基于高压水射流和机械臂的公路隧道摄像头清洗试验

Cleaning Test for Highway Tunnel Cameras Based on High-pressure Water Jet and Robotic Arms

为了解决公路隧道摄像头清洗高空作业存在效率低和安全隐患的问题,提出采用高压水射流方法清洗镜面,并设计了六自由度清洗装备。以隧道摄像头表面的污染物为对象,采用傅里叶变换红外光谱仪(FTIR)分析了污染物成分;为获得较优的清洗工艺参数组合,在陕西省玉华宫周围隧道采集了70个摄像头样本,采用单因素变量法开展了清洗参数优化试验,利用“灰度化+锐化+二值化”的方法对图像进行了处理,研究了清洗压力(0.5~2.0 MPa)、清洗距离(0.3~1.5 m)和清洗时间(0.2~2.0 s)对清洁率的影响。试验结果表明,隧道摄像头壳体表面污染物的主要成分为碳黑和多环芳烃,而镜面表面污染物主要为颗粒状扬尘;较优的清洗工艺参数组合为清洗压力0.5 MPa、清洗距离1 m、清洗时间0.4 s(以0.2 s为间隔冲洗2次),在此参数组合下清洁率在99%以上。

To address the problem of low efficiency and potential safety hazards in the cleaning of highway tunnel cameras at height,this study proposes a high-pressure water jet method to clean the lens surfaces of the cameras,and designs a cleaning device with six-degree freedom.The composition of the contaminants is analyzed using the Fourier transform infrared spectrometer(FTIR)based on the contaminants on the surface of the tunnel cameras.To achieve a good combination of parameters for the cleaning process,70 camera samples are collected in the tunnels around the Yuhua Palace in Shaanxi Province,and a cleaning parameters optimization test is carried out through the single factor variable method.Then,the images are processed through the method of"graying+sharpening+binarization",so as to investigate the impact of the cleaning pressure(0.5~2 MPa),the cleaning spacing(0.3~1.5 m),and cleaning time(0.2~2 s)on the cleaning efficiency.The test results show that the main components of the contaminants on the shell surface of the tunnel cameras are carbon black and PAHs,while those on the lens surface are mainly particulate fugitive dust.The better combination of parameters for the cleaning process is as follows:cleaning pressure 0.5 MPa,cleaning spacing 1 m,and cleaning time 0.4 s(clean twice with an interval of 0.2 s).In this combination of parameters,the clean⁃ing efficiency is over 99%.