CN103738308B - The intelligent vehicle washing system of automatic identification vehicle and intelligent car-washing method - Google Patents
The intelligent vehicle washing system of automatic identification vehicle and intelligent car-washing method Download PDFInfo
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- CN103738308B CN103738308B CN201310632049.4A CN201310632049A CN103738308B CN 103738308 B CN103738308 B CN 103738308B CN 201310632049 A CN201310632049 A CN 201310632049A CN 103738308 B CN103738308 B CN 103738308B
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Abstract
The present invention relates to a kind of intelligent vehicle washing system of automatic identification vehicle and intelligent car-washing method.This identifies that the intelligent vehicle washing system of vehicle comprises camera, control module and brush assemblies automatically, described camera is used for carwash regional imaging, described brush assemblies is used for scrubbing vehicle, described control module is used for the institute according to described camera and becomes image to determine the vehicle of described vehicle, and controls described brush assemblies according to the vehicle of described vehicle and undertaken moving to clean described vehicle by the path of vehicle corresponding to described vehicle.The intelligent vehicle washing system of automatic identification vehicle provided by the invention and intelligent car-washing method, the mode of employing camera imaging carrys out the vehicle to judging vehicle, then control brush assemblies according to the vehicle of vehicle and move that vehicle is cleaned by optimal path, make carwash efficiency higher, carwash effect is also better.
Description
Technical field
The present invention relates to car washer field, be specifically related to a kind of intelligent vehicle washing system of automatic identification vehicle and automatically identify the intelligent car-washing method of vehicle.
Background technology
Along with the living standard of entire society is constantly improved, automobile comes into huge numbers of families gradually, and automobile quantity straight line rises, and the enterprise being engaged in Automobile Service Business (such as carwash industry) also grows with each passing day.Present carwash mode is on the market mostly still based on manpower.This carwash mode has many shortcomings, and such as carwash efficiency is lower, and carwash queuing phenomena is serious, and easily causes water resource to waste in a large number.For this reason, be developed various intelligent vehicle washing system, realize automatic car washing.Current intelligent vehicle washing system is all go to control roof brush assemblies according to fixing path and vehicle body brush assemblies moves, and no matter vehicle is how.But its shape of the vehicle of different automobile types is different, even differ totally different, such as pick up and three-box car etc.Therefore, move if all go to control roof brush assemblies and vehicle body brush assemblies according to same fixing path to all vehicles, then to the cleaning performance of the vehicle of some vehicle by large heavy discount, or the efficiency of cleaning can be reduced.
Summary of the invention
In view of this, the present invention aim to provide a kind of can according to the intelligent vehicle washing system in the different carwash path of the Truck type choice of vehicle and intelligent car-washing method.
In order to realize object of the present invention, one aspect of the present invention provides a kind of intelligent vehicle washing system of automatic identification vehicle, for cleaning vehicle, it comprises camera, control module and brush assemblies, described camera is used for carwash regional imaging, described brush assemblies is used for scrubbing vehicle, described control module is used for the institute according to described camera and becomes image to determine the vehicle of described vehicle, and controls described brush assemblies according to the vehicle of described vehicle and undertaken moving to clean described vehicle by the path of vehicle corresponding to described vehicle.
Preferably, described control module comprises image process unit, vehicle comparing unit and control unit, described image process unit is used for carrying out data processing to image that described camera becomes, described vehicle comparing unit is used for the image data that the image data analysis after to process determines described vehicle, and compare the image data of described vehicle and the many groups vehicle image data prestored to determine the vehicle of described vehicle, described control unit is used for the control policy corresponding with the vehicle of described vehicle according to the Truck type choice of described vehicle and moves by the path of the vehicle corresponding to described vehicle to control described brush assemblies.
Preferably, described control module also comprises positioning unit, and described positioning unit is used for the position determining described vehicle according to the image data of described vehicle, and described control unit is used for brush assemblies according to the position control of described vehicle and aims at described vehicle.
Preferably, described positioning unit is also for according to position dirty on the image data determination vehicle of described vehicle, and described control unit is also aimed at for brush assemblies according to described dirty position control and cleaned described dirty.
Preferably, described camera is varifocal and rotatable, described control module also for control after cleaning vehicle described camera rotate and zoom to obtain vehicle body image locally.
The present invention provides a kind of intelligent car-washing method of automatic identification vehicle on the other hand, and for cleaning vehicle, it comprises the steps:
Image-forming step: imaging is carried out to carwash region;
Vehicle comparison step: the vehicle determining described vehicle according to become image;
Cleaning step: control brush assemblies according to the vehicle of described vehicle and undertaken moving to clean described vehicle by the path of the vehicle corresponding to described vehicle.
Preferably, described vehicle comparison step comprises the steps: further
Data processing is carried out to become image;
Image data analysis after process is determined to the image data of described vehicle;
The image data of described vehicle and the many groups vehicle image data prestored are compared to determine the vehicle of described vehicle.
Preferably, before cleaning step, also positioning step is comprised: the position determining described vehicle according to become image; In cleaning step, first according to the position control of described vehicle, brush assemblies aims at described vehicle.
Preferably, after described cleaning step, also comprise the dirty inspection step checked on described vehicle, described inspection step comprises the steps: further
Re-imaging step: re-imaging is carried out to the vehicle after cleaning;
Dirty searching step: find on vehicle according to image formed in re-imaging step dirty, if had, then enter cleaning step again;
Cleaning step again: control described brush assemblies and aim at described dirty and clean described dirty.
Preferably, in described re-imaging step, by control camera and rotate and zoom to obtain vehicle body image locally.
The intelligent vehicle washing system of the automatic identification vehicle that the embodiment of the present invention provides and intelligent car-washing method, the mode of employing camera imaging carrys out the vehicle to judging vehicle, then control brush assemblies according to the vehicle of vehicle and move that vehicle is cleaned by optimal path, make carwash efficiency higher, carwash effect is also better.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention provide the structural representation of intelligent vehicle washing system of automatic identification vehicle.
Fig. 2 is the structural representation of the control module in the intelligent vehicle washing system of the automatic identification vehicle of Fig. 1.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Please refer to Fig. 1, the embodiment of the present invention provides a kind of intelligent vehicle washing system of the automatic identification vehicle for cleaning vehicle, and it comprises camera 15, control module 11 and brush assemblies.
Camera 15 is for carwash regional imaging.In general, camera 15 pairs of carwash regions can real time imagery, and by become image output to control module 11.Camera 15 can be multiple, to obtain the image in comparatively comprehensively carwash region.
Brush assemblies is used for scrubbing vehicle.Particularly, brush assemblies can comprise roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 and water pump 16 etc.Roof brush assemblies 13, for scrubbing the upper surface of vehicle, comprises roof, bonnet, front screen, back window glass and boot lid etc.Roof brush assemblies 13 specifically can comprise roof brush and corresponding driver train.Driver train generally comprises motor, support, guide rail etc.Because the driver train of existing multiple roof brush is well known to those skilled in the art, repeat no more herein.Vehicle body brush assemblies 14 for scrubbing the side surface of vehicle, such as car door etc.Similar with roof brush assemblies 13, vehicle body brush assemblies 14 specifically can comprise vehicle body brush and driver train thereof, and vehicle body brush is generally two and is separately positioned on vehicle body both sides, and the structure be well known to the skilled person, also repeats no more herein.Nozzle component 12 is for spraying water and stain remover to vehicle, and it generally comprises multiple jet pipe, corresponding pipeline and jet driving mechanism.Water pump 16 is connected with water source, detergent source (not shown) and nozzle component 12, for by the water at water source and detergent source and stain remover pump to nozzle component 12.Water pump 16 can be connected with the water source (such as water cock) and detergent source (such as stain remover storage tank) that are arranged on carwash areas adjacent by pipeline.Further, this brush assemblies can also comprise Clean water valve 17, stain remover valve 18 and flushing valve 19.Clean water valve 17 is arranged on the pipeline that water pump 16 is connected with water source, to control the break-make of clear water.Stain remover valve 18 is arranged on the pipeline that water pump 16 is connected with detergent source, to control the break-make of stain remover.Whether flushing valve 19 is arranged on the pipeline that water pump 16 is connected with nozzle component 12, control to spray.
Control module 11 for according to camera 15 become the vehicle (such as two-box automobile, three-box car, SUV, MPV or pick up etc.) of image determination vehicle, and control brush assemblies according to the vehicle of vehicle and undertaken moving to clean vehicle by the path of the vehicle corresponding to vehicle.Specifically, when vehicle enters into carwash region, camera 15 become image to be transferred to control module 11.When car owner or staff press unlatching carwash button, control module 11 pairs of cameras 15 become image analysis, to determine the vehicle of vehicle, then corresponding with this vehicle according to the Truck type choice of the vehicle carwash path that prestores (normally meeting the best carwash path of the vehicle shape of this vehicle), control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 etc. to move according to this carwash path that prestores, thus with the highest carwash efficiency cleaning vehicle.
It should be noted that, because cleaning vehicle generally has certain operation order, therefore in certain embodiments, control module 11 be not control roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 move when being equal to.Such as, first control module 11 can control nozzle component 12 and move, and starts water pump 16 simultaneously, sprays clear water and stain remover to vehicle; Then control roof brush assemblies 13 and move to vehicle front, roof brush assemblies 13 is scrubbed the upper surface of vehicle from front to back; Control the side that vehicle body brush assemblies 14 moves to vehicle again, the side surface of vehicle body is scrubbed repeatedly; Finally, again control nozzle component 12 and move, clear water is sprayed to vehicle and rinses.Certainly, in further embodiments, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 also can move to clean vehicle simultaneously.
Please refer to Fig. 2, in a preferred embodiment, control module 11 comprises image process unit 111, vehicle comparing unit 112 and control unit 113.Image process unit 111 for camera 15 become image to carry out data processing, vehicle comparing unit 112 is for determining the image data of vehicle to the image data analysis after process, and compare the image data of vehicle and many groups vehicle image data of prestoring to determine the vehicle of vehicle, control unit 113 moves by the path of the vehicle corresponding to vehicle to control brush assemblies for the control policy corresponding with the vehicle of vehicle according to the Truck type choice of vehicle.
Particularly, image process unit 111 can carry out binary conversion treatment, corrosion and expansion process etc. to become image.Image analysing computer unit 112 can determine the imagery zone corresponding to vehicle according to the gray value etc. in the image after data processing.Because the technology such as binary conversion treatment, corrosion and expansion process and the imagery zone corresponding to gray value determination vehicle are the conventional techniques of field of image recognition, repeat no more herein.The data that vehicle comparing unit 112 can extract multiple unique point from the image data of vehicle and the many groups vehicle characteristic point data prestored are compared, to judge that the unique point of vehicle to be washed and which unique point of organizing vehicle match.Can prestore multiple default carwash path in control unit 113, each default carwash path corresponds to a corresponding vehicle.After vehicle comparing unit 112 determines the vehicle of vehicle, namely control unit 113 selects corresponding default carwash path, controls roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 etc. by selected path movement.
In a preferred embodiment, control module 11 also comprises positioning unit 114, and positioning unit 114 is for the position of the image data determination vehicle according to vehicle, and control unit 113 also aims at vehicle for the position control brush assemblies according to vehicle.Particularly, the position of vehicle is determined in the position of the imagery zone of positioning unit 114 corresponding to vehicle in whole carwash area image.Roof brush assemblies 13, vehicle body brush assemblies 14 can first move to and aim at vehicle according to the position of determined vehicle by control unit 113, and then control roof brush assemblies 13 with vehicle body brush assemblies 14 by the path movement corresponding with vehicle.
In a preferred embodiment, when spraying vehicle, scrub, after the cleaning step such as flushing, once can also check the clean condition of vehicle.In this embodiment, positioning unit 114 is also for according to position dirty on the image data determination vehicle of vehicle, and control unit 114 is also for aiming at according to dirty position control brush assemblies and cleaning dirty.That is, when inspection finds that vehicle body also has dirty, then control roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 etc. to there being dirty position again to clean.
In a preferred embodiment, exist dirty to check whether better, camera 15 can be varifocal and rotating camera, control module 11 also for control after cleaning vehicle camera 15 rotate and zoom to obtain vehicle body image locally.Also namely in checking process, the focal length of camera 15 is tuned up, camera 15 can be clapped and know vehicle body image locally, camera 15 can also be rotated, to obtain the image of multiple regional area on vehicle body simultaneously.
The embodiment of the present invention also provides a kind of intelligent car-washing method of automatic identification vehicle on the other hand, for cleaning vehicle, this intelligent car-washing method can be implemented by above-mentioned intelligent vehicle washing system, and the vehicle washing system that also can have camera, roof brush assemblies and vehicle body brush assemblies by other is implemented.For simplicity, the present embodiment is introduced this intelligent car-washing method for above-mentioned intelligent vehicle washing system and how to be implemented, but this should not form limiting the scope of the invention.
This identifies that the intelligent car-washing method of vehicle comprises the steps: automatically
Image-forming step: imaging is carried out to carwash region; Specifically, be carry out real time imagery by camera 15;
Vehicle comparison step: according to the vehicle of become image determination vehicle; Specifically, control module 11 pairs of cameras 15 become image analysis, to determine the vehicle of vehicle;
Cleaning step: control brush assemblies according to the vehicle of vehicle and undertaken moving to clean vehicle by the path of the vehicle corresponding to vehicle; Specifically, the carwash path that prestores (normally meeting the best carwash path of the vehicle shape of this vehicle) that control module 11 is corresponding with this vehicle according to the Truck type choice of vehicle, control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 etc. to move according to this carwash path that prestores, thus with the highest carwash efficiency cleaning vehicle.
As described in above-described embodiment, because cleaning vehicle generally has certain operation order, therefore in certain embodiments, control module 11 be not control roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 move when being equal to.Such as, first control module 11 can control nozzle component 12 and move, and starts water pump 16 simultaneously, sprays clear water and stain remover to vehicle; Then control roof brush assemblies 13 and move to vehicle front, roof brush assemblies 13 is scrubbed the upper surface of vehicle from front to back; Control the side that vehicle body brush assemblies 14 moves to vehicle again, the side surface of vehicle body is scrubbed repeatedly; Finally, again control nozzle component 12 and move, clear water is sprayed to vehicle and rinses.Certainly, in further embodiments, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 also can move to clean vehicle simultaneously.
In a preferred embodiment, vehicle comparison step comprises the steps: further
Data processing is carried out to become image; Specifically, the treatment steps such as binary conversion treatment, corrosion and expansion process can be carried out;
Image data analysis after process is determined to the image data of vehicle; Specifically, the imagery zone corresponding to vehicle can be determined according to the gray value etc. in the image after process;
The image data of vehicle and the many groups vehicle image data prestored are compared to determine the vehicle of vehicle; Specifically, the data can extracting multiple unique point from the image data of vehicle and the many groups vehicle characteristic point data prestored are compared, and to judge that the unique point of vehicle to be washed and which unique point of organizing vehicle match, thus determine the vehicle of vehicle.
In a preferred embodiment, before cleaning step, also positioning step is comprised: according to the position of become image determination vehicle; Specifically, be provided with positioning unit 114 in control module 11, the position of vehicle is determined in the position of the imagery zone of positioning unit 114 corresponding to vehicle in whole carwash area image.In cleaning step, first aim at vehicle according to the position control brush assemblies of vehicle.Specifically, roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 etc. first can to move to according to the position of determined vehicle and aim at vehicle by control unit 113, and then control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 etc. by the path movement corresponding with vehicle.
Because the technology such as binary conversion treatment, corrosion and expansion process and the imagery zone corresponding to gray value determination vehicle are the conventional techniques of field of image recognition, repeat no more herein.
In a preferred embodiment, also comprise the dirty inspection step on checking vehicles after the cleaning step, check that step comprises the steps: further
Re-imaging step: re-imaging is carried out to the vehicle after cleaning;
Dirty searching step: find on vehicle according to image formed in re-imaging step dirty, if had, then enter cleaning step again; If no, then can carry out follow-up drying up, the step such as waxing;
Cleaning step again: control to scrub assembly alignment dirty and clean dirty.
That is, when spraying vehicle, scrub, after the cleaning step such as flushing, once can also check the clean condition of vehicle.When inspection finds that vehicle body also has dirty, then control roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 etc. to there being dirty position again to clean.
In a preferred embodiment, in re-imaging step, by control camera and rotate and zoom to obtain vehicle body image locally.Also namely in checking process, the focal length of camera 15 is tuned up, camera 15 can be clapped and know vehicle body image locally, also rotate camera 15, to obtain the image of multiple regional area on vehicle body simultaneously.
The intelligent vehicle washing system of the automatic identification vehicle that the embodiment of the present invention provides and intelligent car-washing method, the mode of employing camera imaging carrys out the vehicle to judging vehicle, then control brush assemblies according to the vehicle of vehicle and move that vehicle is cleaned by optimal path, make carwash efficiency higher, carwash effect is also better.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. one kind identifies the intelligent vehicle washing system of vehicle automatically, for cleaning vehicle, it is characterized in that, comprise camera, control module and brush assemblies, described camera is used for carwash regional imaging, described brush assemblies is used for scrubbing vehicle, described control module be used for according to described camera become image to determine the vehicle of described vehicle, and control described brush assemblies according to the vehicle of described vehicle and undertaken moving to clean described vehicle by the path of vehicle corresponding to described vehicle, described control module comprises image process unit, vehicle comparing unit and control unit, described image process unit is used for carrying out data processing to image that described camera becomes, described vehicle comparing unit is used for the image data that the image data analysis after to process determines described vehicle, and compare the image data of described vehicle and the many groups vehicle image data prestored to determine the vehicle of described vehicle, described control unit is used for the control policy corresponding with the vehicle of described vehicle according to the Truck type choice of described vehicle and moves by the path of the vehicle corresponding to described vehicle to control described brush assemblies, described control module also comprises positioning unit, described positioning unit is used for the position determining described vehicle according to the image data of described vehicle, described control unit is used for brush assemblies according to the position control of described vehicle and aims at described vehicle, described positioning unit is also for according to position dirty on the image data determination vehicle of described vehicle, described control unit is also aimed at for brush assemblies according to described dirty position control and is cleaned described dirty, described camera is varifocal and rotatable, described control module also for control after cleaning vehicle described camera rotate and zoom to obtain vehicle body image locally.
2. automatically identify an intelligent car-washing method for vehicle, for cleaning vehicle, it is characterized in that, comprising the steps:
Image-forming step: imaging is carried out to carwash region;
Vehicle comparison step: the vehicle determining described vehicle according to become image;
Cleaning step: control brush assemblies according to the vehicle of described vehicle and undertaken moving to clean described vehicle by the path of the vehicle corresponding to described vehicle;
Described vehicle comparison step comprises the steps: further
Data processing is carried out to become image;
Image data analysis after process is determined to the image data of described vehicle;
The image data of described vehicle and the many groups vehicle image data prestored are compared to determine the vehicle of described vehicle;
Also positioning step was comprised: the position determining described vehicle according to become image before cleaning step; In cleaning step, first according to the position control of described vehicle, brush assemblies aims at described vehicle;
After described cleaning step, also comprise the dirty inspection step checked on described vehicle, described inspection step comprises the steps: further
Re-imaging step: re-imaging is carried out to the vehicle after cleaning; In described re-imaging step, by control camera and rotate and zoom to obtain vehicle body image locally;
Dirty searching step: find on vehicle according to image formed in re-imaging step dirty, if had, then enter cleaning step again;
Cleaning step again: control described brush assemblies and aim at described dirty and clean described dirty.
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