CN113859179A - Automatic cleaning method and system for automobile - Google Patents
Automatic cleaning method and system for automobile Download PDFInfo
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- CN113859179A CN113859179A CN202111044394.7A CN202111044394A CN113859179A CN 113859179 A CN113859179 A CN 113859179A CN 202111044394 A CN202111044394 A CN 202111044394A CN 113859179 A CN113859179 A CN 113859179A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/002—Vehicle drying apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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Abstract
The invention belongs to the field of automobile cleaning, and discloses an automatic cleaning method and system for an automobile, wherein the method comprises the following steps: guiding the vehicle to enter and stop at a designated washing area; sending a confirmation instruction to a server; scanning and acquiring appearance characteristic data of the vehicle, and calculating and forming path planning data for cleaning and air drying of the vehicle according to the characteristic appearance data of the vehicle; and the server issues a cleaning and air-drying instruction to an intelligent robot with multi-degree-of-freedom motion, and the intelligent robot finishes the cleaning and air-drying processes of the vehicle in sequence according to the path planning data. The intelligent automobile cleaning system solves the problems of intellectualization and low automation degree of the existing automobile cleaning.
Description
Technical Field
The invention belongs to the technical field of automobile cleaning, and particularly relates to an automatic cleaning method and system for an automobile.
Background
At present, the domestic automobile keeping quantity base number is large, the growth rate is high, the market demand for the automobile service industry is gradually increased, and especially, the automobile cleaning service becomes the indispensable automobile service for an automobile owner. The existing manual cleaning and automatic cleaning modes in the market. The manual cleaning mode is the most important cleaning mode in China and even worldwide. Manual cleaning has a number of drawbacks, such as: personnel cost is high, the efficiency is low, water is wasted, and the like, and the place for manual cleaning is mostly in a fixed storefront form, so that the convenience of car washing service is limited to a certain extent.
In order to improve the efficiency of vehicle cleaning, many enterprises have developed automatic vehicle cleaning systems and devices. The automatic car washing system is divided into a contact car washing mode and a non-contact car washing mode. The contact mode adopts a rinsing and wiping mode, so that the cleaning efficiency is improved, but the cleaning quality is not high, manual further treatment is still needed after the automatic cleaning is finished, and irregular accessories such as vehicle paint, rearview mirrors, antennas and the like are easily damaged by the contact cleaning. The existing contact car washing equipment in the market occupies a large area, is high in size and has limitation on arrangement of car washing point positions.
The non-contact car washing mode mainly adopts a frame type and a reciprocating type, the size of the equipment is high, and the occupied area is large. The non-contact car washing adopts a complete spray washing mode, the washing range is fixed, different washing routes can not be adjusted according to different car models, and the condition of washing leakage is easy to occur. The water impact strength of the jet is an important criterion for judging the cleaning ability, and the water impact strength is remarkably attenuated with the increase of the impact distance. The distance between the sprayed water and the vehicle body is increased due to the high size of the device, the hydraulic impact strength is reduced, the cleaning effect is reduced, and larger flow is needed to make up for the defect, so that the water waste is caused. At present, the non-contact car washing equipment still keeps a manual washing process, and a full-automatic non-contact car washing system is not perfect enough.
The existing safety systems in the field of automatic car washing, whether in a contact mode or a non-contact mode, are not perfect, and the safety of vehicles and equipment cannot be ensured.
The intelligent and efficient development of car washing service has become a development trend, but the current automatic car washing field has exposed a plurality of problems of low automation degree, incapability of getting rid of manpower, large water consumption, high equipment size, wide system floor area, limited point location arrangement and the like.
Therefore, how to design an intelligent, unmanned, efficient and safe automatic car washing method and system is a technical problem to be solved at present.
Disclosure of Invention
The invention aims to provide an automatic cleaning method and system for an automobile, and aims to solve the problem that the existing intelligent degree of automobile cleaning is not high.
In a first aspect of the present invention, there is provided an automatic cleaning method for an automobile, the method comprising:
the method comprises the following steps:
guiding the vehicle to enter and stop at a designated washing area;
sending a command for starting cleaning to a server;
scanning and acquiring the appearance data of the vehicle, and calculating and forming path planning data for cleaning and air drying of the vehicle according to the appearance data of the vehicle;
and the server issues a cleaning and air-drying instruction to an intelligent robot with multi-degree-of-freedom motion, and the intelligent robot finishes the cleaning and air-drying processes of the vehicle in sequence according to the path planning data.
And further, when the appearance of the vehicle is scanned, the cleanliness of the outer surface of the vehicle is obtained, and the intelligent robot is controlled to adjust the cleaning force and the cleaning process parameters at different levels according to different cleannesses.
Further, when an air drying process is executed, the water flow state of the surface of the vehicle body is monitored and tracked in real time, so that the air drying working parameters of the intelligent robot are dynamically adjusted.
Further, when the vehicle is cleaned and air-dried, the position state of the vehicle and the running state of the equipment are monitored in real time, and when the position of the vehicle is displaced or the distance between the intelligent robot and the surface of the vehicle is smaller than a preset safety distance threshold value, the intelligent robot is controlled to stop acting.
Furthermore, in the cleaning process, the cleanliness of the vehicle is identified, corresponding cleaning process parameters are recorded, a continuously accumulated cleaning service database is formed, machine learning algorithm modeling is adopted, and the cleaning process parameters in the cleaning process are continuously improved. Wherein, the cleaning process parameters include: the cleaning speed, the hydraulic impact distance, the cleaning angle and the like can adopt personalized cleaning parameters aiming at different parts of the vehicle.
Further, in the air drying process, the water flow states of the surfaces of the vehicle bodies and the corresponding air drying process parameters when different vehicle types are air dried are collected, a continuously accumulated air drying service database is formed by combining temperature and humidity variable factors, modeling is performed by adopting a machine learning algorithm, and the air drying process parameters in the air drying process are continuously improved. Wherein, the air-drying process parameters include: wind power, blowing angle, blowing temperature, blowing distance, blowing speed, moving speed and the like.
Further, the process of determining whether the vehicle position is displaced includes: the method comprises the steps of obtaining a high-precision three-dimensional image of a vehicle before cleaning, continuously imaging in real time in the cleaning and air drying processes, comparing the image with the image before cleaning to judge whether the vehicle has displacement, and controlling the intelligent robot to stop if the vehicle has displacement.
Preferably, a controllable range threshold value is set for the displacement of the vehicle, and when the vehicle is displaced and the displacement is within the preset controllable range threshold value, new path planning data is regenerated according to the current position of the vehicle and sent to the intelligent robot; and if the vehicle displaces and the displacement exceeds the controllable range threshold value, controlling the intelligent robot to stop acting.
Further, directing the vehicle into the designated wash zone includes: dynamically presenting the three-dimensional space position and the designated cleaning area of the current vehicle, guiding the vehicle of a user to enter the designated cleaning area according to the direction, detecting whether the vehicle stops at the designated area, and if so, sending a cleaning starting instruction to the server.
In another aspect of the present invention, there is also provided an automatic washing system for a vehicle, the system including:
the vehicle position guiding module is used for guiding a vehicle to be washed to enter a specified washing area;
the confirmation module is used for sending a command for starting cleaning to the server;
the imaging module is used for scanning and acquiring appearance characteristic data of the vehicle and sending the appearance characteristic data to the server;
the path planning module is used for constructing cleaning path data and air trunk path data of the vehicle according to the appearance characteristic data of the vehicle and sending the cleaning path data and the air trunk path data to the execution module;
and the execution module receives the cleaning path data and the air drying path data to control the intelligent robot with multiple degrees of freedom to complete the cleaning and air drying processes of the vehicle.
Preferably, the imaging module is fused with a plurality of different types of sensors, and the same spatial relationship is established for the imaged data through the cooperation of the different types of sensors to form a high-precision three-dimensional image including vehicle appearance characteristic data.
Further, the system also comprises a monitoring module, wherein the monitoring module is used for monitoring the external environment condition when the vehicle is cleaned and the working conditions of the vehicle and the intelligent robot, and sending an instruction for stopping execution to the execution module when abnormal data occurs.
The system further comprises a modeling module, wherein the modeling module is used for carrying out data accumulation and modeling according to the cleanliness of the surface of the vehicle body and cleaning process parameters in the cleaning process of the vehicle, carrying out data accumulation and modeling according to the water flow state of the surface of the vehicle body and corresponding air-drying process parameters in the air-drying process of the vehicle and combining temperature and humidity variable factors.
Compared with the prior art, the automatic cleaning method and the automatic cleaning system for the automobile provided by the invention have the following technical effects:
1. the invention adopts automatic and intelligent control means for parking guidance, appearance characteristic acquisition, path planning, cleaning and air drying of the vehicle, and has high vehicle cleaning efficiency.
2. The invention cleans and air-dries the vehicle by the intelligent robot with multi-degree of freedom movement, is suitable for fields in different environments, and solves the problem of limited field in the prior art.
3. The intelligent control method is adopted for cleaning the vehicle, and different levels of cleaning parameters are adopted according to the cleanliness of different parts of the vehicle body, so that the water quantity is saved, and the efficiency is improved.
4. The invention adopts an intelligent control means for air drying of the vehicle, dynamically adjusts air drying parameters according to the water flow change state, and improves the air drying efficiency.
5. The invention continuously collects relevant parameters in the cleaning and air drying processes, realizes continuous improvement and perfection of the relevant parameters in the cleaning and air drying processes through big data modeling and continuous learning of the model, and improves the efficiency.
6. The imaging is acquired by adopting a multi-sensor fusion mode, the acquired appearance characteristics of the vehicle are more accurate, and the personalized cleaning route scheme can be conveniently formulated.
Drawings
Fig. 1 is a schematic flow chart of an automatic cleaning method for an automobile according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an automatic washing system of an automobile according to an embodiment of the present invention.
Detailed Description
The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby. As certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the embodiment of the invention discloses an automatic cleaning method for an automobile, which comprises the following steps:
and step S1, guiding the vehicle to enter and stop at the designated washing area.
Wherein guiding the vehicle into the designated wash zone comprises: when the situation that the vehicle enters the cleaning field is monitored, the cameras in different directions and the sensors in different types are started to work, the three-dimensional space position of the vehicle is further obtained, the obtained three-dimensional space position of the vehicle is sent to a screen arranged on the cleaning field to be displayed, meanwhile, the vehicle is guided to enter a reasonable appointed cleaning area according to the current position of the vehicle, the appointed cleaning area is also displayed on the screen, therefore, a user can clearly know the position of the vehicle and the cleaning area needing to enter, user experience is improved, the appointed cleaning area can be dynamically distributed by a server according to the size of the vehicle and the current position of the vehicle, when the user drives the vehicle into the appointed cleaning area according to guidance, the vehicle can be switched off, and meanwhile, the cameras and the sensors can further obtain the stop position of the vehicle, and judging whether the vehicle stops in the designated area by the server, and if so, entering the next confirmation process. If the vehicle is judged to be in the non-cleaning state, the cleaning instruction cannot be started, and the user is guided to be in the correct parking position according to the position guide again.
Step S2, an instruction to start washing is sent to the server.
Wherein, confirm abluent instruction and send through the button that sets up in the washing place by the user, perhaps bind corresponding carwash APP by the user through the smart mobile phone and confirm, perhaps initiate through voice interaction mode and start abluent instruction.
And step S3, scanning and acquiring the appearance characteristic data of the vehicle, and calculating and forming the path planning data of the cleaning and air drying of the vehicle according to the appearance characteristic data of the vehicle.
After the user sends a command to start washing and the command is received by the server, the server controls the imaging sensor to scan the vehicle profile data, including: vehicle tail wing, rear-view mirror, antenna, luggage rack, back door spare tyre, etc. Wherein, imaging sensor can adopt the combination of one or more in ultrasonic sensor, laser radar, millimeter wave sensor, microwave sensor, image sensor (camera), the degree of depth camera, preferably adopts the sensor combination of multiple different grade type, for example: the combination of millimeter wave radar + image sensor + degree of depth camera, perhaps the combination of ultrasonic wave + laser radar + image sensor, because the sensor of single type, there is the imaging data easily and can take place the car shape data disappearance, can't catch the defect of vehicle appearance characteristic completely, this application adopts multiple, a plurality of sensor, every sensor independently acquires vehicle appearance characteristic, form the data set, form data redundancy, the complete characteristic of vehicle can be completely caught like this, also can overcome the poor problem of vehicle black mirror surface imaging quality. The imaging sensor can adopt a single machine position or a plurality of machine positions, the arrangement mode can adopt a fixed type or a movable type, and the acquired imaging data can be sent to the server in real time or uniformly uploaded to the server after all data are acquired.
The server forms the contour three-dimensional data of the vehicle according to the received vehicle contour data, then calculates a cleaning path and an air drying path which are attached to the vehicle contour according to an algorithm, and sends the cleaning path and the air drying path to the execution module to execute according to a preset path. Different vehicles have different structures, for example reflector size, skylight, antenna, wheel hub, trunk etc. this application generates different route planning data according to the car appearance structure of difference, forms individualized planning and clean route scheme so, can guarantee vehicle washing and air-dried comprehensive, also can improve the safety degree of vehicle.
And step S4, the server issues a cleaning and air-drying instruction to the intelligent robot with multiple degrees of freedom movement, and the intelligent robot finishes the cleaning and air-drying process of the vehicle in sequence according to the path planning data.
In this embodiment, the vehicle is cleaned and air-dried by using an intelligent robot with multi-degree-of-freedom motion, which is a device having a robot arm and a base and capable of moving or rotating on the X, Y, Z axis in the three-dimensional space. This intelligent robot adopts contactless washing air-dry mode to accomplish around the appointed region that the vehicle was berthhed, wherein, wash and air-dry and adopt two kinds of robots respectively, advance into the washing mode, washing robot connects the water pump and moves according to the route of planning and cleans for the vehicle outward appearance, wash the back of accomplishing, washing robot resets, then enter the air-dry mode, air-dry robot connects the fan, move according to the route of planning and air-dry the processing for the vehicle, air-dry the end back, air-dry robot resets.
When the vehicle is cleaned and air-dried, the position state of the vehicle and the running state of the equipment are monitored in real time, and when the position of the vehicle is displaced to a certain extent, or the distance between the intelligent robot and the surface of the vehicle is smaller than a preset safety distance threshold value, or the equipment fails, such as voltage and current are increased suddenly and the equipment is seriously deviated from a planned cleaning path or an air-dried path, the intelligent robot is controlled to stop acting, and the intelligent robot can be further reset to the original position. One possible way to determine whether the vehicle position is displaced is: the method comprises the steps of obtaining a high-precision three-dimensional image of a vehicle before cleaning, namely calibrating the position of the vehicle through a camera and a sensor when the vehicle starts cleaning, continuously imaging in real time in the cleaning and air drying processes of the vehicle, comparing the image with the image before cleaning to judge whether the vehicle has displacement, and if the vehicle is monitored and judged to have displacement through the sensor and the camera, sending an instruction of stopping operation to the intelligent robot in time, and stopping the intelligent robot. An optional implementation mode is that a controllable range threshold is set for the displacement of the vehicle, if the vehicle displaces and the displacement is within a preset controllable range threshold, for example, a maximum movement range is set to 5CM, when the vehicle displacement is within the range of 5CM, the latest vehicle position data is timely sent to the server, the server timely adjusts and generates new path planning data to send the intelligent robot, so that the intelligent robot does not need to stop moving, only simple adjustment is needed, when the vehicle displacement exceeds the preset controllable range threshold, the situation is not controllable, the cleaning or air drying movement of the intelligent robot is timely stopped, the intelligent robot can further recover to the original position, and the equipment is ensured to be in a safe position.
As a preferred embodiment of the invention, when the image acquisition technology is adopted to scan the appearance of the vehicle, the cleanliness of the outer surface of the vehicle is also identified, and the intelligent robot is controlled to carry out different levels of cleaning force according to different cleannesses. The cleanliness of the outer surface of the vehicle can be judged by the reflection degree of the camera when shooting the outer surface of the vehicle, and under the ordinary condition, the larger the reflection degree is, the better the cleanliness is. Furthermore, a plurality of cleanliness levels can be set according to different light reflection degrees, such as four levels of extremely dirty, medium and good, and correspondingly, the set cleaning force is four levels of strong, common and rapid. This kind of mode can be for user's save time, also can using water wisely.
In the cleaning process, after the cleanliness of the vehicle is identified, corresponding cleaning process parameters are recorded, so that after the cleanliness identification and the cleaning process parameters setting are carried out on different parts of a large number of vehicle types and vehicle bodies, a continuously accumulated cleaning service database can be formed, then a machine learning algorithm is adopted for modeling, and different types of cleaning process parameter adjustment including cleaning speed, hydraulic impact distance, cleaning angle and the like are carried out according to different vehicle types and the cleanliness of different parts of the vehicle bodies, so that the cleaning process parameters in the cleaning process can be continuously improved, the cleaning intelligence is further realized, and a personalized cleaning scheme can be formed for the vehicle. Because big data are accumulated continuously, the precision of the cleaning model is higher and higher through continuous training and learning, and after different vehicle types and the cleanliness of different parts of the vehicle body are identified, the cleaning grade can be judged, the optimal cleaning parameter can be determined, and the cleaning efficiency is improved.
The similar physical structure of car has decided that the stain appears with similar form in specific area easily, obtain stain hot area information through machine learning modeling, to different hot areas, such as the lacquer painting directly behind the tire, the oily stain of back door window that car back surface air current formed, the worm corpse of preceding air inlet etc. provide pertinent washing mode, including the local spraying and the different rest time of specific chemical agent, one-way or reciprocating type, the high pressure water of different cleaning speed and range hits with the water energy of high pressure of reasonable distribution and reaches different stain areas etc. the washing of pertinence, specialization has improved abluent efficiency greatly, has also further practiced thrift the water consumption.
As another preferred embodiment of the present invention, when the air drying process is performed, the water flow state on the surface of the vehicle body, including the movement path and the diameter change of the water droplets, is also monitored and tracked in real time by the camera, so as to dynamically adjust the air drying working parameters of the intelligent robot, such as the wind power, the air blowing angle, the air blowing range, the air blowing temperature, the air blowing rate and the displacement speed.
In the air drying process, the water flow state of the surface of the vehicle body and the corresponding work flow parameters of different vehicle types during air drying are collected, variable factors such as temperature, humidity and wind direction in different seasons are combined to form an air drying service database which is continuously accumulated, and then machine learning algorithm modeling is adopted, so that different work flow parameters are adjusted according to the water flow state, the temperature, the humidity and the wind direction of different vehicle types during air drying, air drying intelligence is realized, and an individualized air drying scheme can be formed for the vehicle. Because big data are accumulated continuously, the accuracy of the air drying model is higher and higher through continuous training and learning, the optimal air drying parameters can be determined for different conditions, and the air drying efficiency is improved.
And air drying, namely a process of blowing away water on the surface of the vehicle, preferably heating air by adopting a spectrum, and increasing the blowing temperature. The distance, intensity and angle of the air blowing directly influence the moving state of the surface water. And, different cars have different streamline appearances, and the distance, intensity and the angle requirement of blowing are different, and the parameter is wasted time and energy in manual adjustment, and this application adopts artifical intelligent mode to vehicle surface dryness degree is as judging the table standard, and the moving state of surface water adopts machine learning to reach the optimal parameter of blowing as the expression mode of parameter effect. Similarly, in different seasons, different air humidity, temperature, wind direction and the like can directly influence the surface tension of the surface water of the vehicle body and the adhesive force between the water and the vehicle body, and the blowing parameter requirements under different temperatures, humidity or wind directions are learned and adjusted by adopting a machine learning mode so as to achieve different blowing parameters aiming at different vehicles.
Referring to fig. 2 again, another embodiment of the present invention provides an automatic cleaning system for an automobile, corresponding to the above embodiment, the system including: the system comprises a vehicle position guiding module, a confirming module, an imaging module, a path planning module and an executing module.
The vehicle position guiding module is used for guiding a vehicle to be washed to enter a specified washing area; the vehicle position guiding module is used for scanning the three-dimensional space position of the vehicle, displaying the scanned three-dimensional space position on an external display screen, and displaying the parking area which is most suitable for the vehicle on the display screen so as to facilitate the user to drive into the parking area.
The confirmation module is used for sending a command for starting cleaning to the server; the confirmation module is confirmed by a user or an operator.
The imaging module is used for scanning and acquiring appearance characteristic data of the vehicle and sending the appearance characteristic data to the server; after receiving an instruction for starting cleaning, the server controls the imaging module to acquire appearance characteristic data of the vehicle, wherein the imaging module of the embodiment is fused with sensors of various different types, including an ultrasonic radar, a millimeter wave radar, a laser radar, an infrared sensor, a distance sensor and the like, the same spatial relationship can be established for the imaged data through the cooperation of various sensors of different types, and a complete high-precision three-dimensional image including the appearance characteristic data of the vehicle is formed.
The path planning module is used for constructing cleaning path data and air trunk path data of the vehicle according to the appearance characteristic data of the vehicle and sending the cleaning path data and the air trunk path data to the execution module; the server receives the appearance characteristic data of the vehicle, performs data processing, such as denoising and amplifying on the signals, and then sends the signals to the path planning module, and the path planning module constructs cleaning path data and air trunk path data surrounding the vehicle according to an algorithm.
And the execution module receives the cleaning path data and the air drying path data to control the intelligent robot with multiple degrees of freedom to complete the cleaning and air drying processes of the vehicle. The intelligent robot is provided with a signal transceiver to receive a signal instruction of the server, and automatically executes cleaning action and air drying action according to a preset track, wherein the cleaning and the air drying respectively adopt two different robots to finish the operation. The intelligent robot is further provided with a distance sensor and a camera so as to detect the distance between the intelligent robot and the surface of the vehicle body, scratch and rub are prevented, and the real-time state of cleaning and air drying can be checked through the camera.
The system in this implementation further includes a monitoring module, where the monitoring module is configured to monitor external environment conditions during vehicle cleaning, working conditions of the vehicle and the intelligent robot, and send an instruction to the execution module to stop execution when abnormal data occurs, where the external environment conditions include fire, electric leakage, and other emergency conditions occurring in a monitoring video, the working conditions of the intelligent robot are operation condition data during cleaning or air drying operation and mechanical deformation sensor data of the robot to monitor whether a machine has a physical fault or damage, the working conditions of the vehicle are mainly to monitor whether a vehicle being cleaned moves or whether a foreign object enters a cleaning area, and when abnormal data occurs, the current surge, the voltage surge, the foreign object entering the cleaning area, the vehicle suddenly moving, the vehicle stopping execution, If the intelligent robot deviates from a preset track, an instruction for stopping execution is sent to the execution module, and the user can be reminded through sound and light alarm.
Preferably, the system in this embodiment further includes a modeling module, and the modeling module performs big data collection and modeling according to a corresponding relationship between the cleanliness of the body surface of the vehicle and the cleaning process parameters in the cleaning process of the vehicle, and performs big data collection and modeling according to a water flow state of the body surface of the vehicle and the air drying process parameters in the air drying process of the vehicle and a relationship between variable factors such as temperature, humidity and wind direction. The method comprises the steps of establishing a cleaning data model and an air-drying data model respectively, and improving the prediction and adjustment precision of each model through continuous training of the models.
It should be noted that, the system in the present embodiment is used for executing the method in the previous embodiment, and reference is made to the previous embodiment without being described in detail herein.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, and the present invention may be modified in materials and structures, or replaced with technical equivalents, in the constructions of the above-mentioned various components. Therefore, structural equivalents made by using the description and drawings of the present invention or by directly or indirectly applying to other related arts are also encompassed within the scope of the present invention.
Claims (13)
1. A method of automatically cleaning an automobile, the method comprising:
guiding the vehicle to enter and stop at a designated washing area;
sending a command for starting cleaning to a server;
scanning and acquiring appearance characteristic data of the vehicle, and calculating and generating path planning data for cleaning and air drying of the vehicle according to the appearance characteristic data of the vehicle;
and the server issues a cleaning and air-drying instruction to an intelligent robot with multi-degree-of-freedom motion, and the intelligent robot finishes the cleaning and air-drying processes of the vehicle in sequence according to the path planning data.
2. The method of claim 1, wherein when scanning the shape of the vehicle, the cleanliness of the outer surface of the vehicle is also obtained, and the intelligent robot is controlled to perform different levels of cleaning force and adjustment of cleaning process parameters according to different cleannesses.
3. The method according to claim 1 or 2, wherein the water flow state of the surface of the vehicle body is monitored and tracked in real time during the air drying process so as to dynamically adjust the air drying working parameters of the intelligent robot.
4. The method of claim 1, wherein the position state of the vehicle and the running state of the equipment are monitored in real time during the cleaning and air drying of the vehicle, and the intelligent robot is controlled to stop when the position of the vehicle is displaced or the distance between the intelligent robot and the surface of the vehicle is smaller than a preset safety distance threshold value.
5. The method of claim 2, wherein during the cleaning process, the cleanliness of the vehicle is identified and corresponding cleaning process parameters are recorded, forming a continuously accumulated database of cleaning services, and modeling using machine learning algorithms to continually improve the cleaning process parameters during the cleaning process.
6. The method as claimed in claim 3, wherein in the air drying process, the water flow state on the surface of the vehicle body and the corresponding air drying process parameters when different vehicle types are dried are collected, the air drying service database which is continuously accumulated is formed by combining temperature and humidity variable factors, and the machine learning algorithm is adopted for modeling, so that the air drying process parameters in the air drying process are continuously improved.
7. The method of claim 4, wherein determining whether the vehicle position is displaced comprises: the method comprises the steps of obtaining a high-precision three-dimensional image of a vehicle before cleaning, continuously imaging in real time in the cleaning and air drying processes, comparing the image with the image before cleaning to judge whether the vehicle has displacement, and controlling the intelligent robot to stop if the vehicle has displacement.
8. The method of claim 7, wherein a controllable range threshold is set for the displacement of the vehicle, and when the vehicle is displaced and the displacement is within a preset controllable range threshold, new path planning data is regenerated according to the current position of the vehicle and sent to the intelligent robot; and if the vehicle displaces and the displacement exceeds the controllable range threshold value, controlling the intelligent robot to stop acting.
9. The method of claim 1, wherein directing vehicles into the designated wash zone comprises: dynamically presenting the three-dimensional space position and the designated cleaning area of the current vehicle, guiding the vehicle of a user to enter the designated cleaning area according to the direction, detecting whether the vehicle stops at the designated area, and if so, sending a cleaning starting instruction to the server.
10. An automatic washing system for a vehicle, the system comprising:
the vehicle position guiding module is used for guiding a vehicle to be washed to enter a specified washing area;
the confirmation module is used for sending a command for starting cleaning to the server;
the imaging module is used for scanning and acquiring appearance characteristic data of the vehicle and sending the appearance characteristic data to the server;
the path planning module is used for constructing cleaning path data and air trunk path data of the vehicle according to the appearance characteristic data of the vehicle and sending the cleaning path data and the air trunk path data to the execution module;
and the execution module receives the cleaning path data and the air drying path data to control the intelligent robot with multiple degrees of freedom to complete the cleaning and air drying processes of the vehicle.
11. The system of claim 10, wherein the imaging module incorporates a plurality of different types of sensors, and the same spatial relationship is established for the imaged data by cooperation of the different types of sensors to form a high-precision three-dimensional image including vehicle appearance feature data.
12. The automatic washing system of claim 10, further comprising a monitoring module for monitoring external environmental conditions during washing of the vehicle and working conditions of the vehicle and the intelligent robot, and sending an instruction to the execution module to stop execution when abnormal data occurs.
13. The automatic cleaning system according to claim 10, further comprising a modeling module for collecting and modeling big data according to the corresponding relationship between the cleanliness of the body surface of the vehicle and the cleaning process parameters during the cleaning process, and collecting and modeling big data according to the water flow state of the body surface of the vehicle and the corresponding air drying process parameters during the air drying process, and combining the temperature and humidity variable factors.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675291A (en) * | 2022-03-08 | 2022-06-28 | 大连航佳机器人科技有限公司 | A vehicle body information detection method and application for automatic car wash system |
| CN114919540A (en) * | 2022-06-25 | 2022-08-19 | 深圳市小马控股有限公司 | A car washing control method, system, car washing machine and storage medium |
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| CN114919540A (en) * | 2022-06-25 | 2022-08-19 | 深圳市小马控股有限公司 | A car washing control method, system, car washing machine and storage medium |
| TWI832378B (en) * | 2022-08-17 | 2024-02-11 | 廣錠科技股份有限公司 | Automatic cleaning method applied to vehicle cleaning equipment |
| CN116901903A (en) * | 2023-06-16 | 2023-10-20 | 成都赛力斯科技有限公司 | Vehicle cleaning methods, devices, electronic equipment and vehicles |
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