Abstract
In response to the challenges posed by the difficult cleaning of tunnel retro-reflective rings and the unsuitability of existing climbing robots for ascending tunnel retro-reflective rings, a tunnel retro-reflective ring cleaning robot is proposed. Based on the analysis of the operational environment characteristics and functional requirements within the tunnel, the design planning of the robot's main frame, locomotion system, cleaning mechanism, and intelligent detection system are addressed. Ultimately, the spring-loaded climbing robot with excellent suspension ability and obstacle crossing skills was ultimately adopted. The paper utilizes simulation software to conduct static analysis for the main frame, verifying its strength. Stability analysis, encompassing both statics and dynamics, is performed for the robot, assessing its feasibility under various conditions. Mathematical models for the robot's secure fixation and climbing are established, exploring the minimum theoretical pressure required for stable robot operation. Experimental validation is conducted to determine the minimum pressure theory, and the prototype experiments of the robot confirm the rationality of its structure and control design. The robot operates effectively, successfully cleaning retro-reflective rings within the tunnel without disrupting normal traffic conditions.