshes with the toothed ring.

[0009] In a further preferred embodiment, the power roller assembly includes a roller, which is connected to a support beam mounted on the moving vehicle body via bearings. The support beam is equipped with at least two drive motors, and the output shaft of each drive motor is equipped with a transmission gear. The roller is equipped with a large gear ring, and the transmission gear meshes with the large gear ring.

[0010] Further preferably, the telescopic roller brush assembly includes a roller brush component and two support arm plates arranged opposite each other on the roller. The support arm plates are provided with at least two arms, and the arms are hinged to connecting rods. The two corresponding connecting rods are connected to the end shaft frame through an intermediate connecting rod. The roller brush component is arranged on the end shaft frame. A roller brush cylinder is connected to the intermediate connecting rod. One end of the roller brush cylinder is hinged to the intermediate connecting rod, and the other end is hinged to the roller.

[0011] Further preferred, the brush assembly includes a horizontally positioned rotating brush and two inclined rotating brushes, with the two inclined rotating brushes located at both ends of the horizontally positioned rotating brush, and the outer contours of the three rotating brushes forming an arc shape adapted to the inner wall of the tunnel.

[0012] Further preferably, the axial rotation telescopic mechanism includes a rotation drive assembly and an axial telescopic assembly. The mobile vehicle body is provided with an internally hollow support base. The rotation drive assembly includes a second motor and a splined shaft disposed within the support base. The second motor is connected to the splined shaft via a transmission mechanism. The axial telescopic assembly includes an axial telescopic cylinder and a sliding bushing. The sliding bushing is slidably engaged with the splined shaft. One end of the axial telescopic cylinder is hinged to the sliding bushing, and the other end is disposed on the splined shaft. The folding telescopic rod is disposed on the sliding bushing and can extend outward through an elongated slot hole opened on the support base.

[0013] Further optimized, the folding telescopic rod is a hydraulic cylinder, and the rear image acquisition device is located at the telescopic end of the hydraulic cylinder; both the rear and front image acquisition devices include a cover, inside which is a lifting seat and a lifting cylinder. The lifting cylinder provides lifting power to the lifting seat, and a camera is installed on the lifting seat. The bottom of the lifting seat is provided with a long groove rail, and two baffles are hinged to the top of the cover. Crank arms are fixed on the baffles, and guide pins are installed on the crank arms, which are located in the long groove rail; as the lifting cylinder pushes the lifting seat upward into the cover, the baffles gradually open; as the lifting cylinder pulls the lifting seat downward back into the cover, the baffles gradually close.

[0014] A cleaning and inspection method for an automatic tunnel cleaning device, using the aforementioned automatic tunnel cleaning device, specifically involves: a mobile vehicle moving axially within the tunnel via telescopic wheels; a front image acquisition device acquiring images of the tunnel wall under the action of a moving seat; a control system controlling the rotating nozzle assembly of the cleaning mechanism and the rotating nozzle assembly of the roller brush mechanism to rinse and / or brush the areas requiring cleaning based on the image information acquired by the front image acquisition device; and then, a rear image acquisition device of the visual inspection mechanism acquiring images of the rinsed and / or brushed areas, thus completing the full tunnel inspection.

[0015] The beneficial effects of the present invention are as follows: The cleaning mechanism of the present invention uses a combination of circular track and axial sliding motion to enable the rotating nozzle assembly and the front image acquisition device to move circumferentially along the inner wall of the tunnel and axially in the parking state, thereby achieving all-round, large-area, and fixed-point cleaning, eliminating the dead angles and low efficiency problems of traditional equipment operating on one side.

[0016] The power roller assembly of the roller brush mechanism of this invention can drive the telescopic roller brush assembly to rotate circumferentially for comprehensive cleaning of the tunnel wall; the radial extension distance of the telescopic roller brush assembly is adjustable to adapt to tunnels with different cross-sections, improving the applicability of the equipment. The rotating nozzle assembly works in conjunction with the telescopic roller brush assembly to first soften the dirt with high-pressure water, and then physically remove it with the roller brush, avoiding direct scratching of the tunnel inner wall by the hard brush.

[0017] The axial rotation and telescopic mechanism of the visual inspection mechanism of this invention provides the power for the rotation and axial movement of the rear image acquisition device, enabling it to have a larger and more accurate image acquisition range; the front image acquisition device identifies the type and location of dirt in real time, guiding the cleaning strategy; the rear image acquisition device performs acceptance evaluation of the cleaning effect and precise inspection of the tunnel lining. The front and rear image acquisition devices are linked with the cleaning / brush mechanism to form an automated process of "pre-inspection → cleaning → brushing → final inspection", reducing manual intervention and improving inspection efficiency and detection accuracy.

[0018] This invention boasts a high degree of integration, achieving integrated cleaning and inspection functions, and its equipment has a wide range of applications. Here, through a composite motion of a circular track and axial sliding, a telescopic adaptive structure, and a visual closed loop of pre-inspection and post-measurement, it achieves high efficiency, intelligence, and precision in tunnel cleaning. The cleaning and inspection method fully utilizes the "three mechanisms, four degrees of freedom, and dual detection points" design of the equipment hardware, and through closed-loop intelligent control of "data-decision-execution-verification," it realizes a paradigm leap in tunnel cleaning from extensive and experience-based methods to precise, digital, and unmanned methods, representing a major innovation in tunnel cleaning and inspection. Attached Figure Description

[0019] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic front view of the cleaning mechanism of the present invention; Figure 3 This is a schematic diagram showing the connection state of the movable base and rotating nozzle assembly with the annular track of the present invention; Figure 4 This is a partially enlarged view of the internal structure of the roller brush mechanism of the present invention; Figure 5 A schematic diagram showing the arrangement of three telescopic roller brush assemblies; Figure 6 A schematic diagram showing the arrangement of two telescopic roller brush assemblies; Figure 7 This is a schematic diagram of the closed state of the image acquisition device. Figure 8 This is a schematic diagram showing the image acquisition device in the open state. Detailed Implementation

[0021] 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.

[0022] Example 1, as Figure 1As shown, an automatic tunnel cleaning and maintenance device includes a mobile vehicle 1, which is a vehicle structure on which a corresponding driver's cab can be installed. It moves via telescopic wheels 5 at the bottom. From front to back, the mobile vehicle 1 is equipped with a cleaning mechanism 2, a roller brush mechanism 3, and a visual inspection mechanism 4, used for cleaning and visual inspection of the tunnel, and for brushing and post-wash visual inspection, respectively. The bottom of the mobile vehicle 1 is equipped with telescopic wheels 5, which can adopt a hydraulic cylinder + wheel structure or an X-shaped folding frame + wheel structure to achieve height adjustment and self-propelled movement of the mobile vehicle. The telescopic wheels can adjust the height according to road conditions, enhancing the device's passability on complex road surfaces such as those with accumulated water and gravel. The cleaning mechanism 2, the roller brush mechanism 3, the vision inspection mechanism 4, and the telescopic wheels 5 are all connected to the control system 10 mounted on the mobile vehicle body 1. The control system 10 is a controller integrated into a control cabinet, which is located at the front of the mobile vehicle body or in the driver's cab. Its function is to act as the control center for the entire equipment, controlling the extension and retraction of the telescopic wheels 5 and their movement, as well as the activation or deactivation of the cleaning mechanism 2, the roller brush mechanism 3, and the vision inspection mechanism 4. It should be noted that this invention improves the equipment components and does not involve improvements to the circuitry or control program. This invention only controls the operation and shutdown of each electronic component through a PLC control system. Since PLC control systems are mature automatic control systems in industry, this invention will not elaborate on the circuitry and control program details.

[0023] Specifically, in this embodiment, the cleaning mechanism 2 includes a circular track 21 and a movable seat 22 mounted on the circular track 21. The circular track surrounds the mobile vehicle body. The movable seat can move along the circular track under its own driving force. The movable seat 22 is equipped with a rotating nozzle assembly 23 and a front image acquisition device 25. The rotating nozzle assembly is connected to an external high-pressure water source or to a water storage tank mounted on the mobile vehicle body. High-pressure water is used to clean the tunnel wall through the rotating nozzle assembly. The front image acquisition device 25 acquires images of the tunnel wall before cleaning, and determines the flatness and contamination level of the tunnel wall lining surface based on the image information. The control system selects whether to activate the rotating nozzle assembly 23 and the roller brush mechanism 3 based on the image information, and whether to clean the tunnel wall. In this embodiment, the rotating nozzle assembly 23 and the front image acquisition device 25 can move along the circular track 21 under the action of the movable seat 22, enabling 360° cleaning and image acquisition of the tunnel. Although 360° cleaning and image acquisition are possible, in actual construction, cleaning and image acquisition of the upper semicircle of the tunnel is more commonly used. In this embodiment, the annular track 21 is connected to the axial sliding assembly 24 mounted on the mobile vehicle body 1. The axial sliding assembly 24 drives the annular track 21 to move back and forth along the axial direction. This changes the axial distance between the rotating nozzle assembly 23 and the front image acquisition device 25, enabling surface cleaning and large-area image acquisition while the mobile vehicle body remains stationary, thus improving cleaning and image acquisition efficiency. The axial sliding assembly drives the cleaning mechanism to move back and forth, and in conjunction with the telescopic wheels, it allows for repeated, targeted cleaning of key areas, improving cleanliness.

[0024] In this embodiment, the roller brush mechanism 3 includes a powered roller assembly 31 and a telescopic roller brush assembly 32 disposed on the powered roller assembly 31; two or three telescopic roller brush assemblies can be provided as needed, such as... Figure 5 , 6 As shown. The powered roller assembly 31, similar to a rotary mechanism, provides power for the circumferential rotation of the telescopic roller brush assembly 32. The powered roller assembly 31 drives the telescopic roller brush assembly 32 to rotate circumferentially for thorough cleaning of the tunnel walls. The radial extension distance of the telescopic roller brush assembly 32 is adjustable to adapt to tunnels with different cross-sections, improving the equipment's applicability. The rotating nozzle assembly works in conjunction with the telescopic roller brush assembly, first using high-pressure water to soften the dirt, and then using the roller brush to physically remove it, avoiding direct scratching of the tunnel wall by the hard brush.

[0025] In this embodiment, the visual inspection mechanism 4 includes an axial rotation telescopic mechanism 41 and a folding telescopic rod 42 mounted on the axial rotation telescopic mechanism 41. A rear image acquisition device 43 is mounted on the folding telescopic rod 42. The folding telescopic rod 42 extends and retracts radially to adjust the height of the rear image acquisition device. The axial rotation telescopic mechanism 41 provides the power for the rotation and axial movement of the rear image acquisition device, enabling it to have a larger and more accurate image acquisition range. The front image acquisition device identifies the type and location of dirt in real time, guiding the cleaning strategy; the rear image acquisition device performs acceptance evaluation of the cleaning effect and precise inspection of the tunnel lining. The front and rear image acquisition devices are linked with the cleaning / brush mechanism to form an automated process of "pre-inspection → cleaning → brushing → final inspection," reducing manual intervention. The cleaning mechanism, brush mechanism, and visual inspection mechanism are arranged sequentially, allowing the equipment to complete multiple processes in a single pass, significantly shortening maintenance time. Precise positioning and visual management avoid over-cleaning, saving water and energy resources and extending equipment lifespan.

[0026] Example 2: An automatic cleaning device for tunnel maintenance, such as... Figure 2 As shown, based on Embodiment 1, this embodiment further optimizes the circular track 21, which includes an inner ring seat 2101 and an outer ring track 2102. The movable seat 22 is located on the outer ring track 2102 and slides or rolls with it. A connecting column 2103 is provided between the inner ring seat 2101 and the outer ring track 2102. The connecting column is used to fix the inner ring seat 2101 and the outer ring track 2102. It has high torsional and bending stiffness and can effectively suppress cantilever vibration and ensure stable operation when bearing the rotating nozzle assembly and the front image acquisition device. The inner ring seat 2101 has a slide seat 2104 and a roller 2105 on its inner ring surface. The moving car body 1 has a supporting main beam 101. The supporting main beam 101 has axial grooves 102 on both sides. The slide seat 2104 cooperates with the axial grooves 102. The axial sliding component 24 is an axial hydraulic cylinder, which is located in the axial groove 102 and hinged to the slide seat 2104. The roller 2105 makes rolling contact with the top of the supporting main beam 101. The slide seat (in the axial groove) and the roller (rolling contact with the top of the beam) form a double-point support, which evenly distributes the load to the supporting main beam, avoids stress concentration caused by single-point force, and improves the overall structural load-bearing limit. The slide seat is responsible for the linear guidance of axial movement. The roller adopts a rolling contact method, which transforms traditional sliding friction into rolling friction. The friction coefficient is significantly reduced, which not only reduces the driving load of the axial hydraulic cylinder, but also greatly reduces wear and extends the service life of the track and the main beam. The axial hydraulic cylinder is hinged to the slide block, which is directly driven and has a large thrust. It can smoothly realize the overall axial movement of the track and change the axial position of the rotating nozzle assembly 23 and the front image acquisition device 25 to achieve maximum area high-pressure water cleaning at a fixed position.

[0027] In this embodiment, the outer ring channel 2102 has a rectangular box structure with an opening on one side to prevent cleaning water from flowing in from the top. The movable seat 22 includes a base 2201 and a U-shaped seat 2202. The base 2201 is located inside the rectangular box structure, and a power drive mechanism is provided between the base and the rectangular box structure to drive the base to move relative to the outer ring channel. One end of the U-shaped seat 2202 is fixed to the base 2201, and the other end extends through the opening to the top of the rectangular box structure. The rotating nozzle assembly 23 is located on the U-shaped seat 2202. The U-shaped seat extends from the box opening, forming a short cantilever beam structure, which brings the load center of gravity close to the box support surface, significantly reducing the overturning moment, reducing the shear stress of the box connecting column, improving the overall dynamic stability, and preventing water from entering the rectangular box structure. The bottom of the U-shaped seat 2202 can be embedded with a roller that contacts the top surface of the rectangular box structure, reducing friction while providing bottom support for the U-shaped seat, further ensuring the movement stability of the U-shaped seat. A rubber sealing ring 2203 is provided at the opening; the rectangular box structure, together with the rubber sealing ring at the opening, forms an IP65 or higher protection level, effectively isolating high-pressure water mist, chemical cleaning agents, dust, and acidic corrosive gases in the tunnel, preventing the drive mechanism from getting damp, rusted, or blocked, and significantly extending the service life of precision transmission components such as the first motor and gear rack. Drainage holes can also be designed inside the box to prevent water accumulation. The power drive mechanism includes a first motor 2204 mounted on the base, with a first drive gear 2205 mounted on the output shaft of the first motor 2204. The first drive gear 2205 meshes with a first rack 2206 mounted on the inner wall of the rectangular box structure; the movement of the moving seat relative to the outer ring is achieved through the engagement of the gear and rack. The first motor directly drives the first drive gear, which meshes with the first rack on the box, resulting in a short transmission chain, no elastic slippage, millimeter-level position control accuracy, and high repeatability, making it particularly suitable for fine cleaning scenarios requiring precise alignment and spraying. This design, through its innovative configuration of "enclosed enclosure + internal drive + U-shaped cantilever," achieves an organic combination of high precision, high rigidity, and high protection level under extremely harsh working conditions. This is the key reliability guarantee for the equipment to operate stably for a long time in the humid, corrosive, and dusty environment of tunnels, while also taking into account ease of maintenance and a compact structure. This embodiment is one implementation method, such as Figure 3As shown, the rotating nozzle assembly 23 includes a first telescopic rod 2301 mounted on a movable base 22. The first telescopic rod 2301 automatically adjusts the distance between the nozzle and the wall surface based on the tunnel inner diameter data fed back by the front image acquisition device, ensuring the high-pressure water jet is always at the optimal impact distance. For identified stubborn stain areas, the telescopic rod can extend to reduce the distance and increase the rotation scanning frequency, achieving targeted cleaning and avoiding over-rinsing of the entire area, thus saving water resources. The first telescopic rod 2301 is equipped with an arc-shaped pipe 2302 for connecting to a high-pressure water pipe; the arc-shaped pipe 2302 connects to an external high-pressure water pipe via a connector, enabling quick insertion and removal. The arc-shaped pipe 2302 is equipped with several nozzles 2303; the shape of the arc-shaped pipe is approximately similar to the curvature of the tunnel's inner contour (circular or horseshoe-shaped), and the multiple nozzles 2303 are distributed in a fan shape, forming a dense, strip-shaped spray area with a single positioning. Compared to a single-point nozzle, the spray coverage width is increased by 3-5 times, significantly reducing the number of circular track movements. The lower part of the arc-shaped tube 2302 is provided with a connecting sleeve 2304 that is rotatably connected to the first telescopic rod 2301; the connecting sleeve and the telescopic end of the first telescopic rod are rotatably connected through bearings. A gear ring 2305 is provided on the outer circumference of the connecting sleeve 2304, and a cover 2306 is provided on the upper part of the first telescopic rod 2301. A small motor 2307 is located inside the cover 2306, and a small gear 2308 is provided on the output shaft of the small motor 2307, meshing with the gear ring 2305. The cover 2306 seals and isolates the gear and motor, effectively resisting the corrosion of high-pressure water mist, chemical cleaning agents, and dust, achieving a protection level of IP67 or higher, ensuring long-term reliable operation of the transmission components in harsh environments, and significantly reducing the failure rate. The small motor 2307 drives the arc-shaped tube to reciprocate at ±30°~±45°, forming a "head-shaking scanning" mode, further expanding the lateral coverage area, eliminating gaps between nozzles and dead angles in fixed installation, and achieving thorough cleaning. This component has three degrees of freedom: axial (circular track movement), circumferential (arc tube rotation), and radial (telescopic rod extension). In conjunction with the front image acquisition device, it can construct a three-dimensional spatial cleaning trajectory planning model to achieve fully automated and optimal path intelligent cleaning operations.

[0028] Example 3: An automatic cleaning device for tunnel maintenance, further optimized based on Example 1 or 2, such as... Figure 4As shown, in this embodiment, the power roller assembly 31 includes a roller 3101. The roller 3101 is connected to the main support beam 101 mounted on the moving vehicle body via a bearing 3102. The rear of the main support beam 101 is cylindrical and extends out of the vehicle body. The main support beam is located on the central axis of the roller and serves as both a load-bearing structural component and a bearing mounting base. At least two drive motors 3103 are mounted on the main support beam 101. In this embodiment, three drive motors are used as an example, and they are evenly spaced around the outer circumference of the main support beam. A transmission gear 3104 is mounted on the output shaft of the drive motor 3103. A large gear ring 3105 is located inside the roller 3101, and the transmission gear 3104 meshes with the large gear ring 3105. The rotation of the transmission gear drives the roller to rotate around the main support beam. The drive motor, transmission gear, and large gear ring are all integrated inside the roller, reducing the space occupied by the equipment when moving in the tunnel and improving its passability. The transmission gears and large gear rings are enclosed inside the drum, and with the sealing design at the bearing, they effectively isolate high-pressure water, chemical cleaning fluids, dust, and corrosive gases in the tunnel, achieving a protection level of IP67 and significantly extending the life of the transmission components.

[0029] This embodiment is one implementation method, such as Figure 5 As shown in Figure 6, the telescopic roller brush assembly 32 includes a roller brush 3205 and two opposing support arm plates 3201 mounted on the roller 3101. The support arm plates 3201 provide support for the roller brush. The two support arm plates are symmetrically arranged front and back, with a linkage mechanism running through them, forming a closed frame-type constraint system. This effectively resists the gyroscopic effect and eccentric vibration generated by the high-speed rotation of the roller brush, avoids cantilever vibration, and ensures accurate brushing trajectory. The support arm plate 3201 has at least two arms, preferably two or three arms, with connecting rods 3202 hinged to the arms. The two corresponding connecting rods 3202 are connected to the end shaft brackets 3204 through an intermediate connecting rod 3203, forming a force-increasing mechanism resembling a parallelogram or crank-slider. The roller brush component 3205 is mounted on the end shaft bracket 3204, and the roller brush cylinder 3206 is connected to the intermediate connecting rod 3203. One end of the roller brush cylinder 3206 is hinged to the intermediate connecting rod 3203, and the other end is hinged to the roller 3101. The roller brush cylinder acts on the intermediate connecting rod, amplifying the thrust by utilizing the lever principle. It has a compact structure and extremely strong load-bearing capacity.

[0030] As a preferred embodiment, the roller brush component 3205 includes one horizontally positioned rotating roller brush and two inclined rotating roller brushes. The two inclined rotating roller brushes are located at both ends of the horizontally positioned rotating roller brush, and the outer contours of the three rotating roller brushes form an arc shape that conforms to the inner wall of the tunnel. Each roller brush has its own independent drive, and the high-speed rotating bristles exert a combined cutting and peeling effect on stubborn oil stains and calcified deposits, resulting in a cleaning depth and cleanliness far exceeding that of a passive roller brush without power. The three roller brushes can independently adjust their speed; for example, different speeds can be used to match different types of dirt on the sidewalls and the arch, achieving zoned and refined cleaning. The horizontal roller brush cleans the sidewalls, while the inclined roller brushes at both ends clean the transition area between the arch shoulder and the arch. The outer contours of the three brushes fit together to form an approximate arc surface inside the tunnel. A single application can cover a larger arc length, increasing cleaning efficiency by 2-3 times compared to single or double brushes, reducing the number of roller rotations and equipment travels, and shortening the construction period.

[0031] Example 4: An automatic cleaning device for tunnel maintenance, further optimized based on Example 2 or 3. In this example, the axial rotation and telescopic mechanism 41 includes a rotation drive assembly and an axial telescopic assembly; the rotation drive assembly provides circumferential rotational power, and the axial telescopic assembly provides axial (forward and backward) movement power. A hollow support base 104 is provided on the mobile vehicle body 1; the support base is fixedly connected to the cylindrical structure at the rear of the main support beam, forming an I-shaped structure, primarily to prevent interference with the telescopic roller brush assembly. The support base provides protection and support for the rotation drive assembly and the axial telescopic assembly. The rotation drive assembly includes a second motor 4101 and a splined shaft 4102 disposed within the support base 104. The second motor 4101 is connected to the splined shaft 4102 via a transmission mechanism, which can be a bevel gear pair, to achieve power transmission from the second motor to the splined shaft. The axial telescopic assembly includes an axial telescopic cylinder 4103 and a sliding bushing 4104, which slides against the splined shaft 4102. One end of the axial telescopic cylinder 4103 is hinged to the sliding sleeve 4104, and the other end is mounted on the spline shaft 4102. The spline shaft 4102 serves both torque transmission and axial guidance functions. When the second motor drives the spline shaft to rotate, the sliding sleeve 4104 rotates synchronously. When the axial telescopic cylinder 4103 drives the sliding sleeve to move axially, the spline teeth provide precise guidance without sacrificing rotational freedom. This achieves a composite motion of "rotating without being fixed, sliding without rotating," resulting in an extremely short transmission chain and high control precision. The folding telescopic rod 42 is mounted on the sliding sleeve 4104 and can extend outward through the elongated slot 105 on the support body 104. The rotary drive assembly (motor and spline shaft) is completely enclosed inside the hollow support body 104. Combined with the seal at the elongated slot 105, it effectively isolates high-pressure water mist, acid and alkali cleaning solutions, dust, and humid gases inside the tunnel, preventing corrosion and wear of precision transmission surfaces. The splined shaft and sliding bushing transmit torque through the simultaneous meshing of multiple teeth. Its torsional rigidity is much higher than that of a single key or single pin structure. It can bear the cantilever load of the folding telescopic rod, the rear image acquisition device, and the rotational inertial force without torsional deformation, ensuring stable and jitter-free detection images.

[0032] This embodiment is one implementation scheme, such as Figure 7 and 8As shown, the folding telescopic rod 42 is a hydraulic cylinder, and the rear image acquisition device 43 is located at the telescopic end of the hydraulic cylinder; the height of the rear image acquisition device is changed by the radial extension and retraction of the hydraulic cylinder. Both the rear image acquisition device 43 and the front image acquisition device 25 include a cover 4301. The cover 4301 is equipped with a lifting seat 4302 and a lifting cylinder 4303. The lifting seat slides against the inner wall of the cover, and the lifting cylinder 4303 provides lifting power to the lifting seat 4303; under the action of the lifting cylinder, the lifting seat moves up and down relative to the cover. A camera 4304 is installed on the lifting seat 4302; the camera is a waterproof camera. The bottom of the lifting seat 4302 is equipped with a long groove rail 4305, and two baffles 4306 are hinged to the top of the cover 4301. The two baffles are hinged to the clearance groove on the upper inner wall of the cover by a pin to avoid interference. A crank arm 4307 is fixedly mounted on the baffle 4306, and a guide pin 4308 is mounted on the crank arm 4307. The guide pin 4308 is located within the long groove rail 4305. During the process of the lifting cylinder 4303 pushing the lifting seat 4303 upwards out of the cover 4301, the baffle 4306 gradually opens. During the process of the lifting cylinder 4303 pulling the lifting seat 4303 downwards back into the cover 4301, the baffle 4306 gradually closes. When not in operation, the camera 4304 is completely retracted into the cover 4301, and together with the top baffle 4306, a fully enclosed protective cavity is formed. When the baffle is closed, only a small gap remains at the top of the cover, greatly reducing the probability of dirt entering. This effectively isolates the high-pressure water mist, chemical cleaning agents, dust, acidic gases, and accidentally splashed gravel in the tunnel, preventing lens contamination, short circuits, or lens scratches, and ensuring long-term reliable operation of the image acquisition device in extremely humid and corrosive environments. The lifting cylinder 4303 not only drives the camera to rise and fall, but also drives the crank arm pin 4308 to move through the long groove rail 4305, thereby driving the baffle 4306 in a purely mechanical linkage to realize the automatic opening and closing of the baffle; no additional motor, sensor or control program is required, and the synchronization of the action is reliable.

[0033] Example 5: A cleaning method for an automatic tunnel cleaning device, using the automatic tunnel cleaning device described in Example 1 or 4. Specifically, the mobile vehicle 1 moves axially within the tunnel via telescopic wheels 5. The front image acquisition device 25, under the action of the moving seat 22, performs the first image acquisition on the tunnel wall. Based on the image information acquired by the front image acquisition device 25, the control system controls the rotating nozzle assembly 23 of the cleaning mechanism 2 and the rotating nozzle assembly 23 of the roller brush mechanism 3 to rinse and / or brush the areas to be cleaned. The front image acquisition device identifies the type (oil, calcification, dust), level (light / medium / heavy), and location of dirt in real time. The control system intelligently decides the cleaning mode (rinsing only, brushing only, or combined cleaning) and parameters (water pressure, roller brush speed, cleaning agent ratio) accordingly to avoid over-cleaning of clean areas. Then, the rear image acquisition device 43 of the visual inspection mechanism 4 performs secondary image acquisition on the area after rinsing and / or cleaning, thus completing the full tunnel inspection. The rear image acquisition device performs secondary image acquisition on the cleaned area, automatically calculates the cleaning rate through image comparison algorithms, and generates a cleaning quality report, realizing the data-driven and traceable operation effect and improving the acceptance quality. When the moving vehicle moves axially, the four processes of front image acquisition, high-pressure rinsing, roller brush washing, and rear image acquisition are spatially continuous and logically sequential, allowing for streamlined operations of simultaneous inspection, washing, and verification, or individual operations, offering flexible operation methods. This cleaning and inspection method fully utilizes the "three mechanisms, four degrees of freedom, and dual detection points" design of the equipment hardware, and through closed-loop intelligent control of "data-decision-execution-verification," it realizes a paradigm leap in tunnel cleaning from extensive and experience-based to precise, digital, and unmanned, representing a major innovation in tunnel cleaning and inspection.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic cleaning device for tunnel maintenance, comprising a mobile vehicle (1), characterized in that: The mobile vehicle body (1) is provided with a cleaning mechanism (2), a roller brush mechanism (3) and a vision inspection mechanism (4) in sequence from front to back; the bottom of the mobile vehicle body (1) is provided with telescopic wheels (5); the cleaning mechanism (2), the roller brush mechanism (3), the vision inspection mechanism (4) and the telescopic wheels (5) are all connected to the control system (10) provided on the mobile vehicle body (1); The cleaning mechanism (2) includes a ring track (21) and a movable seat (22) set on the ring track (21). The movable seat (22) is equipped with a rotating nozzle assembly (23) and a front image acquisition device (25). The rotating nozzle assembly (23) and the front image acquisition device (25) can move along the ring track (21) under the action of the movable seat (22). The ring track (21) is connected to an axial sliding assembly (24) set on the moving vehicle (1). The axial sliding assembly (24) drives the ring track (21) to move back and forth along the axial direction. The roller brush mechanism (3) includes a power roller assembly (31) and a telescopic roller brush assembly (32) mounted on the power roller assembly (31). The power roller assembly (31) can drive the telescopic roller brush assembly (32) to rotate circumferentially. The visual inspection mechanism (4) includes an axial rotation telescopic mechanism (41) and a folding telescopic rod (42) set on the axial rotation telescopic mechanism (41). The folding telescopic rod (42) is equipped with a rear image acquisition device (43).

2. The automatic tunnel cleaning equipment according to claim 1, characterized in that: The circular track (21) includes an inner ring seat (2101) and an outer ring track (2102). The movable seat (22) is located on the outer ring track (2102). A connecting column (2103) is provided between the inner ring seat (2101) and the outer ring track (2102). A slide seat (2104) and a roller (2105) are provided on the inner ring surface of the inner ring seat (2101). A supporting main beam (101) is provided on the movable car body (1). Axial sliding grooves (102) are provided on both sides of the supporting main beam (101). The slide seat (2104) cooperates with the axial sliding groove (102). The axial sliding component (24) is an axial hydraulic cylinder. The axial hydraulic cylinder is located in the axial sliding groove (102) and is hinged to the slide seat (2104). The roller (2105) makes rolling contact with the supporting main beam (101).

3. The automatic tunnel cleaning equipment according to claim 2, characterized in that: The outer ring channel (2102) has a rectangular box structure with an opening on one side. The movable seat (22) includes a base (2201) and a U-shaped seat (2202). The base (2201) is located inside the rectangular box structure and a power drive mechanism is provided between it and the rectangular box structure. One end of the U-shaped seat (2202) is fixed on the base (2201) and the other end extends through the opening to the top of the rectangular box structure. The rotating nozzle assembly (23) is located on the U-shaped seat (2202). A rubber sealing ring (2203) is provided at the opening. The power drive mechanism includes a first motor (2204) provided on the base (2201). A first drive gear (2205) is provided on the output shaft of the first motor (2204). The first drive gear (2205) meshes with a first rack (2206) provided on the inner wall of the rectangular box structure.

4. The automatic cleaning equipment for tunnel maintenance according to claim 2 or 3, characterized in that: The rotating nozzle assembly (23) includes a first telescopic rod (2301) mounted on a movable base (22). The first telescopic rod (2301) is provided with an arc-shaped tube (2302) for connection with a high-pressure water pipe. The arc-shaped tube (2302) is provided with a plurality of nozzles (2303). The lower part of the arc-shaped tube (2302) is provided with a connecting sleeve (2304) rotatably connected to the first telescopic rod (2301). The outer circumference of the connecting sleeve (2304) is provided with a gear ring (2305). The upper part of the first telescopic rod (2301) is provided with a cover (2306). The cover (2306) is provided with a small motor (2307). The output shaft of the small motor (2307) is provided with a small gear (2308). The small gear (2308) meshes with the gear ring (2305).

5. The automatic cleaning equipment for tunnel maintenance according to claim 1 or 4, characterized in that: The power roller assembly (31) includes a roller (3101), which is connected to a support beam (101) mounted on the mobile vehicle body (1) via a bearing (3102). The support beam (101) is provided with at least two drive motors (3103), and the output shaft of the drive motor (3103) is provided with a transmission gear (3104). The roller (3101) is provided with a large gear ring (3105) inside, and the transmission gear (3104) meshes with the large gear ring (3105).

6. The automatic tunnel cleaning equipment according to claim 5, characterized in that: The telescopic roller brush assembly (32) includes a roller brush (3205) and two support arm plates (3201) arranged opposite each other on the roller (3101). The support arm plates (3201) are provided with at least two arms, and the arms are hinged to connecting rods (3202). The two corresponding connecting rods (3202) are connected to the end shaft frame (3204) through the intermediate connecting rod (3203). The roller brush (3205) is arranged on the end shaft frame (3204). A roller brush cylinder (3206) is connected to the intermediate connecting rod (3203). One end of the roller brush cylinder (3206) is hinged to the intermediate connecting rod (3203), and the other end is hinged to the roller (3101).

7. The automatic tunnel cleaning equipment according to claim 6, characterized in that: The roller brush component (3205) includes a horizontally arranged rotating roller brush and two inclined rotating roller brushes. The two inclined rotating roller brushes are located at both ends of the horizontally arranged rotating roller brush, and the outer contours of the three rotating roller brushes form an arc shape that adapts to the inner wall of the tunnel.

8. The automatic cleaning equipment for tunnel maintenance according to claim 1 or 7, characterized in that: The axial rotation telescopic mechanism (41) includes a rotation drive assembly and an axial telescopic assembly. The mobile vehicle body (1) is provided with a hollow support base (104). The rotation drive assembly includes a second motor (4101) and a spline shaft (4102) disposed in the support base (104). The second motor (4101) is connected to the spline shaft (4102) through a transmission mechanism. The axial telescopic assembly includes an axial telescopic cylinder (4103) and a sliding bushing (4104). The sliding bushing (4104) is slidably engaged with the spline shaft (4102). One end of the axial telescopic cylinder (4103) is hinged to the sliding bushing (4104), and the other end is disposed on the spline shaft (4102). The folding telescopic rod (42) is disposed on the sliding bushing (4104) and can extend outward through the elongated slot (105) opened on the support base (104).

9. The automatic cleaning equipment for tunnel maintenance according to claim 8, characterized in that: The folding telescopic rod (42) is a hydraulic cylinder, and the rear image acquisition device (43) is located at the telescopic end of the hydraulic cylinder; both the rear image acquisition device (43) and the front image acquisition device (25) include a cover (4301), and a lifting seat (4302) and a lifting cylinder (4303) are provided inside the cover (4301). The lifting cylinder (4303) provides lifting power to the lifting seat (4303), and a camera (4304) is provided on the lifting seat (4302). A long groove rail (4305) is provided at the bottom of the lifting seat (4302). The top is hinged with two baffles (4306), and a crank arm (4307) is fixed on the baffle (4306). A guide pin (4308) is provided on the crank arm (4307), and the guide pin (4308) is located in the long groove rail (4305). During the process of the lifting cylinder (4303) pushing the lifting seat (4303) upward to the cover (4301), the baffle (4306) gradually opens. During the process of the lifting cylinder (4303) pulling the lifting seat (4303) downward to the cover (4301), the baffle (4306) gradually closes.

10. A cleaning and inspection method for an automatic cleaning equipment for tunnel maintenance, characterized in that: Using the automatic cleaning equipment for tunnel maintenance as described in any one of claims 1 to 9, the mobile vehicle (1) moves axially within the tunnel via telescopic wheels (5). The front image acquisition device (25) performs the first image acquisition on the tunnel wall under the action of the moving seat (22). The control system controls the rotating nozzle assembly (23) of the cleaning mechanism (2) and the rotating nozzle assembly (23) of the roller brush mechanism (3) to rinse and / or brush the area to be cleaned based on the image information acquired by the front image acquisition device (25). Then, the rear image acquisition device (43) of the visual inspection mechanism (4) performs a second image acquisition on the area after rinsing and / or brushing, thus completing the full tunnel inspection.

Images