CN108860075A - A kind of method of carwash intelligent robot carwash - Google Patents
A kind of method of carwash intelligent robot carwash Download PDFInfo
- Publication number
- CN108860075A CN108860075A CN201810630930.3A CN201810630930A CN108860075A CN 108860075 A CN108860075 A CN 108860075A CN 201810630930 A CN201810630930 A CN 201810630930A CN 108860075 A CN108860075 A CN 108860075A
- Authority
- CN
- China
- Prior art keywords
- carwash
- robot
- controller
- distance
- automobile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of methods of carwash intelligent robot carwash, are related to automatic car washing technical field, and carwash robot includes：Car body, driving power device, controller, work department and several distance measuring sensors；The method of carwash intelligent robot carwash includes the following steps：Vehicle is parked in predetermined position first, controller control carwash robot starts to advance, carwash robot and automobile keeping parallelism state；When carwash robot advances to automobile corner, controller measures the distance between carwash robot and automobile adjustment steering angle in real time according to two distance measuring sensors respectively；During carwash robot advances around automobile, work department carries out carwash operation to automobile；The present invention realizes full-automatic carwash, substantially increases carwash efficiency, while the car-cleaning time of carwash robot is set by controller；By crash sensor and the setting for following sensor, so that car-washing method of the invention has anti-collision and follows car wash mode.
Description
Technical field
The present invention relates to automatic car washing technical field, especially a kind of method of carwash intelligent robot carwash.
Background technique
With the development of society, private car is more and more, the periphery industry of automobile is also more and more, for carwash,
There are mainly two types of modes for existing cleaning automobile：Traditional car-washing method is to hold water pistol by staff to carry out automobile
Cleaning, HAND CAR ASH, this carwash mode speed is slow, operates entirely by people, occupies the time of people, time-consuming and laborious；The second,
Automatic car washing shop carwash, this carwash mode can only carry out carwash in fixed carwash shop, have limitation, manufacturing cost
Height, the giant and spray head of automatic car washing are sprayed along the track travel or automobile traveling set by giant
Head front, machine is rinsed automobile, needs with a large amount of water, and carwash takes expensive, and is not applied for family and uses.
A kind of automatic car washing machine people as disclosed in Chinese invention patent CN105798926B, including movable part, ring
Shape frame, bottom plate, frame, crossbeam, electric cabinet, high-pressure hydraulic pump, it is characterised in that：The movable part includes horizontal frame, idler wheel
Support frame, compressed spring, video collector, giant, water inlet pipe mouth, the first electric cylinders, sliding block, the second electric cylinders, is led at idler wheel
Rail, servo motor, driving gear, the horizontal frame are horizontally arranged at the toroidal frame top；The carwash robot of the invention
Mechanism is complicated, takes up a large area, and cannot be suitable for well family and use.
A kind of for another example industrial robot control for automatic car washing disclosed in Chinese invention patent CN107179747A
Method and automatic car washing machine, this method scan the exterior contour data that vehicle obtains vehicle first, are determined according to vehicle's contour
With the predetermined position curve of giant in the case where vehicle holding safe distance, the predetermined position to be realized according to giant
Curve acquisition is driven the movement of shaft machine hand by Serve Motor Control to the servo control information of transmission shaft machine hand, thus
It drives giant to move back and forth along predetermined position curve, highly pressurised liquid is sprayed to vehicle by giant, vehicle is carried out
Cleaning；The invention car-washing method implements complicated for operation, needs to carry out different settings for different automobile types.
Summary of the invention
One, technical problems to be solved
The present invention be directed to the drawbacks described above present in the prior art, provide a kind of side of carwash intelligent robot carwash
Method, solves the problems, such as existing time-consuming and laborious using HAND CAR ASH, while also solving car washer structure is complicated and carwash
The problem of method complexity, and the problem of further solve existing car-washing method not and can be adapted to household.
Two, technical solution
In order to solve the above technical problems, the present invention provides a kind of method of carwash intelligent robot carwash, carwash robot
The method of intelligent carwash is implemented by following carwash robots, and carwash robot includes：Car body, driving power device, controller,
Work department and several distance measuring sensors, driving power device, controller, work department and several distance measuring sensors are arranged in car body
On, controller advances, retreats or turns to for controlling driving power device, and work department is for cleaning vehicle, several ranging sensings
Device is for measuring carwash robot at a distance from surrounding；
The method of carwash intelligent robot carwash includes the following steps：
Vehicle is parked in predetermined position first, starts carwash robot at this time, two rangings of carwash robot side pass
Sensor measures the distance between carwash robot and automobile respectively, and the distance values signal is transmitted to controller；
Simultaneously controller control carwash robot start to advance, during traveling, at automobile side, controller according to
Distance values signal adjusts carwash robot direction of travel, so that two distance measuring sensors measure carwash robot and vapour respectively
The distance between vehicle is identical, at this time carwash robot and automobile keeping parallelism state；
When carwash robot advances to automobile corner, the distance of the distance measuring sensor measurement of carwash robot front end increases
Greatly, at this time controller control carwash robot turned to so that two distance measuring sensors measure respectively carwash robot with
The distance between automobile is identical, and controller measures carwash robot and vapour according to two distance measuring sensors respectively in steering procedure
The distance between vehicle adjusts steering angle in real time；
During carwash robot advances around automobile, work department carries out carwash operation to automobile.
Wherein, work department further includes water injector and washing and brushing device, and water injector and washing and brushing device cooperate for washing
Vehicle operation.
Wherein, carwash robot further includes voice prompt device, and voice prompt device is for prompting carwash state.
Wherein, controller is also used to set the car-cleaning time of carwash robot.
Wherein, distance measuring sensor further includes crash sensor, and crash sensor is for measuring carwash robot and traveling side
The distance between object forwards, when having barrier in front of the direction of travel, controller receive crash sensor detection away from
From numerical signal, controller, which will control carwash robot, to be stopped advancing.
Wherein, distance measuring sensor further includes following sensor, follows sensor for measuring carwash robot and traveling side
Rearward the distance between object, controller receive the distance values signal for following sensor to detect, and controller washes control
Preset distance is kept between vehicle robot and rear object.
Three, beneficial effect
Compared with prior art, the method for a kind of carwash intelligent robot carwash provided by the invention realizes full-automatic
Change carwash, substantially increase carwash efficiency, reduce labor workload, while setting the carwash of carwash robot by controller
Time, further such that the simpler convenience of family's carwash, can carry out carwash work at any time；It can also by voice prompt device
Remind present carwash state；By crash sensor and the setting for following sensor, so that car-washing method of the invention has
Anti-collision and follow car wash mode.
Specific embodiment
With reference to embodiment, the embodiment of the present invention is furthur described in detail.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
Embodiment 1：
The method of carwash intelligent robot carwash is implemented by following carwash robots, and carwash robot includes：Car body, row
Into power device, controller, work department and several distance measuring sensors, driving power device, controller, work department and several rangings
Sensor is arranged on the car body, and controller advances, retreats or turns to for controlling driving power device, and work department is for cleaning vehicle
, several distance measuring sensors are for measuring carwash robot at a distance from surrounding；
The method of carwash intelligent robot carwash includes the following steps：
Vehicle is parked in predetermined position first, starts carwash robot at this time, two rangings of carwash robot side pass
Sensor measures the distance between carwash robot and automobile respectively, and the distance values signal is transmitted to controller；
Simultaneously controller control carwash robot start to advance, during traveling, at automobile side, controller according to
Distance values signal adjusts carwash robot direction of travel, so that two distance measuring sensors measure carwash robot and vapour respectively
The distance between vehicle is identical, at this time carwash robot and automobile keeping parallelism state；
When carwash robot advances to automobile corner, the distance of the distance measuring sensor measurement of carwash robot front end increases
Greatly, at this time controller control carwash robot turned to so that two distance measuring sensors measure respectively carwash robot with
The distance between automobile is identical, and controller measures carwash robot and vapour according to two distance measuring sensors respectively in steering procedure
The distance between vehicle in real time adjustment steering angle, realize around garage into；In specific implementation process, two distance measuring sensors are arranged
In carwash robot the same side, when carwash robot is in automobile side and automobile keeping parallelism state, in carwash robot
It is identical as the distance between automobile measured by two distance measuring sensors；
During carwash robot advances around automobile, work department carries out carwash operation to automobile.
Work department further includes water injector and washing and brushing device, and water injector and washing and brushing device cooperate to be made for carwash
Industry cleans automobile by washing and brushing device after water injector has the liquid of cleaning effect to automobile sprinkling.
Carwash robot further includes voice prompt device, and voice prompt device is mentioned for prompting carwash state by voice
Showing device.
Controller is also used to set the car-cleaning time of carwash robot, and in actual use, user is according to itself
Arrangement of time setting carwash time, at this time carwash robot can under the control of the controller according to the time of carwash adjustment wash
Wagon flow journey and carwash speed can reach different carwash effects according to different car-cleaning times.
Distance measuring sensor in carwash robot further includes crash sensor, and crash sensor is for measuring carwash robot
The distance between direction of travel objects in front, when having barrier in front of direction of travel, controller receives crash sensor
The distance values signal of detection, controller, which will control carwash robot, to be stopped advancing；In order to guarantee that carwash robot is traveling across
Safety and personnel safety in journey, crash sensor can be between effective Feedback carwash robot and direction of travel objects in front
Distance, realize safe carwash.
Specifically, distance measuring sensor further includes following sensor, follow sensor for measuring carwash robot and row
Into the distance between direction rear object, controller receives the distance values signal for following sensor to detect, and controller will be controlled
Preset distance is kept between carwash robot and rear object processed；The cooperation of carwash machine person to person's work may be implemented in the design
The purpose of carwash, while meeting people's manual carwash, moreover it is possible to improve carwash efficiency, form man-computer cooperation, substantially increase
The practicability and the scope of application of carwash robot are able to satisfy the different use demands of different user.
Embodiment 2：
For embodiment 1, the carwash robot of the embodiment of the present invention 2 can also according to the setting of user, into
Enter MANUAL CONTROL mode, under MANUAL CONTROL mode, the carwash robot is controlled by wirelessly or non-wirelessly remote control device and is advanced
State, and automobile washing is carried out by water injector and washing and brushing device.
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of method of carwash intelligent robot carwash, it is characterised in that：The method of the carwash intelligent robot carwash is logical
It crosses following carwash robots to implement, the carwash robot includes：Car body, driving power device, controller, work department and several
Distance measuring sensor, the driving power device, controller, work department and several distance measuring sensors are arranged on the car body, institute
It states controller to advance, retreat or turn to for controlling the driving power device, the work department is for cleaning vehicle, Ruo Gansuo
Distance measuring sensor is stated for measuring carwash robot at a distance from surrounding；
The method of the carwash intelligent robot carwash includes the following steps：
Vehicle is parked in predetermined position first, starts carwash robot at this time, the ranging of two of carwash robot side passes
Sensor measures the distance between carwash robot and automobile respectively, and the distance values signal is transmitted to controller；
The carwash robot of controller control simultaneously starts to advance, during traveling, at automobile side, controller according to
Distance values signal adjusts carwash robot direction of travel, so that two distance measuring sensors measure carwash robot and vapour respectively
The distance between vehicle is identical, at this time carwash robot and automobile keeping parallelism state；
When carwash robot advances to automobile corner, the distance of the distance measuring sensor measurement of carwash robot front end increases,
The carwash robot of controller control at this time is turned to, so that two distance measuring sensors measure carwash robot and automobile respectively
The distance between it is identical, in steering procedure controller according to two distance measuring sensors measure respectively carwash robot and automobile it
Between distance adjust steering angle in real time；
During carwash robot advances around automobile, work department carries out carwash operation to automobile.
2. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The work department is also wrapped
Water injector and washing and brushing device are included, the water injector and washing and brushing device, which cooperate, is used for carwash operation.
3. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The carwash robot
It further include voice prompt device, the voice prompt device is for prompting carwash state.
4. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The controller is also used
In the car-cleaning time of setting carwash robot.
5. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The distance measuring sensor
Further include crash sensor, the crash sensor be used for measure between carwash robot and direction of travel objects in front away from
From when having barrier in front of direction of travel, the controller receives the distance values signal of crash sensor detection, described
Controller, which will control carwash robot, to be stopped advancing.
6. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The distance measuring sensor
Further include following sensor, it is described follow sensor for measure between carwash robot and direction of travel rear object away from
Receive the distance values signal for following sensor to detect from, the controller, the controller will control carwash robot with
Preset distance is kept between rear object.
7. a kind of method of carwash intelligent robot carwash as described in claim 1, it is characterised in that：The carwash robot
It is additionally provided with MANUAL CONTROL mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630930.3A CN108860075A (en) | 2018-06-19 | 2018-06-19 | A kind of method of carwash intelligent robot carwash |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630930.3A CN108860075A (en) | 2018-06-19 | 2018-06-19 | A kind of method of carwash intelligent robot carwash |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860075A true CN108860075A (en) | 2018-11-23 |
Family
ID=64339642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810630930.3A Pending CN108860075A (en) | 2018-06-19 | 2018-06-19 | A kind of method of carwash intelligent robot carwash |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860075A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661010A (en) * | 2020-06-16 | 2020-09-15 | 浙江驿公里智能科技有限公司 | Walking car washing method and control system based on walking unmanned car washing equipment |
| CN111830984A (en) * | 2020-07-23 | 2020-10-27 | 浙江驿公里智能科技有限公司 | Multi-machine cooperative car washing system and method based on unmanned car washing equipment |
| CN112896101A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | Purging protection system and method for rail transit vehicle and display equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103431812A (en) * | 2013-08-02 | 2013-12-11 | 南京航空航天大学金城学院 | Cleaning robot based on ultrasonic radar detection and travelling control method thereof |
| CN105172920A (en) * | 2015-08-14 | 2015-12-23 | 上海理工大学 | Crawler type stair transfer robot with assisting arms |
| CN206704161U (en) * | 2017-05-17 | 2017-12-05 | 张瀚文 | A kind of robot car washer |
| CN207029127U (en) * | 2017-06-20 | 2018-02-23 | 艾合麦提·麦麦提 | A kind of portable automatic car washing machine people based on image recognition |
| WO2018097759A1 (en) * | 2016-11-28 | 2018-05-31 | Андрей Васильевич ЧЕРЕДНИЧЕНКО | System for washing automobiles |
-
2018
- 2018-06-19 CN CN201810630930.3A patent/CN108860075A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103431812A (en) * | 2013-08-02 | 2013-12-11 | 南京航空航天大学金城学院 | Cleaning robot based on ultrasonic radar detection and travelling control method thereof |
| CN105172920A (en) * | 2015-08-14 | 2015-12-23 | 上海理工大学 | Crawler type stair transfer robot with assisting arms |
| WO2018097759A1 (en) * | 2016-11-28 | 2018-05-31 | Андрей Васильевич ЧЕРЕДНИЧЕНКО | System for washing automobiles |
| CN206704161U (en) * | 2017-05-17 | 2017-12-05 | 张瀚文 | A kind of robot car washer |
| CN207029127U (en) * | 2017-06-20 | 2018-02-23 | 艾合麦提·麦麦提 | A kind of portable automatic car washing machine people based on image recognition |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661010A (en) * | 2020-06-16 | 2020-09-15 | 浙江驿公里智能科技有限公司 | Walking car washing method and control system based on walking unmanned car washing equipment |
| WO2021253700A1 (en) * | 2020-06-16 | 2021-12-23 | 浙江驿公里智能科技有限公司 | Locomotion-based vehicle washing method and control system based on unmanned mobile device for washing vehicles |
| CN111661010B (en) * | 2020-06-16 | 2022-12-30 | 浙江驿公里智能科技有限公司 | Walking car washing method and control system based on walking unmanned car washing equipment |
| CN111830984A (en) * | 2020-07-23 | 2020-10-27 | 浙江驿公里智能科技有限公司 | Multi-machine cooperative car washing system and method based on unmanned car washing equipment |
| CN111830984B (en) * | 2020-07-23 | 2021-03-05 | 浙江驿公里智能科技有限公司 | Multi-machine cooperative car washing system and method based on unmanned car washing equipment |
| WO2022016754A1 (en) * | 2020-07-23 | 2022-01-27 | 浙江驿公里智能科技有限公司 | Multi-machine cooperative vehicle washing system and method based on unmanned vehicle washing device |
| CN112896101A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | Purging protection system and method for rail transit vehicle and display equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| USRE40463E1 (en) | Rollover pressure car wash apparatus and methods of operating same | |
| CN108860075A (en) | A kind of method of carwash intelligent robot carwash | |
| CN104290718B (en) | Full-automatic car-washing device | |
| CN105329222B (en) | Automatic car washing equipment | |
| CN109760643B (en) | Control method of car washing robot | |
| CN104998786B (en) | Large-scale workpiece paint finishing | |
| CN102275571B (en) | Train cleaning apparatus | |
| CN104118400A (en) | Vehicle washing system and using method thereof | |
| CN104890643A (en) | On-track automatic computer car washer | |
| CN210618098U (en) | Self-service spray set for car washing room | |
| CN104118399B (en) | A kind of embedded vehicle wax-polishing machine | |
| CN201646664U (en) | Automatic car washer | |
| CN106427931B (en) | A kind of automatic car washing machine | |
| CN201073962Y (en) | Automatic cleaning machine for automobile chassis | |
| CN108860074A (en) | A kind of method that carwash robot is walked around garage | |
| CN207963776U (en) | A kind of automobile washing plotting board | |
| CN109760642A (en) | A kind of carwash robot | |
| JP6778938B2 (en) | Car wash machine | |
| CN112356805A (en) | Intelligent car washing method of anti-collision robot | |
| JPH0436897B2 (en) | ||
| KR100663802B1 (en) | Apparatus for washing under-part of car | |
| CN209813935U (en) | Dual closed loop power tracking contact type car washer control device | |
| JPH03258638A (en) | Automatic spray type car washing machine | |
| CN112096133A (en) | Cleaning vehicle capable of automatically cleaning wall of swimming pool and cleaning method thereof | |
| CN2863571Y (en) | Non-contacting full-automatic car washer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181123 |
|
| RJ01 | Rejection of invention patent application after publication |