Tunnel intelligent marking line cleaning robot

Abstract

The application discloses a tunnel intelligent marking line cleaning robot, which comprises a device frame, a device shell is arranged at the top of the device frame, and a moving wheel is driven to slide up and down through a lifting assembly at the bottom of the device frame. One side of the bottom of the device frame is provided with a cleaning mechanism, which comprises a cleaning assembly, a connecting plate is arranged at the bottom of the device frame, a speed reducer motor is fixedly connected to the bottom of the connecting plate, and the application relates to the technical field of cleaning robots. The tunnel intelligent marking line cleaning robot has a compact overall structure, does not need to occupy a main lane like a traditional large cleaning operation vehicle, can work in a tunnel edge area, does not affect the driving speed and safety of the lane, solves the problem of lane occupation and congestion, meanwhile, the water absorption rubber strip, the sewage pipe and the sewage tank are cooperated to realize sewage recovery, secondary pollution is avoided, the tunnel environment is protected, the motor control unit drives the moving wheel to move autonomously, the labor intensity is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a tunnel intelligent road marking cleaning robot. Background Technology

[0002] As a crucial component of transportation infrastructure, tunnels rely heavily on internal traffic markings, which are essential for guiding vehicles and ensuring traffic safety. Especially with the rapid development of autonomous driving technology, the clarity of these markings directly impacts the recognition accuracy and safety of autonomous vehicles. However, over time, tunnel markings are susceptible to damage from vehicle exhaust pollution, dust accumulation, and friction from vehicle traffic, leading to decreased clarity and threatening traffic safety. Therefore, regular cleaning and maintenance of tunnel markings is a necessary measure to ensure safe passage. Traditional methods using large cleaning vehicles result in vehicles blocking lanes, affecting lane speed and safety, and causing traffic congestion. To address this, this invention provides an intelligent tunnel marking cleaning robot. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a tunnel intelligent road marking cleaning robot, which solves the problems of decreased clarity due to contamination of tunnel road markings and the obstruction and traffic safety caused by traditional large cleaning vehicles.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a tunnel intelligent road marking cleaning robot, comprising a frame, a housing on the top of the frame, and wheels that slide up and down the bottom of the frame via a lifting assembly. A cleaning mechanism is provided on one side of the bottom of the frame, the cleaning mechanism comprising: The cleaning assembly includes a connecting plate installed at the bottom of the equipment frame. A geared motor is fixedly connected to the bottom of the connecting plate. One end of the output shaft of the geared motor is fixedly connected to a connecting shaft via a coupling. A folding bracket is rotatably connected to the top of the connecting shaft. A cleaning machine is fixedly connected to one end of the folding bracket via bolts. Side wheels are rotatably connected to both sides of the bottom of the cleaning machine. Four sets of support wheels are fixedly connected to the four sides of the bottom of the cleaning machine. A cleaning pipe is provided at the center of the bottom of the cleaning machine. Multiple sets of high-pressure nozzles are fixedly connected to the surface of the cleaning pipe. Brush plates and rubber strip frames are symmetrically provided on the front and rear sides of the bottom of the cleaning machine. Water-absorbing rubber strips are connected inside the rubber strip frame via a snap-fit ​​structure. An adjustment component, located at the bottom of the cleaning machine's inner cavity, is used to drive the brush disc to rise, fall, and rotate.

[0005] Preferably, the adjustment assembly includes a support plate installed at the bottom of the inner cavity of the cleaning machine. An adjustment cylinder is fixedly connected to the top of the support plate, and an adjustment plate is fixedly connected to the output end of the adjustment cylinder. A drive motor is fixedly connected to the top of the adjustment plate, and a linkage plate is fixedly connected to the bottom of the adjustment plate. Linkage rods are rotatably connected to both ends of the linkage plate. The surface of the linkage rods is rotatably and slidably connected to the interior of the cleaning machine. The bottom end of the linkage rod extends through to the bottom of the cleaning machine and is fixedly connected to the top of the brush disc. A transmission assembly is rotatably connected to the bottom of the linkage plate. This transmission assembly is used to drive the linkage rods at both ends to rotate synchronously and in opposite directions.

[0006] Preferably, the transmission assembly includes a linkage gear fixedly mounted on the surface of the linkage rod and a rotating gear rotatably and symmetrically mounted on the bottom of the linkage plate. The surface of the rotating gear meshes with the surface of the linkage gear. The top of one rotating gear is fixedly connected to the bottom end of the output shaft of the drive motor, and the rotating gears on both sides mesh with each other.

[0007] Preferably, a limiting rod is fixedly connected to the bottom of the bearing plate, and the surface of the limiting rod is slidably connected to the inside of the adjusting plate.

[0008] Preferably, the lifting assembly includes a lifting cylinder installed at the bottom of the equipment frame, the output end of the lifting cylinder is fixedly connected to a lifting frame, a lifting rod is slidably connected inside the lifting frame, the top end of the lifting rod is fixedly connected to the bottom of the equipment frame, and a motor control unit for driving the moving wheels to rotate is provided on the surface of the lifting frame.

[0009] Preferably, a suction pipe is installed on the top of the adhesive strip frame, the top end of the suction pipe extends through to the inner cavity of the cleaning machine and is fixedly connected to a guide pipe, and one end of the guide pipe extends through to the outside of the cleaning machine.

[0010] Preferably, the inner cavity of the equipment housing is provided with independent sewage tank and clean water tank in parallel. The surface of the sewage tank is provided with a water suction motor and the sewage tank is connected to the guide pipe through a connecting pipe. The surface of the clean water tank is provided with an electric self-priming diaphragm pump and the electric self-priming diaphragm pump is connected to the cleaning pipe through a connecting pipe.

[0011] Preferably, the device housing has a built-in control box, and the surface of the cleaning machine is equipped with a visual sensing camera for acquiring images of the tunnel markings. The visual sensing camera is electrically connected to the control box.

[0012] Beneficial effects This invention provides a tunnel intelligent road marking cleaning robot. Compared with the prior art, it has the following advantages: 1. This intelligent tunnel marking cleaning robot has a compact overall structure. Unlike traditional large cleaning vehicles, it does not occupy the main lane and can operate in the edge area of ​​the tunnel without affecting the speed and safety of vehicles in the lane, thus solving the problem of lane congestion. At the same time, the water-absorbing strip, the sewage suction pipe and the sewage tank work together to realize sewage recycling, avoid secondary pollution and protect the tunnel environment. The motor control unit drives the moving wheels to move autonomously, reducing the intensity of manual labor and improving the efficiency of operation.

[0013] 2. This intelligent tunnel marking cleaning robot, through the cooperation of a visual sensing camera and a control box, can accurately identify the areas of marked pollution. Then, through a reduction motor, connecting shaft and folding bracket, the cleaning machine is driven to adjust at multiple angles. With the synchronously rotating brush and high-pressure nozzle, the marking is thoroughly cleaned, effectively removing accumulated dust and oil, restoring the clarity of the marking, providing a reliable identification basis for autonomous vehicles, and ensuring driving safety.

[0014] 3. This intelligent tunnel marking cleaning robot uses a lifting component to adjust the height of the equipment frame to adapt to different ground flatness levels. During operation, one side of the moving wheel can be lowered to above the tunnel edge, while the other side is placed below the road surface. This unilateral adjustment method allows the equipment to adapt to different tunnel edge structures and road surface height differences, significantly improving the equipment's versatility and ensuring stable operation. Furthermore, the integrated design of cleaning and wastewater recycling uses absorbent strips to collect wastewater and transport it to a wastewater tank, preventing secondary pollution. The entire process is intelligently controlled without manual intervention, significantly reducing the labor intensity of road administration personnel and improving the efficiency and convenience of marking cleaning and maintenance. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the external structure of the present invention; Figure 2 This is a three-dimensional schematic diagram of the external structure of the present invention from a bottom-view perspective; Figure 3 This is a three-dimensional schematic diagram of the lifting component of the present invention; Figure 4 This is a three-dimensional schematic diagram of the bottom structure of the cleaning machine of the present invention. Figure 5 This is a three-dimensional schematic diagram of the internal structure of the cleaning machine of the present invention; Figure 6 This is a three-dimensional structural diagram of the cleaning component of the present invention.

[0016] In the diagram: 1-Equipment frame, 2-Equipment housing, 3-Lifting assembly, 31-Lifting cylinder, 32-Lifting frame, 33-Lifting rod, 34-Motor control unit, 4-Moving wheel, 5-Cleaning mechanism, 51-Cleaning assembly, 511-Connecting plate, 512-Gear motor, 513-Connecting shaft, 514-Folding bracket, 515-Cleaning machine, 516-Side wheel, 517-Support wheel, 518-Cleaning pipe, 519-High-pressure nozzle, 5110-Brush plate, 5111-Glue strip holder, 5112-Water-absorbing glue strip, 52-Adjusting assembly, 521-Bearing plate, 522-Adjusting cylinder, 523-Adjusting plate, 524-Drive motor, 525-Linkage plate, 526-Linkage rod, 6-Transmission assembly, 61-Linkage gear, 62-Rotating gear, 7-Limit rod, 8-Guide pipe, 9-Visual sensor camera. Detailed Implementation

[0017] 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.

[0018] Please see Figure 1-6 The present invention provides a technical solution: A tunnel intelligent road marking cleaning robot includes a frame 1, a housing 2 on top of the frame 1, and wheels 4 that slide up and down the bottom of the frame 1 via a lifting assembly 3. A cleaning mechanism 5 is located on one side of the bottom of the frame 1, and the cleaning mechanism 5 includes: The cleaning assembly 51 includes a connecting plate 511 installed at the bottom of the equipment frame 1. A geared motor 512 is fixedly connected to the bottom of the connecting plate 511. One end of the output shaft of the geared motor 512 is fixedly connected to a connecting shaft 513 via a coupling. A folding bracket 514 is rotatably connected to the top of the connecting shaft 513. A cleaning machine 515 is fixedly connected to one end of the folding bracket 514 via bolts. Side wheels 516 are rotatably connected to both sides of the bottom of the cleaning machine 515. Four sets of support wheels 517 are fixedly connected to the four sides of the bottom of the cleaning machine 515. A cleaning pipe 518 is provided at the center of the bottom of the cleaning machine 515. Multiple sets of high-pressure nozzles 519 are fixedly connected to the surface of the cleaning pipe 518. Brush discs 5110 and adhesive strip holders 5111 are symmetrically provided on the front and rear sides of the bottom of the cleaning machine 515. Water-absorbing adhesive strips 5112 are connected inside the adhesive strip holder 5111 via a snap-fit ​​structure. Adjustment component 52 is located at the bottom of the inner cavity of the cleaning machine 515 and is used to drive the brush disc 5110 to rise, fall and rotate.

[0019] The equipment has an overall width of ≤80cm, which can be used in the narrow working space on both sides of tunnel markings. The brush plate 5110 is used to scrub the markings. When the drive motor 524 connected to the brush plate 5110 is working, the reverse friction force generated can form a traction force of 20N, which helps the equipment move and improves work efficiency. The absorbent strip 5112 is used to collect wastewater after cleaning; Side wheels 516 and support wheels 517 ensure the stability of the cleaning machine 515 during movement and cleaning process; The high-pressure nozzle 519 has an orifice diameter of 1.3mm and a spray angle of up to 65°, enabling precise high-pressure rinsing of the marking lines. A filter is added between the cleaning pipe 518 and the clean water tank; The equipment has a compact overall structure and does not need to occupy the main lane like traditional large cleaning vehicles. It can operate in the edge area of ​​the tunnel without affecting the speed and safety of the lane, thus solving the problem of lane congestion. At the same time, the water-absorbing rubber strip 5112, the sewage suction pipe and the sewage tank work together to realize sewage recycling, avoid secondary pollution and protect the tunnel environment. The motor control unit 34 drives the moving wheels 4 to move autonomously, reducing the intensity of manual labor and improving the efficiency of operation. In this embodiment, the adjustment assembly 52 includes a support plate 521 installed at the bottom of the inner cavity of the cleaning machine 515. An adjustment cylinder 522 is fixedly connected to the top of the support plate 521. An adjustment plate 523 is fixedly connected to the output end of the adjustment cylinder 522. A drive motor 524 is fixedly connected to the top of the adjustment plate 523. A linkage plate 525 is fixedly connected to the bottom of the adjustment plate 523. Linkage rods 526 are rotatably connected to both ends of the linkage plate 525. The surface of the linkage rods 526 is rotatably and slidably connected to the interior of the cleaning machine 515. The bottom end of the linkage rods 526 extends through to the bottom of the cleaning machine 515 and is fixedly connected to the top of the brush disc 5110. A transmission assembly 6 is rotatably connected to the bottom of the linkage plate 525. The transmission assembly 6 is used to drive the linkage rods 526 at both ends to rotate synchronously and in opposite directions.

[0020] When the adjusting cylinder 522 is working, it can drive the adjusting plate 523 to move up and down, and then drive the linkage rod 526 to slide up and down through the linkage plate 525, so as to realize the lifting and lowering adjustment of the brush plate 5110. The contact pressure between the brush plate 5110 and the ground can be adjusted according to the degree of marking pollution. The 522 regulating cylinder can be selected as SC40×30-S; The drive motor 524 is a 24V DC brushless motor; In this embodiment, the transmission assembly 6 includes a linkage gear 61 fixedly mounted on the surface of the linkage rod 526 and a rotating gear 62 rotatably and symmetrically mounted on the bottom of the linkage plate 525. The surface of the rotating gear 62 meshes with the surface of the linkage gear 61. The top of one rotating gear 62 is fixedly connected to the bottom end of the output shaft of the drive motor 524, and the two rotating gears 62 mesh with each other.

[0021] In this embodiment, a limiting rod 7 is fixedly connected to the bottom of the bearing plate 521, and the surface of the limiting rod 7 is slidably connected to the inside of the adjusting plate 523.

[0022] The limiting rod 7 is used to limit the up and down sliding of the adjusting plate 523; In this embodiment, the lifting assembly 3 includes a lifting cylinder 31 installed at the bottom of the equipment frame 1. The output end of the lifting cylinder 31 is fixedly connected to a lifting frame 32. A lifting rod 33 is slidably connected inside the lifting frame 32. The top end of the lifting rod 33 is fixedly connected to the bottom of the equipment frame 1. A motor control unit 34 for driving the moving wheel 4 to rotate is provided on the surface of the lifting frame 32.

[0023] The lifting cylinder 31 is optional, SC63×50-S, with a 50mm profile, suitable for fine-tuning equipment height requirements; The core of the motor control unit 34 adopts the MC33886 motor driver chip, which has an H-bridge drive structure, supports PWM speed regulation, has a maximum output current of 5A, and has over-temperature, over-current, and under-voltage protection functions. It also integrates an encoder signal acquisition module to adapt to incremental encoders with a resolution of 1024 lines, and can acquire the speed signal of the moving wheel 4 in real time to achieve closed-loop speed regulation. The motor control unit 34 communicates with the control box via CAN bus, receives speed commands from the control box, and controls the moving wheel 4 drive motor by outputting PWM signals with different duty cycles. The drive motor is a 24V DC brushless motor, model BLDC-57BL55, with a rated power of 400W, a rated speed of 3000rpm, and a torque of 1.27N·m, achieving precise stepless speed regulation within the range of 0.1-1m / s to meet the needs of different cleaning scenarios. In this embodiment, a suction pipe is installed on the top of the adhesive strip frame 5111. The top end of the suction pipe extends through the inner cavity of the cleaning machine 515 and is fixedly connected to a guide pipe 8. One end of the guide pipe 8 extends through the outside of the cleaning machine 515.

[0024] In this embodiment, the inner cavity of the equipment housing 2 is provided with an independent sewage tank and a clean water tank. The surface of the sewage tank is provided with a water suction motor and the sewage tank is connected to the guide pipe 8 through a connecting pipe. The surface of the clean water tank is provided with an electric self-priming diaphragm pump and the electric self-priming diaphragm pump is connected to the cleaning pipe 518 through a connecting pipe.

[0025] The water suction motor is a 36V three-layer side-pipe water suction motor, model ZWL80-125, which can improve the efficiency of wastewater recycling; The optional DBP-10 electric self-priming diaphragm pump is made of 304 stainless steel and has a head of 25 meters, ensuring high-pressure rinsing. The electric self-priming diaphragm pump is connected to the cleaning pipe via a connecting pipe. The outer casing also houses an automotive-grade power lithium battery with a cycle life of 2000-2500 times. Equipped with a BMS battery management system, it ensures safe operation. The electric self-priming diaphragm pump delivers clean water from the clean water tank to the cleaning pipe, where it is sprayed out through a high-pressure nozzle. When the 36V three-layer bypass suction motor is working, it creates negative pressure in the wastewater tank, which then draws the wastewater gathered by the suction strip 6 into the wastewater tank through the guide pipe and suction pipe, achieving wastewater recycling and avoiding secondary pollution. In this embodiment, the equipment housing 2 has a built-in control box, and the surface of the cleaning machine 515 is provided with a visual sensing camera 9 for collecting images of the tunnel markings. The visual sensing camera 9 is electrically connected to the control box.

[0026] The core controller inside the control box uses an STM32H743VIT6 microcontroller with an ARM Cortex-M7 core and a main frequency of 480MHz. It has multi-channel ADC acquisition and PWM output functions, and can accurately process multiple sensor signals and output control commands. The visual sensor camera 9 collects image information of the tunnel markings and transmits it to the control box. The control box has a built-in image processing module and a control module. The image processing module analyzes and processes the image information to accurately identify the position, direction, degree of pollution, and wear of the markings. Based on the analysis results, the control module controls the geared motor 512, the adjusting cylinder 522, the drive motor 524, the electric self-priming diaphragm pump, the 36V three-layer bypass water suction motor, the lifting cylinder 31, and the motor control unit 34 to achieve precise control of actions such as cleaning angle adjustment, brush plate lifting and speed adjustment, cleaning pressure adjustment, sewage recovery, and equipment movement. By using the visual sensing camera 9 in conjunction with the control box, the area of ​​the road marking contamination can be accurately identified. Then, the cleaning machine 515 is driven by the reduction motor 512, the connecting shaft 513 and the folding bracket 514 to adjust at multiple angles. With the brush disc 5110 and the high-pressure nozzle 519 rotating in opposite directions, the road marking is thoroughly cleaned, effectively removing accumulated dust and oil, restoring the clarity of the road marking, providing a reliable identification basis for autonomous vehicles and ensuring driving safety.

[0027] The height of the equipment frame 1 can be adjusted by the lifting component 3 to adapt to different flat surfaces. During operation, one side of the moving wheel 4 can be lowered to above the tunnel edge and the other side placed below the road surface. This unilateral adjustment method allows the equipment to adapt to different tunnel edge structures and road surface height differences, greatly improving the equipment's versatility and ensuring stable operation. At the same time, the integrated design of cleaning and sewage recycling collects sewage through the water-absorbing rubber strip 5112 and transports it to the sewage tank, avoiding secondary pollution. The entire process is intelligently controlled without manual intervention, greatly reducing the labor intensity of road administration personnel and improving the efficiency and convenience of road marking cleaning and maintenance.

[0028] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0029] During operation, the motor control unit 34 drives the moving wheels 4 to rotate, moving the equipment to the area of ​​the markings to be cleaned inside the tunnel. The visual sensor camera 9 captures the marking images and transmits them to the control box. After analysis and processing, the control box controls the lifting cylinder 31 to adjust the height of the equipment frame 1, so that the side wheels 516 and support wheels 517 at the bottom of the cleaning machine 515 contact the ground. The control unit controls the reduction motor 512 to drive the cleaning machine 515 to rotate to a suitable cleaning angle. The control unit controls the electric self-priming diaphragm pump to deliver clean water from the clean water tank through the filter to the cleaning pipe 518, and uses the high-pressure nozzle 519 to perform high-pressure rinsing on the markings. At the same time, the control unit controls the adjusting cylinder 522 to adjust the height of the brush disc 5110, so that the brush disc 511... When the device contacts the road marking, the drive motor 524 is activated. The drive motor 524 drives the rotating gear 62 on one side to rotate, causing the two sets of rotating gears 62 to rotate synchronously and in opposite directions. The rotation of the rotating gear 62 drives the linkage gears 61, linkage rod 526, and brush disc 5110 on both sides to rotate synchronously in opposite directions, thus cleaning the road marking. The 20N reverse traction force generated by the drive motor 524 assists in moving the device. During the cleaning process, the water-absorbing strip 5112 adheres tightly to the ground, quickly gathering the wastewater after cleaning to prevent it from spreading and causing secondary pollution. At the same time, the water-absorbing motor works, sucking the wastewater into the wastewater tank through the suction pipe and guide pipe 8. After cleaning is completed, the device controls all components to reset and moves to the next cleaning area.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tunnel intelligent road marking cleaning robot, comprising an equipment frame (1), characterized in that: The top of the equipment rack (1) is provided with an equipment shell (2), and the bottom of the equipment rack (1) is driven by a lifting assembly (3) to slide up and down with moving wheels (4). A cleaning mechanism (5) is provided on one side of the bottom of the equipment rack (1), and the cleaning mechanism (5) includes: The cleaning assembly (51) includes a connecting plate (511) installed at the bottom of the equipment frame (1). A geared motor (512) is fixedly connected to the bottom of the connecting plate (511). One end of the output shaft of the geared motor (512) is fixedly connected to a connecting shaft (513) via a coupling. A folding bracket (514) is rotatably connected to the top of the connecting shaft (513). One end of the folding bracket (514) is fixedly connected to a cleaning machine (515) via bolts. The bottom sides of the cleaning machine (515) are rotatable. The bottom of the cleaning machine (515) is fixedly connected to four sets of support wheels (517) with side wheels (516). A cleaning pipe (518) is provided at the center of the bottom of the cleaning machine (515). Multiple sets of high-pressure nozzles (519) are fixedly connected to the surface of the cleaning pipe (518). A brush plate (5110) and a rubber strip frame (5111) are symmetrically provided on the front and rear sides of the bottom of the cleaning machine (515). A water-absorbing rubber strip (5112) is connected inside the rubber strip frame (5111) through a snap-fit ​​structure. An adjustment component (52) is located at the bottom of the inner cavity of the cleaning machine (515) and is used to drive the brush disc (5110) to rise, fall and rotate.

2. The tunnel intelligent road marking cleaning robot according to claim 1, characterized in that: The adjustment assembly (52) includes a support plate (521) installed at the bottom of the inner cavity of the cleaning machine (515). An adjustment cylinder (522) is fixedly connected to the top of the support plate (521). An adjustment plate (523) is fixedly connected to the output end of the adjustment cylinder (522). A drive motor (524) is fixedly connected to the top of the adjustment plate (523). A linkage plate (525) is fixedly connected to the bottom of the adjustment plate (523). Linkage rods (526) are rotatably connected to both ends of the linkage plate (525). The surface of the linkage rods (526) is rotatably and slidably connected to the interior of the cleaning machine (515). The bottom end of the linkage rods (526) extends through to the bottom of the cleaning machine (515) and is fixedly connected to the top of the brush plate (5110). A transmission assembly (6) is rotatably connected to the bottom of the linkage plate (525). The transmission assembly (6) is used to drive the linkage rods (526) at both ends to rotate synchronously and in opposite directions.

3. The tunnel intelligent road marking cleaning robot according to claim 2, characterized in that: The transmission assembly (6) includes a linkage gear (61) fixedly mounted on the surface of the linkage rod (526) and a rotating gear (62) rotatably and symmetrically mounted on the bottom of the linkage plate (525). The surface of the rotating gear (62) meshes with the surface of the linkage gear (61). The top of one side of the rotating gear (62) is fixedly connected to the bottom end of the output shaft of the drive motor (524), and the rotating gears (62) on both sides mesh with each other.

4. The tunnel intelligent road marking cleaning robot according to claim 2, characterized in that: The bottom of the support plate (521) is fixedly connected to a limiting rod (7), and the surface of the limiting rod (7) is slidably connected to the inside of the adjusting plate (523).

5. The tunnel intelligent road marking cleaning robot according to claim 1, characterized in that: The lifting assembly (3) includes a lifting cylinder (31) installed at the bottom of the equipment frame (1). The output end of the lifting cylinder (31) is fixedly connected to a lifting frame (32). The lifting frame (32) is slidably connected to a lifting rod (33). The top end of the lifting rod (33) is fixedly connected to the bottom of the equipment frame (1). The surface of the lifting frame (32) is provided with a motor control unit (34) for driving the moving wheel (4) to rotate.

6. The tunnel intelligent road marking cleaning robot according to claim 1, characterized in that: The top of the rubber strip frame (5111) is equipped with a suction pipe, the top end of which extends through to the inner cavity of the cleaning machine (515) and is fixedly connected to a guide pipe (8), one end of which extends through to the outside of the cleaning machine (515).

7. A tunnel intelligent road marking cleaning robot according to claim 6, characterized in that: The inner cavity of the equipment housing (2) is provided with an independent sewage tank and a clean water tank. The surface of the sewage tank is provided with a water suction motor. The sewage tank is connected to the guide pipe (8) through a connecting pipe. The surface of the clean water tank is provided with an electric self-priming diaphragm pump. The electric self-priming diaphragm pump is connected to the cleaning pipe (518) through a connecting pipe.

8. The tunnel intelligent road marking cleaning robot according to claim 1, characterized in that: The equipment housing (2) has a built-in control box. The surface of the cleaning machine (515) is provided with a visual sensing camera (9) for collecting images of the tunnel markings. The visual sensing camera (9) is electrically connected to the control box.

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