AU2015221411B2 - Autonomous tunnel cleaning system - Google Patents
Autonomous tunnel cleaning system Download PDFInfo
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- AU2015221411B2 AU2015221411B2 AU2015221411A AU2015221411A AU2015221411B2 AU 2015221411 B2 AU2015221411 B2 AU 2015221411B2 AU 2015221411 A AU2015221411 A AU 2015221411A AU 2015221411 A AU2015221411 A AU 2015221411A AU 2015221411 B2 AU2015221411 B2 AU 2015221411B2
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- 238000004140 cleaning Methods 0.000 title claims abstract description 147
- 239000012530 fluid Substances 0.000 claims abstract description 62
- 230000001680 brushing effect Effects 0.000 claims abstract description 23
- 239000007921 spray Substances 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims description 19
- 238000013459 approach Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 4
- 230000000750 progressive effect Effects 0.000 claims description 2
- 208000033937 musculocontractural type Ehlers-Danlos syndrome Diseases 0.000 description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 239000003599 detergent Substances 0.000 description 7
- 238000002485 combustion reaction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000008237 rinsing water Substances 0.000 description 1
- 229920002994 synthetic fiber Polymers 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/003—Linings or provisions thereon, specially adapted for traffic tunnels, e.g. with built-in cleaning devices
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Cleaning In General (AREA)
Abstract
An autonomous tunnel cleaning system (ATCS) (10) has a guidance system (12) and a cleaning apparatus (14). The guidance system (12) is capable of guiding the cleaning apparatus (14) along at least a portion of a tunnel (16). The cleaning apparatus is capable of autonomously travelling along the tunnel (16) under guidance of the guidance system (12). The cleaning apparatus (14) cleans a length of the tunnel (16) while it travels along the tunnel. The cleaning apparatus (14) has a brushing member (34) and a fluid delivery system (36). The fluid delivery system (36) includes tanks (46, 48) and spray manifolds (56) and (58). The fluid delivery system (36) operates to deliver fluid onto the wall (18) in advance of and/or trailing the brushing member (34). A refilling system (84) enables automatic refiling of tanks (46), and (48) as the ATCS (10) travels along the tunnel.
Description
AUTONOMOUS TUNNEL CLEANING SYSTEM
Technical Field
An autonomous tunnel washing system is disclosed. The system is suitable for cleaning of a vehicle tunnel while the tunnel is open to traffic.
Background Art
Motor vehicle tunnels are usually provided with extensive air replenishment systems that act to exchange air from within the tunnel with fresh air. Notwithstanding the often rapid replacement of air, walls of the tunnel are quickly blackened by particles carried in motor vehicle exhaust gases. From time to time it is necessary to clean the walls of the tunnel to remove the particles. Typically this is done manually and requires the shutting down of one or more vehicle lanes or the entire tunnel to meet prescribed safety requirements for workers in the tunnel.
Summary of the Disclosure
It would be desirable to provide an autonomous tunnel cleaning system that enables tunnel cleaning to be performed without the need of an on-board human operator. This facilitates cleaning without disrupting traffic flow through the tunnel.
In a first aspect there is disclosed an autonomous tunnel surface cleaning system comprising:
a guidance system; and a cleaning apparatus;
wherein the guidance system is capable of guiding the cleaning apparatus along at least a portion of the tunnel and the cleaning apparatus is capable of autonomously traveling along the tunnel under guidance of the guidance system and cleaning a length of the tunnel while it travels along the tunnel, wherein the autonomous surface cleaning system further comprises a gap straddling system coupled to the cleaning apparatus to enable the cleaning apparatus to straddle a gap along the length of the tunnel.
In one embodiment the guidance system comprises at least one track extending along the tunnel.
-22015221411 09 May 2019 ln one embodiment the at least one track is supported on a wall of the tunnel.
In one embodiment the at least one track is supported on the tunnel in a manner to suspend the cleaning apparatus.
In one embodiment the at least one track comprises a first track supported on a wall of the tunnel and a second track on a barrier disposed along the tunnel.
In one embodiment the second track comprises: (a) an upper horizontal surface or edge of the barrier or (b) a rail that is supported on or in the barrier.
In one embodiment the gap straddling system comprises two straddling mechanism, one on each side of the cleaning apparatus.
In one embodiment each straddling mechanism comprises a straddle frame and two spaced contact members supported on the straddle frame.
In one embodiment the contact members comprise guide wheels wherein the guide wheels on each straddle frame are spaced by a sufficient distance so that each guide wheel can be in contact with a surface on opposite sides of the gap.
In one embodiment the autonomous surface cleaning system comprises a powered traction system coupled to the cleaning apparatus, said powered traction system being 25 capable of propelling the cleaning apparatus along the tunnel.
In one embodiment the powered traction system comprises at least one driven wheel.
In one embodiment the at least one driven wheel is arranged to engage a road in the 30 tunnel. Alternately or additionally the at least one driven wheel may be arranged to engage at least one track.
In one embodiment the autonomous surface cleaning system comprises at least one brushing member capable of physically brushing a surface of the tunnel being cleaned 35 when the cleaning apparatus travels along the tunnel.
In one embodiment the at least one brushing member is powered to move relative to a
2015221411 09 May 2019
-3support frame of the cleaning apparatus.
In one embodiment the at least one brushing member is powered to rotate as it contacts the surface being cleaned.
In one embodiment the autonomous surface cleaning system comprises a cleaning fluid delivery system arranged to deliver cleaning fluid onto the surface being cleaned.
In one embodiment the cleaning fluid delivery system comprises at least one fluid spray manifold arranged to spray cleaning fluid onto the length of the tunnel as the cleaning apparatus travels along the length of the tunnel.
In one embodiment the cleaning fluid delivery system comprises first and second spray manifolds arranged on opposite sides of the brushing member wherein the spray manifolds are operable to spray cleaning fluid onto the length of the tunnel either: (a) in advance of the brushing member; (b) trailing the brushing member; or (c) both in advance of and trailing the cleaning apparatus.
In one embodiment the cleaning fluid delivery system is arranged to deliver more than one type of cleaning fluid onto the surface being cleaned.
In one embodiment the cleaning fluid delivery system comprises at least one tank for holding a volume of a first cleaning fluid.
In one embodiment the cleaning fluid delivery system comprises at least one tank for holding a volume of a second cleaning fluid.
In one embodiment the cleaning fluid delivery system is arranged to deliver the second fluid on the surface being cleaned wall either (a) separately to the first cleaning fluid; or (b) as a mixture with the first cleaning fluid.
In one embodiment the autonomous surface cleaning comprises a cleaning fluid supply extending along the length of the tunnel and arranged to fill at least the tank or tanks for holding the first cleaning fluid at one or more spaced refill locations along the track.
In one embodiment the cleaning fluid supply may be provided with a plurality of disposed at the one or more refill locations and being arranged to open automatically
2015221411 09 May 2019
-4when the at least one tank for holding a volume of a first cleaning is positioned at a corresponding refill location.
In one embodiment the autonomous tunnel cleaning system is arranged such that travel speed of the cleaning apparatus: progressively reduces from a cleaning speed as the cleaning apparatus approaches a refill location to zero when it reaches the refill location; and, after refilling of the tank or tanks for holding the first cleaning fluid, progressive increase from zero toward the cleaning speed.
In one embodiment the autonomous surface cleaning system comprises an on-board power pack capable of providing operational power to the cleaning apparatus.
In an alternate embodiment the autonomous tunnel cleaning system comprises an electrical supply bus extending along the guide and support system and arranged to provide electrical power to the cleaning apparatus. In this embodiment the cleaning apparatus may be provided with an electrical brush arranged to contact the bus. In one example the electrical brush may be supported on a pantograph and biased into contact with the bus.
In one embodiment the autonomous surface cleaning system comprises an on-board controller capable of controlling operation of the cleaning apparatus in response to signals received form on-board sensors and/or signals sent from a remote location. .
Brief Description of the Drawings
Notwithstanding any other forms which may fall within the scope of the system as set forth in the Summary, specific embodiments will now be described, by way of example only, with reference to the accompanying drawings in which:
Figure 1 is a perspective schematic representation of a first embodiment of the disclosed autonomous tunnel cleaning system;
Figure 2 is a front elevation of the system depicted in Figure 1;
Figure 3 is a top elevation of the system shown in Figures 1 and 2;
Figure 4 is a left hand side elevation of the system shown in Figures 1 - 3;
Figure 5 is a right hand side elevation of the system shown in Figure 1;
Figure 6 is a perspective schematic representation of second embodiment of the disclosed autonomous tunnel cleaning system;
-52015221411 09 May 2019
Figure 7 is a front elevation of the system depicted in Figure 6;
Figure 8 is a top elevation of the system shown in Figure 6;
Figure 9 is a left hand side elevation of the system shown in Figure 6;
Figure 10 is a perspective schematic representation of third embodiment of the disclosed autonomous tunnel cleaning system;
Figure 11 is a front elevation of the system depicted in Figure 10;
Figure 12 is a top elevation of the system shown in Figure 10; and
Figure 13 is a left hand side elevation of the system shown in Figure 10.
Detailed Description of Preferred Embodiments
Figures 1 - 5 depict one embodiment of the disclosed autonomous tunnel cleaning system 10a (“ATCS”). The ATCS 10 comprises a guidance system 12 and a cleaning apparatus 14. The guidance system 12 is capable of guiding the cleaning apparatus
14 along at least a portion of a tunnel 16. The cleaning apparatus is capable of autonomously travelling along the tunnel 16 under guidance of the guidance system 12. The cleaning apparatus 14 cleans a length of the tunnel 16 while it travels along the tunnel.
Figure 1 depicts a short length or section of the tunnel 16. The tunnel 16 has an upright side wall 18. Such a wall 18 will be on both sides of the tunnel 16. A traffic barrier or curbing 20 also extends along the tunnel adjacent the wall 18. This provides a barrier between the wall 18 and traffic which may be travelling on a road 22 in the tunnel 16. An exit or access door 24 is provided in the wall 16. A gap 26 exists in the barrier 20 across the width of the door 24.
In this embodiment the guidance system 12 comprises a track 28 that is mounted or supported on the tunnel 16 and runs along and in this instance above the wall 18. The track 28 is in the form of an “I” beam as seen most clearly in Figures 4 and 5. The guidance system 12 also comprises two pairs of guide wheels 30 which are attached to the cleaning apparatus 14 by respective arms 32. One guide wheel 30 in each pair is on opposite sides of the track 28. The guide wheels 30 are idle wheels and are not driven.
The cleaning apparatus 14 has a brushing member 34 and a fluid delivery system 36. These are supported by a frame 38. The brushing member 34 physically contacts the wall 18 as the ATCS 10 traverses the length of the tunnel 16. The fluid delivery system
2015221411 09 May 2019
-636 operates to deliver fluid onto the wall 18 in advance of and/or trailing the brushing member 34. The fluid may be for example water, liquid detergent separate to the water, a mixture of water and detergent or combinations thereof. For example a mixture of water and detergent can be delivered onto the wall 18 in advance of the brushing member 34 and water only delivered onto the wall 18 trailing the brushing member 34.
In this embodiment the brushing member 34 is in the form of a brush 40 having an axial shaft 42 that is rotatably mounted within the frame 38. Torque is provided to the shaft 42 via an on-board power pack 44 to cause the brush 40 to rotate. Typically the brush 40 is formed with a plurality of fabric or synthetic material strands. When the shaft 42 is not rotated the strands simply hang down by action of gravity from the shaft 42 and do not reach or contact the wall 18. When the shaft 42 is rotated the centrifugal force lifts the strands to extend out radially and thereby contact the wall 18.
The fluid delivery system 36 in this embodiment comprises two fluid tanks 46 and 48.
The tanks 46 and 48 are on opposite sides of the brush 40. The tanks 46 and 48 may be interlinked by a conduit (not shown) so that fluid can be transferred between the tanks 46 and 48. In this way for example filling of the tanks 46 and 48 can be achieved by delivering fluid into one of the tanks only. In another example depending on the specific configuration of the ATCS 10 if fluid is being delivered onto the wall 18 only say in advance of the brush 40 then fluid from a trailing tank can be delivered to the leading tank to thereby extend the operational travel of the ATCS 10 prior to refilling of the fluid delivery system 36.
The fluid delivery system 36 also includes a subsidiary fluid tank 50. The subsidiary tank 50 may be located inside or outside of the tank 48. However the subsidiary tank 50 may be alternately placed in the tank 46 or indeed there may be two subsidiary tanks, one for each of tanks 46 and 48. Each subsidiary tank 50 is provided to hold a supply of a different fluid to that contained in the main tanks 46 and 48. For example the tanks 46 and 48 may be filled with water while the subsidiary tank 50 may hold a supply of a specific cleaning fluid or detergent. A pump 52 is associated with the subsidiary tank 50 to control delivery of the cleaning fluid onto the wall 18.
In order to transfer fluid from the tanks 46, 48 and 50 onto the wall 18 the fluid delivery system is provided with a first manifold 56 and a second manifold 58. The manifold 56 is associated with the tank 46 while the second manifold 58 is associated with the tank
2015221411 09 May 2019
-748. The manifolds 56 and 58 are supported on the frame 38 and each has a plurality of nozzles 60 arranged to direct a spray of fluid onto the wall 18. A hydraulically driven pump 62 is also supported within the frame 38 and operable to pump fluid from the tanks 46 and 48 to the manifolds 56 and 58.
The cleaning chemical from the tank 50 can be delivered onto the wall 18 via the pump 52. The pump 52 can be arranged to pump the cleaning chemical either: directly onto the wall 18 via either one or both of the manifolds 56, 58; or into one or both of the tanks 56, 58 to be mixed with water prior to being sprayed onto the wall 18 by one or both of the manifolds 56, 58.
One possible operating scenario is that water is contained in both of the tanks 46 and 48 and a detergent is held within the tank 50. Detergent from the tank 50 is delivered to the leading manifold 56 or 58 depending on the direction of travel of the ATCS 10. Thus as the ATCS 10 travels along the tunnel 16 detergent and water are sprayed onto the wall 18 from the leading manifold 56/58 while rinsing water is sprayed from the trailing manifold.
High and low level liquid sensors 64 and 66 respectively are provided in each of the tanks 46 and 48. Signals from these sensors are sent to an on-board controller 68. The controller 68 includes a communication system enabling communication with a control room. In this way signals relating to the operational state of the ATCS 10 can be relayed to the control room and similarly control signals can be issued from an operator in the control room to the ATCS which are received by and acted upon by the on-board controller 68.
Although the ATCS 10 is guided by the guidance system 12, it is supported by two drive wheels 70. The drive wheels 70 are rotatably mounted on the frame 38 and are powered by the power pack 44. The wheels 70 run along an upper surface or edge 71 of the barrier 20.
The power pack 44 may be in the form of a combustion engine driving a hydraulic pump. Conveniently the combustion engine can be a diesel engine. An electric generator may also be provided within the power pack 44 or otherwise driven by the power pack 44 to provide electrical power to various systems and devices of the ATCS 10 such as the controller 68, sensors 64 and 66 and other sensors and electronic devices such as leading and trailing cameras 72 and 74 mounted at opposite ends of
2015221411 09 May 2019
-8the frame 38.
The ATCS 10 is also provided with a gap straddling system 76. The system 76 enables the ATCS 10 to continue travelling along the barrier 20 notwithstanding the existence of gaps 26.
The gap straddling system 76 comprises, a straddle frame 78 attached to the main frame 38 and on opposite sides of the drive wheels 70. Each straddle frame 78 supports and at least one, although in this example two, contact members in the form of inline and spaced apart wheels 80.
The gap straddling system 76 is arranged so that prior to a drive wheel 70 reaching the gap 26 a wheel 80 will be on an opposite side of the gap 26 to thereby provide support of the cleaning apparatus 14 as it traverses the gap 26. In this way the gap straddling system 76 bears at least a part of the load of the weight of the cleaning apparatus 14 and ensures that this load is not transferred onto the track 28.
Gap proximity sensors 82 are provided at opposite ends of the gap straddling system 76. The sensors 82 sense the existence or approach of a gap 26. This information may be used by the controller 68 to reduce the speed of travel along the barrier 20 while the cleaning apparatus 14 traverses the gap 26.
In order to facilitate recharging of the tanks 46 and 48 the ATCS 10 is provided with a refilling system 84. The refilling system 84 includes a supply conduit 86 on each side of the tunnel 16. A number of discharge pipes 88 are plumbed into the supply conduit 86 at spaced apart locations. A valve 90 is provided in each discharge pipe 88 to control the release of water. The discharge pipes 88 are configured so as to be able to overlie an inlet opening of the tanks 46 and 48. This is shown most clearly for example in Figures 4 and 5.
Proximity sensors 92 are provided on opposite sides of each of the discharge pipes 88. The sensors 92 provide a signal to the on-board controller 68 as well as to a control room to indicate the approach of the cleaning apparatus 14 and/or signals indicative that a tank 46 is properly aligned with a discharge pipe 88 to facilitate refilling of that tank. At that time a signal can be provided to the valve 90 to allow water to flow into the corresponding tank 46/48.
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-9The ATCS 10 may be further configured so that the cleaning apparatus 14 reduces in its speed of travel as it approaches a refilling station (i.e. discharge pipe 88). The reduction in speed may lead to a complete stop. A tank 46/48 is then located beneath a discharge pipe 88. The speed of travel of the cleaning apparatus 14 can progressively increase once filling of the tanks has been completed to its normal operating or cleaning speed.
Depending on the configuration of the cleaning apparatus 14 each of the tanks 46 and 48 may be separately and sequentially located beneath a discharge pipe 88 for refilling; or only one of these tanks need be located beneath a discharge pipe 88 and internal plumbing of the cleaning apparatus 14 operated to transfer fluid from one tank to both tanks.
When the ATCS 10 is installed it is able to operate autonomously to clean the wall 18 or other surfaces of the tunnel 16 while the tunnel 16 is fully open to traffic without the need for an on-board human operator, on-site human supervision or the erection of temporary safety barriers. Therefore embodiments of the ATCS 10 enable the cleaning of a tunnel 16 without impacting on traffic flow and without the need for human operators to be within the working tunnel.
The ATCS 10 can travel in opposite directions. Therefore once the ATCS 10 has cleaned the wall 18 travelling in one direction, it can then clean the wall at a later time travelling in the opposite direction. In order to clean both sides of a tunnel 16 it may be preferable to install two ATCS’s 10, one for each side of the tunnel 16.
Figures 6-9 illustrate a second embodiment of the ATCS denoted as 10'. The features of the ATCS 10' that are structurally or functionally the same as those of the system 10 are denoted with the same reference numbers.
The ATCS 10' is almost identical to the ATCS 10. The substantive difference lies in that the ATCS 10' travels along a narrow path on the road 22 rather than along the top of the barrier 20. As a result of this difference the structure of the gap straddling system 76 is slightly different in the ATCS 10'. Here the gap straddling system 76 is provided with straddling frames 78 that lie in a horizontal plane slightly above the level of the road 22. The frames 78 support their respective wheels 80 so that they can rotate about vertical axes. The wheels 80 are located so that they contact or lie in close proximity to the barrier 20. The gap straddling system 76 operates in this
- 102015221411 09 May 2019 embodiment to prevent the cleaning apparatus 14 from skewing into a gap 26. This is achieved by virtue of wheels 80 on the mechanism 76 being spaced so a leading one of the wheels 80 is on the opposite side of the gap 26 to the closest drive wheel 70 and in contact with or close proximity to the barrier 20 before the closest drive wheel reaches the gap 26.
Figures 10-13 depict a third embodiment of the ATCS denoted as 10. Features of the system 10 which are the same in structure or function as those of the system 10 are denoted with the same reference numbers. The substantive difference between the ATCS 10 and ATCS 10 is that in the ATCS 10 the cleaning apparatus 10 is supported by the guidance system 12 and in particular the track 18. Thus the substantive weight of the cleaning apparatus 14 is carried by the rail 18. Motive power is provided to the cleaning apparatus by drive wheels 70 which run along the track 18.
The drive wheels 70 in this embodiment are of a similar structure to rail vehicle wheels having a tread 95 and radially extending flange 96. Thus the flange 96 provides guidance while the tread 95 provides the traction to enable the cleaning apparatus 14 to traverse a length of the tunnel 16.
A further difference with the ATCS 10 is the omission of the gap traversing system 76 20 and the inclusion of idler wheels 98 which are coupled to the frame 38. The idler wheels 98 are configured to run along or closely adjacent to a lower end of the wall 18 to maintain the cleaning apparatus 14 in a substantially vertical disposition and prevent the creation of a moment on the drive wheels 70 about the track 18.
Now that embodiments of the system 10 have been described in detail it will be apparent to those skilled in the relevant art that numerous modifications and variations may be made to provide alternate embodiments.
For example in the described embodiments the ATCS is provided with an on-board power pack 44. However in an alternate configuration power may be provided externally via electric cables or wires suspended along the tunnel 16 and an associated contact system such as a pantograph similar to that used on electric trains and trams. In this way electric power can be provided to the devices and systems of the ATCS such as the drive wheels, rotating brush 40, pumps 62 and 52, sensors and the controller 68.
In a further embodiment and in particular a slight modification of the embodiment
2015221411 09 May 2019
- 11 shown in Figures 1 - 5 the guidance system 12 may comprise two tracks or rails. These comprise the track 28 as already described but also a second track or rail attached on top of or embedded in the barrier 20. In this embodiment the drive wheels 70 will be configured to engage or run in the second track or rail.
In a further variation particularly, but not exclusively, for the ATCS 10' shown in Figures 6 - 9 a second brushing member may be provided to specifically contact the upright surface of the barrier 20. Thus one rotating brush can be contact the wall 18 and another contact the surface of the barrier 20.
In the claims which follow, and in the proceeding description, except where the context requires otherwise due to express language or necessary implication, the word “comprise” and variations such as “comprises” or “comprising” are used in an inclusive sense, i.e. to specify the presence of the stated feature but not to preclude the presence or addition of further features in various embodiments of the system as disclosed herein.
Claims (16)
- CLAIMS:1. An autonomous tunnel surface cleaning system comprising:a guidance system; and5 a cleaning apparatus;wherein the guidance system is capable of guiding the cleaning apparatus along at least a portion of a tunnel and the cleaning apparatus is capable of autonomously traveling along the tunnel under guidance of the guidance system and cleaning a length of the tunnel while it travels along the tunnel, wherein the10 autonomous surface cleaning system further comprises a gap straddling system coupled to the cleaning apparatus to enable the cleaning apparatus to straddle a gap along the length of the tunnel.
- 2. The autonomous surface cleaning system according to claim 1 wherein the15 guidance system comprises at least one track extending along the tunnel.
- 3. The autonomous surface cleaning system according to claim 2 wherein the at least one track comprises a first track supported on a wall of the tunnel and a second track on a barrier disposed along the tunnel.
- 4. The autonomous surface cleaning system according to claim 3 wherein the second track comprises: (a) an upper horizontal surface or edge of the barrier or (b) a rail that is supported on or in the barrier.25 5. The autonomous surface cleaning system according to claim 1 wherein gap straddling system comprises two straddling mechanism, one on each side of the cleaning apparatus.6. The autonomous surface cleaning system according to claim 5 wherein each 30 straddling mechanism comprises a straddle frame and two spaced apart contact members supported on the straddle frame.7. The autonomous surface cleaning system according to claim 6 wherein the contact members comprise guide wheels and wherein the guide wheels on each35 straddle frame are spaced by a sufficient distance so that each guide wheel can be in contact with a surface on opposite sides of the gap.2015221411 09 May 20198. The autonomous surface cleaning system according to any one of claims 1-7 comprising powered traction system coupled to the cleaning apparatus, said powered traction system being capable of propelling the cleaning apparatus along the tunnel.
- 5 9. The autonomous surface cleaning system according to claim 8 wherein the powered traction system comprises at least one driven wheel.
- 10. The autonomous surface cleaning system according to claim 9 wherein the at least one driven wheel is arranged to engage a road in the tunnel.
- 11. The autonomous surface cleaning system according to any one of claims 1-10 comprising at least one brushing member capable of physically brushing a surface of the tunnel being cleaned when the cleaning apparatus travels along the tunnel.15
- 12. The autonomous surface cleaning system according to claim 11 wherein the at least one brushing member is powered to move relative to a support frame of the cleaning apparatus.
- 13. The autonomous surface cleaning system according to claim 12 wherein the at 20 least one brushing member is powered to rotate as it contacts the surface being cleaned.
- 14. The autonomous surface cleaning system according to any one of claims 1-13 comprising a cleaning fluid delivery system arranged to deliver cleaning fluid onto the25 surface being cleaned.
- 15. The autonomous surface cleaning system according to claim 14 wherein the cleaning fluid delivery system comprises at least one fluid spray manifold arranged to spray cleaning fluid onto the length of the tunnel as the cleaning apparatus travels30 along the length of the tunnel.
- 16. The autonomous surface cleaning system according to claim 14 wherein the cleaning fluid delivery system comprises first and second spray manifolds arranged on opposite sides of the brushing member, wherein the spray manifolds are operable to35 spray cleaning fluid onto the length of the tunnel either: (a) in advance of the brushing member; (b) trailing the brushing member; or (c) both in advance of and trailing the cleaning apparatus.- 142015221411 09 May 2019
- 17. The autonomous surface cleaning system according to any one of claims 14-16 wherein the cleaning fluid delivery system is arranged to deliver more than one different type of cleaning fluid onto the surface being cleaned.
- 18. The autonomous surface cleaning system according to claim 17 wherein, cleaning fluid delivery system is arranged to deliver the second fluid on the surface being cleaned wall either (a) separately to the first cleaning fluid; or (b) as a mixture10 with the first cleaning fluid.
- 19. The autonomous surface cleaning system according to claim 18 comprising a cleaning fluid supply extending along the length of the tunnel and arranged to fill at least the tank or tanks for holding the first cleaning fluid at one or more spaced apart15 refill locations along the track.
- 20. The autonomous surface cleaning system according to claim 19 wherein the autonomous tunnel cleaning system is arranged such that travel speed of the cleaning apparatus: progressively reduces from a cleaning speed as the cleaning apparatus20 approaches a refill location to zero when it reaches the refill location; and, after refilling of the tank or tanks for holding the first cleaning fluid, progressive increase from zero toward the cleaning speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2015221411A AU2015221411B2 (en) | 2014-02-18 | 2015-02-17 | Autonomous tunnel cleaning system |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2014900516 | 2014-02-18 | ||
| AU2014900516A AU2014900516A0 (en) | 2014-02-18 | Automatic Tunnel Cleaning System | |
| PCT/AU2015/000086 WO2015123719A1 (en) | 2014-02-18 | 2015-02-17 | Autonomous tunnel cleaning system |
| AU2015221411A AU2015221411B2 (en) | 2014-02-18 | 2015-02-17 | Autonomous tunnel cleaning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2015221411A1 AU2015221411A1 (en) | 2016-08-25 |
| AU2015221411B2 true AU2015221411B2 (en) | 2019-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2015221411A Active AU2015221411B2 (en) | 2014-02-18 | 2015-02-17 | Autonomous tunnel cleaning system |
Country Status (3)
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|---|---|
| EP (1) | EP3108065B1 (en) |
| AU (1) | AU2015221411B2 (en) |
| WO (1) | WO2015123719A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107806045B (en) * | 2017-10-19 | 2019-05-31 | 孙艳 | Multifunctional tunnel curing means |
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|---|---|---|---|---|
| JPH07247800A (en) * | 1994-03-14 | 1995-09-26 | Mitsubishi Heavy Ind Ltd | Method and device of cleaning inner wall face of tunnel |
| EP1273711A2 (en) * | 2001-07-06 | 2003-01-08 | Bettella S.r.l. | Service apparatus particularly for road, railroad, subway tunnels or the like |
| DE202013001650U1 (en) * | 2013-02-21 | 2013-03-13 | Horst Luther | Cleaning device for guidance devices on traffic routes |
-
2015
- 2015-02-17 AU AU2015221411A patent/AU2015221411B2/en active Active
- 2015-02-17 WO PCT/AU2015/000086 patent/WO2015123719A1/en active Application Filing
- 2015-02-17 EP EP15751304.5A patent/EP3108065B1/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07247800A (en) * | 1994-03-14 | 1995-09-26 | Mitsubishi Heavy Ind Ltd | Method and device of cleaning inner wall face of tunnel |
| EP1273711A2 (en) * | 2001-07-06 | 2003-01-08 | Bettella S.r.l. | Service apparatus particularly for road, railroad, subway tunnels or the like |
| DE202013001650U1 (en) * | 2013-02-21 | 2013-03-13 | Horst Luther | Cleaning device for guidance devices on traffic routes |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3108065A1 (en) | 2016-12-28 |
| EP3108065A4 (en) | 2017-09-20 |
| EP3108065B1 (en) | 2019-08-07 |
| WO2015123719A1 (en) | 2015-08-27 |
| AU2015221411A1 (en) | 2016-08-25 |
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| Date | Code | Title | Description |
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| FGA | Letters patent sealed or granted (standard patent) |