Small intelligent guard rail cleaning machine device peopleTechnical field
The present invention relates to a kind of device in environmentally-friendly sanitary cleaning appliance field, it more particularly relates to a kind of littleType intelligence, the environment-friendly type guard rail cleaning machine device people of energy-conservation.
Background technology
With the increase of social development and urban population density, all kinds of motor vehicles are consequently increased, and city is to preventVehicle unordered walking and pedestrian jaywalk, be mounted with substantial amounts of guardrail in road central authorities, and guardrail due to by Exposure to Sunlight, drench with rain andThe impact of car, is usually covered with dust all over and spot, and this has had a strong impact on the clean and tidy and attractive in appearance of the appearance of the city, therefore, necessaryGuardrail for urban road central authorities is carried out.
Traditional guardrail cleaning way is manually to wash down, and during cleaning, street cleaner need to stand in road central authorities, due to dealing carNumerous, therefore there is very big potential safety hazard, road is got on the car the discharge of tail gas in addition, has also had a strong impact on street cleaner'sHealthy.Although having occurred in that the cleaning Vehicle of some cleaning guardrails at present, many problems below generally existing：1. existingCleaning Vehicle adopts clear water to rinse, and needs to expend substantial amounts of water resource, cause the waste of resource in cleaning process；2. cleaning Vehicle is clearWash and track during guardrail, will be taken, that often advances in cleaning process is slow simultaneously, cause to the traffic in city certainPressure；3. cleaning Vehicle cleaning guardrail needs several cleanup crew to cooperate to complete often, and cleaning efficiency is relatively low.
Content of the invention
The technical problem to be solved is the problems referred to above overcoming prior art presence, there is provided a kind of small-sizedIntelligent guardrail cleaning robot.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that realization, is described with reference to the drawings as follows：
A kind of small intelligent guard rail cleaning machine device people, including body 1, cleaning unit 2, walking unit 3, air pump 4, water tank 5,Slave computer 43, singlechip controller 35, ultrasonic sensor 36, GPS module 37, acceleration transducer 38, Wireless Data TransmissionModule 42；
The middle both sides of body 1 are symmetrically installed with guide rail 8 and electric pushrod 9, and electric pushrod 9 one end is arranged on body 1, separatelyOne end is connected with cleaning unit 2；Described air pump 4, water tank 5 are arranged on body 1 top, and described walking unit 3 is arranged on body 1 bottomPortion；
Ultrasonic sensor 36, GPS module 37, acceleration transducer 38 are connected with singlechip controller 35 respectively, the nextMachine 43 is connected with singlechip controller 35 by wireless data transfer module 42.
Guide rail 8 described in technical scheme is provided with eight, and described electric pushrod 9 is provided with four；Described cleaning unit 2 hasTwo, outside each, it is mounted on four slide blocks 11, four slide blocks 11 are separately mounted on the guide rail 8 of body 1, two cleanings are singleUnit 2 by electric pushrod 9 flexible adjusting the distance between two cleaning units 2.
Cleaning unit 2 described in technical scheme includes deduster 12, dedusting round brush 13, steam dirt removing device 14, decontamination round brush15th, air dryer 16 and shell 17；
Described deduster 12 is located at the forefront within cleaning unit 2, and its main body is the first strip aluminium sheet 18, the first stripThe L-shaped structure in aluminium sheet 18 two ends, is used for being connected to shell 17, the first strip aluminium sheet 18 is provided with least one high pressure gasShower nozzle 19, high pressure gas blowout head 19 is connected with air pump 4 by gas path pipe；
Described dedusting round brush 13 is arranged on deduster 12 rear, and dedusting round brush 13 main body is the first multidiameter 20, the first rankThick between terraced axle 20 two ends detail, the first multidiameter 20 mid portion is cased with scrub-brush 21, and lower end is arranged on by clutch shaft bearing 22On shell 17, upper end is connected with the first motor 24 by first shaft coupling 23, and the first motor 24 is fixed on shell 17 top；
Described steam dirt removing device 14 is located at dedusting round brush 13 rear, and its main body is the second strip aluminium sheet 25, the second strip aluminiumThe equally L-shaped structure in plate 25 two ends, in order to be connected on shell 17, the second strip aluminium sheet 25 is provided with least one steamMixing nozzle 26, each steam mixing nozzle 26 all has an air inlet and a water inlet, air inlet pass through gas path pipe withAir pump 4 is connected, and water inlet is connected to water tank 5 using pipeline；
Described decontamination round brush 15 is arranged on steam dirt removing device 14 rear, and decontamination round brush 15 main body is the second multidiameter 27, theThick between two multidiameter 27 two ends detail, the second multidiameter 27 mid portion is cased with banister brush 28, and lower end is pacified by second bearing 29It is contained on shell 17, upper end is connected with the second motor 31 by second shaft coupling 30, and the second motor 31 is fixed on shell 17 top；
Described air dryer 16 is arranged on decontamination round brush 15 rear, and its structure is identical with deduster 12；
Described walking unit 3 includes four groups of walking assemblies 32, and each walking assembly 32 is by reducing motor 33 and road wheel34 compositions, road wheel 34 is connected with reducing motor 33.
Ultrasonic sensor 36 described in technical scheme totally two, is placed in front of guard rail cleaning machine device people, before detectingSquare barrier and guardrail.
The device people of small intelligent guard rail cleaning machine described in technical scheme also includes high bright light 39, loudspeaker 40 and rotatable takes the photographPicture 41, described high bright light 39, loudspeaker 40, rotatable camera 41 are connected with singlechip controller 35 respectively；
High bright light 39 and loudspeaker 40 are placed in guard rail cleaning machine device people top, and rotatable camera 41 is located at guard rail cleaning machineDevice people's upper front part position.
The device people of small intelligent guard rail cleaning machine described in technical scheme also includes lithium battery 6 and horn mouth 7；Lithium battery 6 is pacifiedIt is contained in body 1 top, described horn mouth 7 is arranged on body 1 front end.
It is provided with exhaust outlet 10 outside body 1 described in technical scheme.
Compared with prior art the invention has the beneficial effects as follows：
1st, small intelligent guard rail cleaning machine device people of the present invention includes deduster, dedusting round brush, steam dirt removing device, goesDirty round brush, air dryer, each piece of guardrail all through high pressure gas blow floating dirt, round brush dedusting, steam mixed steam decontamination, round brush decontamination andAir-dry 5 steps, cleaning efficiency is high, cleaning is thorough.
2nd, compare the mode that more traditional water cleans guardrail, the present invention is cleared up by the way of steam mixing, thisMethod will greatly reduce the waste of water resource, therefore in the case of the equal water yield, small intelligent guardrail of the present inventionCleaning robot improves the distance of cleaning guardrail.
3rd, traditional guardrail cleaning way needs staff to accompany in real time, and the present invention is using intelligence cleaning and remotely controlThe mode combining, one side robot can independently clean guardrail, another aspect staff can remote control robot from oneSection guard enters next section guard, and therefore one staff can control multiple guard rail cleaning machine device people simultaneously, be greatly enhancedIntegral cleaning efficiency, reduces human cost.
4th, the small intelligent guard rail cleaning machine device people belonging to the present invention include two cleaning units, four bar electric pushrods,Four slide blocks and eight guide rails, realize by the contraction of electric pushrod adjusting the distance between two cleaning units, thus canTo realize the guardrail of " S " type or different in width is carried out.
Brief description
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is the axonometric projection graph of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 2 is the internal structure sectional view of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 3 is the cleaning unit structure axonometric drawing of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 4 is the dedusting roller brushes structure axonometric drawing of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 5 is the deduster structure chart of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 6 is the decontamination roller brushes structure axonometric drawing of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 7 is the steam dirt removing device structure axonometric drawing of small intelligent guard rail cleaning machine device people of the present invention；
Fig. 8 is the control section structured flowchart of small intelligent guard rail cleaning machine device people of the present invention；
In figure：1st, body, 2, cleaning unit, 3, walking unit, 4, air pump, 5, water tank, 6, lithium battery, 7, horn mouth, 8,Guide rail, 9, electric pushrod, 10, exhaust outlet, 11, slide block, 12, deduster, 13, dedusting round brush, 14, steam dirt removing device, 15, decontaminationRound brush, 16, air dryer, 17, shell, the 18, first strip aluminium sheet, 19, high pressure gas blowout head, the 20, first multidiameter, 21, scrub-brush,22nd, clutch shaft bearing, 23, first shaft coupling, the 24, first motor, the 25, second strip aluminium sheet, 26, steam mixing nozzle, 27, secondMultidiameter, 28, banister brush, 29, second bearing, 30, second shaft coupling, the 31, second motor, 32, walking assembly, 33, slow down electricityMachine, 34, road wheel, 35, singlechip controller, 36, ultrasonic sensor, 37, GPS module, 38, acceleration transducer, 39, highBright light, 40, loudspeaker, 41, rotatable camera, 42, wireless data transfer module, 43, slave computer.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is explained in detail：
The small intelligent guard rail cleaning machine device people of present invention design, including body 1, cleaning unit 2, walking unit 3, air pump4th, water tank 5, lithium battery 6 and horn mouth 7.
Refering to Fig. 1, Fig. 2, described body 1 is in " door " character form structure, its material be metal or alloy material (for example：No. 45 steel, aluminium alloys etc.), the middle both sides of body 1 are symmetrically installed with eight guide rails 8 and four electric pushrods 9, four electric pushrods9 one end are arranged on body 1, and the other end is connected with cleaning unit 2, and 1 liang of outside of body is provided with exhaust outlet 10；Described air pump 4,Water tank 5, lithium battery 6 are arranged on body 1 top；Described horn mouth 7 is arranged on body 1 front end.Described electric pushrod 9 is onePlant electric operator, it can make back and forth movement in certain limit stroke, and electric operator is with respect to pneumatic actuator(as cylinder) can reduce executing agency's gross weight without compressed air source unit and auxiliary equipment.
Refering to Fig. 2 and 3, described cleaning unit 2 has two, is mounted on four slide blocks 11, four cunnings outside eachBlock 11 is separately mounted on the guide rail 8 of body 1, and two cleaning units 2 are flexible single to adjust two cleanings by electric pushrod 9The distance between unit 2, such that it is able to realize the guardrail of " S " type or different in width is carried out.
Described cleaning unit 2 includes deduster 12, dedusting round brush 13, steam dirt removing device 14, decontamination round brush 15, air dryer16 and shell 17.Deduster 12, dedusting round brush 13, steam dirt removing device 14, decontamination round brush 15, air dryer 16 and shell 17 have twoSet, is symmetrically arranged in cleaning robot both sides.
Refering to Fig. 2, Fig. 3 and Fig. 5, described deduster 12 is located at the forefront within cleaning unit 2, and its main body is the first lengthBar aluminium sheet 18, the L-shaped structure in the first strip aluminium sheet 18 two ends, be used for being connected to shell 17, on the first strip aluminium sheet 18 betweenEvery being uniformly provided with several high pressure gas blowout heads 19, high pressure gas blowout head 19 is connected with air pump 4 by gas path pipe.
Refering to Fig. 2, Fig. 3, Fig. 4, described dedusting round brush 13 is arranged on deduster 12 rear (left side), and dedusting round brush 13 is mainBody is the first multidiameter 20, and thick between the first multidiameter 20 two ends detail, the first multidiameter 20 mid portion is cased with scrub-brush 21, underEnd is arranged on shell 17 by clutch shaft bearing 22, and upper end is connected with the first motor 24 by first shaft coupling 23, the first motor24 using being bolted to shell 17 top.
Refering to Fig. 2, Fig. 3 and Fig. 7, described steam dirt removing device 14 is located at dedusting round brush 13 rear (left side), and its main body isSecond strip aluminium sheet 25, the equally L-shaped structure in the second strip aluminium sheet 25 two ends, in order to be connected on shell 17, the second stripEvenly spaced on aluminium sheet 25 several steam mixing nozzles 26 are installed, each steam mixing nozzle 26 all has an air inletWith a water inlet, air inlet is connected with air pump 4 by gas path pipe, and water inlet is connected to water tank 5 using pipeline.
Refering to Fig. 2, Fig. 3 and Fig. 6, described decontamination round brush 15 is arranged on steam dirt removing device 14 rear (left side), and decontamination is rolledBrush 15 main body is the second multidiameter 27, and thick between the second multidiameter 27 two ends detail, the second multidiameter 27 mid portion is cased with furBrush 28, lower end is arranged on shell 17 by second bearing 29, and upper end is connected with the second motor 31 by second shaft coupling 30, theTwo motors 31 are using being bolted to shell 17 top.
Described air dryer 16 is arranged on decontamination round brush 15 rear (left side), and its structure is identical with deduster 12.
Described walking unit 3 is arranged on body 1 bottom, and including four groups of walking assemblies 32, each walking assembly 32 is mainIt is made up of reducing motor 33 and road wheel 34, road wheel 34 is connected with reducing motor 33.
Refering to Fig. 8, guard rail cleaning machine device people also have singlechip controller 35, ultrasonic sensor 36, GPS module 37,Acceleration transducer 38, high bright light 39, loudspeaker 40, rotatable camera 41, wireless data transfer module 42.Supersonic sensingDevice 36, GPS module 37, acceleration transducer 38, high bright light 39, loudspeaker 40, rotatable camera 41 respectively with single-chip microcomputer controlDevice 35 processed is connected.Slave computer 43 passes through wireless data transfer module 42 with singlechip controller phase 35 even.
Ultrasonic sensor 36 totally two, is placed in front of guard rail cleaning machine device people, in order to detect preceding object thing and shieldHurdle.GPS module 37 provides positional information, motion (the speed, acceleration) information that acceleration transducer 38 provides.High bright light 39 HeLoudspeaker 40 is placed in guard rail cleaning machine device people top, operationally warns car.It is clear that rotatable camera 41 is located at guardrailWash robot upper front part position, provide traffic information for remote control personnel.Guardrail is cleaned by wireless data transfer module 42The various data of robot pass slave computer 43 back.Whole device is powered using lithium battery 6.
Guardrail cleaning process：
Small intelligent guard rail cleaning machine device people is placed on activate switch on guardrail, deduster 12, dedusting round brush 13, steamDirt removing device 14, decontamination round brush 15, air dryer 16 start simultaneously.During small intelligent guard rail cleaning machine device people reach, oftenOne piece of guardrail all through deduster 12, dedusting round brush 13, steam dirt removing device 14, decontamination round brush 15, air dryer 16 cleaning successively.First with deduster 12, the floating ash on guardrail surface is tentatively blown away, following dedusting round brush 13 removes guardrail surface furtherOn floating ash, then steam dirt removing device 14 other spots on guardrail are carried out, afterwards decontamination round brush 15 cleaning guardrail tableThe remaining spot in face, is finally air-dried to guardrail using air dryer 16.In guardrail cleaning process, electric pushrod 9 controls cleaningUnit 2 is in innermost position all the time, and when working in addition, high bright light 39 and loudspeaker 40 need to be always on, to warn dealing car?.
Cleaning robot remote control process：
After small intelligent guard rail cleaning machine device people is moved on guardrail, small intelligent guard rail cleaning machine device people move ahead simultaneously automaticallyCleaning guardrail.During moving ahead, small intelligent guard rail cleaning machine device people can be using self-contained ultrasonic sensor 36The guardrail position in front is detected, singlechip controller 35 adjusts the reducing motor in walking unit 3 according to detection case33 rotating speed, realizes the left and right fine setting of whole device, to prevent robot and guardrail from interfering collision.Work as ultrasonic sensor36 detect front when not having guardrail, and robot stops cleaning and simultaneously moves to outermost using electric pushrod 9 by clearing up unit 2, withWhen robot to staff send information, and using camera 41 be staff provide realtime graphic, staffNext section guard, the loudspeaker in front of small intelligent guard rail cleaning machine device people are moved to according to the image control robot of camera 41 passbackMouth 7 increases the allowed left and right offset ranges that robot enters guardrail, reduces the operation easier of staff.