The Design and Analysis of a Tunnel Retro-reflective Ring Climbing and Cleaning Robot

The Design and Analysis of a Tunnel Retro-reflective Ring Climbing and Cleaning Robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article The Design and Analysis of a Tunnel Retro-reflective Ring Climbing and Cleaning Robot Yuhan Li, Shiqing Ye, Rongxu Cui, Zhaoyu Shou This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3999689/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version 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. tunnel retro-reflective rings climbing robot self-cleaning spring-loaded obstacle crossing skills Full Text Additional Declarations No competing interests reported. Supplementary Files Tunnelrealenvironmenttesting.mov Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3999689","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":281790674,"identity":"9cecc370-95ee-456d-bb88-2e80b3336409","order_by":0,"name":"Yuhan Li","email":"","orcid":"","institution":"Guilin University of Electronic Technology","correspondingAuthor":false,"prefix":"","firstName":"Yuhan","middleName":"","lastName":"Li","suffix":""},{"id":281790676,"identity":"1d7063bc-3a6a-48b2-8c16-39fcb0a31ea8","order_by":1,"name":"Shiqing Ye","email":"","orcid":"","institution":"Guilin University of Electronic Technology","correspondingAuthor":false,"prefix":"","firstName":"Shiqing","middleName":"","lastName":"Ye","suffix":""},{"id":281790678,"identity":"a63e7df8-f88c-4d7f-91fd-1af7fa4ab2c5","order_by":2,"name":"Rongxu Cui","email":"","orcid":"","institution":"Guilin University of Electronic Technology","correspondingAuthor":false,"prefix":"","firstName":"Rongxu","middleName":"","lastName":"Cui","suffix":""},{"id":281790681,"identity":"99e1f6f1-dd44-4c78-b73b-b16b71486215","order_by":3,"name":"Zhaoyu Shou","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA8klEQVRIiWNgGAWjYFACxsYDCQwMQMR8ACqSQFBLA1QLG0ipATFaGBgOQJTxGBCnRT4iueHAwx11efwSOZ9f81T8YeBnzzFg+LkDtxbDG4kNBxLPHC6WnJG7zZrnjAGDZM8bA8beM3i0zABpaTuQuOFG7jZj3jYDBoMbOQbMjG0EtdQBteQ8M+b9Z8BgT0iLvARYCzNIC/Nj3gagLRIEtBjwPARpOZw4s+eZGeOcY8Y8EmeeFRzsxWdLe/rDhz+BDutnT3784U2NnBx/e/LGBz/x2XIAwWaTABI8INYBrGphtjQg2Mwf8KkcBaNgFIyCkQsAYMhYxLJoX04AAAAASUVORK5CYII=","orcid":"","institution":"Guilin University of Electronic Technology","correspondingAuthor":true,"prefix":"","firstName":"Zhaoyu","middleName":"","lastName":"Shou","suffix":""}],"badges":[],"createdAt":"2024-02-29 12:46:53","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3999689/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3999689/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":56858388,"identity":"97de47ca-5ce9-4102-b9f5-de11259e8b40","added_by":"auto","created_at":"2024-05-21 10:41:09","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":983090,"visible":true,"origin":"","legend":"","description":"","filename":"TheDesignandAnalysisofaTunnelRetroreflectiveRingClimbingandCleaningRobot.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3999689/v1_covered_894f9d00-4aeb-4061-9d4e-9c41fe2a0c55.pdf"},{"id":53271244,"identity":"98ce046a-9b65-4801-8e3f-ee2511701824","added_by":"auto","created_at":"2024-03-22 16:41:35","extension":"mov","order_by":2,"title":"","display":"","copyAsset":false,"role":"supplement","size":16736951,"visible":true,"origin":"","legend":"","description":"","filename":"Tunnelrealenvironmenttesting.mov","url":"https://assets-eu.researchsquare.com/files/rs-3999689/v1/f63fd0a181d88fc1a999c87a.mov"}],"financialInterests":"No competing interests reported.","formattedTitle":"The Design and Analysis of a Tunnel Retro-reflective Ring Climbing and Cleaning Robot","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"tunnel retro-reflective rings, climbing robot, self-cleaning, spring-loaded, obstacle crossing skills","lastPublishedDoi":"10.21203/rs.3.rs-3999689/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3999689/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"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. 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