CN109849859A - Automatic car washing System and method for - Google Patents
Automatic car washing System and method for Download PDFInfo
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- CN109849859A CN109849859A CN201910245425.1A CN201910245425A CN109849859A CN 109849859 A CN109849859 A CN 109849859A CN 201910245425 A CN201910245425 A CN 201910245425A CN 109849859 A CN109849859 A CN 109849859A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000005406 washing Methods 0.000 title claims abstract description 22
- 230000008569 process Effects 0.000 claims description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 239000007921 spray Substances 0.000 claims description 24
- 239000011493 spray foam Substances 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 8
- 210000000548 hind-foot Anatomy 0.000 claims description 7
- 230000001186 cumulative effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 5
- 239000006260 foam Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 239000010865 sewage Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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Abstract
The present invention discloses a kind of automatic car washing System and method for, including control unit and at least one car washer；Each car washer is made of fixed column, horizontal direction bar, horizontal direction screw rod, vertical direction bar, vertical direction screw rod, rotating electric machine, angle adjustment motor, nozzle component, the first vehicle body range sensor, the second vehicle body range sensor and multiple ground distance sensors.The present invention need to only utilize 1 car washer, and the full vehicle for cooperating control unit that vehicle to be washed can be realized cleans automatically, to save human cost；Furthermore car washer structure is simple, and occupied area is small, at low cost, keeps the applicable scene of product more, cleans vehicle for user and offer convenience.
Description
Technical field
The present invention relates to Motor Maintenances and cleaning technique field, and in particular to a kind of automatic car washing System and method for.
Background technique
Currently, the motor vehicle driving personnel quantity in China is constantly increasing, the existing carwash scheme of carwash industry is mostly artificial
Carwash or the mode of semi-automation are run, and mechanization degree is not high, has been difficult to meet daily carwash demand, need to save artificial
Cost, the improvement for improving carwash efficiency.
Notification number is that the Chinese utility model patent of CN 107972639A discloses a kind of automatic car washing for parking lot
Equipment, the program are laterally setting and the parking bottom plate with the multiple parking stalls of a row, and the rear and front end for the bottom plate that stops is set respectively
There is lower railway, lower railway is equipped with the portal frame that can be moved left and right on lower railway, and the top of portal frame is equipped with sagittal cross
Beam, crossbeam is equipped with upper rail, and the support frame that can be moved forward and backward in upper rail is equipped in upper rail；Support frame as described above
Bottom is equipped with carwash component.Conveniently carwash service can be carried out to it in automobile parking with the right car washing installation, washed
Vehicle process includes rinsing and wiping, and has the advantages that carwash fast speed, carwash are high-efficient.However above-mentioned car washing installation uses dragon
Gantry design, it is restricted to vehicle parking position, and car washer volume is big, shared space is more, so that space be caused to provide
The waste in source increases use cost.
Notification number is that the Chinese utility model patent of CN104973023A discloses a kind of Novel self-aid vehicle washing system, described
System includes central control system, carwash control system, access control system, lighting system, audio-video system, effluent cycle processing system
System, monitoring system, vending system and queuing system.The central control system can control carwash control system, gate inhibition system
The open and close of system and monitoring system, the sewage circulating treating system is connected together with carwash control system, described
The circular treatment that sewage circulating treating system is used to clean carwash control system the sewage flowed out after vehicle utilizes.Although this is washed
Vehicle system integrates multiple functions, enriches the function of the system, the system can also completely self-service operation, be not necessarily to people
Work is on duty, brings great convenience to user, has greatly saved human and material resources, simultaneously as being provided with effluent cycle
Processing system, so that waste water is recycled, environmental protection and energy saving.But can the support hollow out earth mat of sewage recovering system prop up
Support vehicle leaves a question open, and still needs to user and handle manually vehicle cleaning step, influence user experience and influence the stability of system.
Summary of the invention
The present invention provides a kind of automatic car washing System and method for, simple with structure, can be achieved unattended and reduce
The characteristics of cost.
To solve the above problems, the present invention is achieved by the following technical solutions:
Automatic car washing system, including control unit and at least one car washer；Each car washer is by fixed column, level
Steering yoke, horizontal direction screw rod, vertical direction bar, vertical direction screw rod, rotating electric machine, angle adjustment motor, nozzle component, the
One vehicle body range sensor, the second vehicle body range sensor and multiple ground distance sensors composition；The bottom of fixed column is fixed
It is mounted in carwash region, the fixed end of rotating electric machine is mounted on the top of fixed column, and horizontal direction bar is mounted on rotating electric machine
Moved end；Horizontal direction screw rod is installed on bar in the horizontal direction, and is both parallel to the horizontal plane；Vertical direction bar is mounted on level
On the screw rod of direction, vertical direction screw rod is mounted on vertical direction bar, and both with horizontal plane；Angle adjusts motor
Fixed end is mounted on vertical direction screw rod, and nozzle component is mounted on the moved end of angle adjustment motor；Nozzle component is equipped with spray head；
First vehicle body range sensor is mounted in the wherein one side wall of fixed column, and the second vehicle body range sensor is mounted on nozzle component
On, the acquisition direction of the first vehicle body range sensor and the second vehicle body range sensor is equal with horizontal plane；Multiple ground distances
Sensor is uniformly distributed bar in the horizontal direction, and all ground distance sensors are and horizontal plane；First vehicle body Distance-sensing
The input terminal of device, the second vehicle body range sensor and multiple ground distance sensors is connect with control unit；Control unit it is defeated
Outlet is connect with horizontal direction screw rod, vertical direction screw rod, rotating electric machine, angle adjustment motor and nozzle component.
In above scheme, nozzle component includes foam nozzle and high-pressure water nozzle.
In above scheme, the spray head of nozzle component is arranged diagonally downward.
In above scheme, the distance between every 2 ground distance sensors are equal.
The automatic car washing method that above system is realized, specifically includes that steps are as follows:
Under step 1, standby mode, control unit controls vertical direction screw rod and increases, and vertical direction bar is increased to
Apart from the highest position in ground, to ensure the normal pass of vehicle near car washer in the standby state；
Near step 2, vehicle driving to car washer to be washed, and make one of side and the fixed column of vehicle to be washed
On be equipped with vehicle body first distance sensor one side it is opposite；After vehicle to be washed enters this position, user sends carwash signal
To control unit, start carwash process；
Step 3, carwash flow startup, control unit are obtained by the vehicle body first distance sensor in fixed column to carwash
The distance between with car washer；Meanwhile control unit controlled level direction screw rod extend, and make vertical direction bar to
Fixed column distance is farthest；
Step 4, control unit control rotating electric machine carry out step-scan counterclockwise, when horizontal direction bar upper ground surface distance passes
When only a collected distance of ground distance sensor institute obviously becomes smaller in sensor, i.e. expression horizontal direction bar has reached vehicle
Preceding nearly corner location, and record the position of the ground distance sensor；
Step 5, on the basis of this position, control unit control rotating electric machine return back to a stepping point clockwise,
And make all ground distance sensors institute on horizontal direction bar collected apart from identical；
Step 6, control unit controlled level direction screw rod retraction, and make vertical direction bar bounce back to step 4 and recorded
Ground distance sensor position at；
Step 7, control unit control vertical direction screw rod decline, and it is high to make vertical direction bar drop to preset work
Degree；Meanwhile control unit control control angle adjusts motor, makes nozzle component vertical with horizontal direction bar, and be directed toward to carwash
Side；
Step 8 is obtained between vehicle and car washer to be washed using the vehicle body second distance sensor on vertical direction bar
Distance；Meanwhile control unit control rotating electric machine drives horizontal direction bar to rotate clockwise, so that vehicle body second distance passes
The collected distance of sensor and first distance sensor institute are collected apart from consistent, show horizontal direction bar and vehicle body at this time
In parallel；
Step 9, control unit control controlled level direction screw rod retraction, and make vertical direction bar gradually to close to fixed
Column direction is mobile, until vertical direction bar and fixed column distance are minimum；In the process, the nozzle component angle on vertical direction bar
Spend it is constant, and spray foam treat carwash close to car washer one side front section and its close top surface cleaned；
Step 10, control unit control controlled level direction screw rod elongation, and make vertical direction bar gradually to far from solid
Fixed column direction is mobile, until the collected data generation of second distance sensor institute on vertical direction bar obviously becomes larger, and remembers
Record the extended length L1 of horizontal direction screw rod at this time；In the process, the nozzle component angle on vertical direction bar is constant, and sprays
Penetrate high pressure water treat carwash close to car washer one side front section and its close top surface cleaned；
Step 11, control unit control controlled level direction screw rod elongation, and make vertical direction bar arrive and fixed column away from
From farthest；
Step 12, control unit control rotating electric machine carry out step-scan counterclockwise, when the ground identity distance on horizontal direction bar
From sensor it is collected with a distance from the quantity of range sensor that obviously becomes smaller reach peak value for the first time when, i.e. expression horizontal direction
Bar has reached the preceding remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine at this time is θ 1；
Step 13, control unit controlled level direction screw rod retraction, and vertical direction bar is bounced back to apart from fixed column
At 1 position L1/cos θ；
Step 14, control unit control control angle adjust motor, and angle is allowed to adjust the nozzle component of motor drive thereon
With horizontal direction bar it is in the angle of 180 ° of-θ 1, and is directed toward vehicle side to be washed；
Step 15, control unit control rotating electric machine rotate clockwise, and make the rotational angle θ of horizontal direction bar gradually
Reduce, until rotational angle θ becomes 0 from θ 1；In the process, the nozzle component on vertical direction bar is allowed to begin with horizontal direction bar
Eventually be in the angle of 180 ° of-θ, at the same by the vehicle body second distance sensor on vertical direction bar control vertical direction bar distance to
The distance of the front end face of carwash is constant, and spray foam treats the front end face of carwash and its close top surface is cleaned；
Step 16, control unit control rotating electric machine rotate counterclockwise, and make the rotational angle θ of horizontal direction bar gradually
Increase, until rotational angle θ becomes θ 1 from 0；In the process, the nozzle component on vertical direction bar is allowed to begin with horizontal direction bar
Eventually be in the angle of 180 ° of-θ, at the same by the vehicle body second distance sensor on vertical direction bar control vertical direction bar distance to
The distance of the front end face of carwash within the scope of pre-determined distance, and spray high pressure water treat carwash front end face and its close top
Face is cleaned；
Step 17, control unit control controlled level direction screw rod elongation, and make vertical direction bar arrive and fixed column away from
From farthest；Control unit control rotating electric machine carries out step-scan counterclockwise, when the ground distance sensor on horizontal direction bar
The quantity of range sensor that obviously becomes smaller of collected distance when reaching peak value again, i.e. expression horizontal direction bar reaches
The rear remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine at this time is θ 2；
Step 18, control unit controlled level direction screw rod retraction, and vertical direction bar is bounced back to apart from fixed column
At 2 position of (L1*sin θ 1+0.2)/sin θ；
Step 19, control unit control control angle adjust motor, and angle is allowed to adjust the nozzle component of motor drive thereon
With horizontal direction bar it is in the angle of θ 2-90 °, and is directed toward vehicle side to be washed；
Step 20, control unit control rotating electric machine rotate clockwise, and make the rotational angle θ of horizontal direction bar gradually
Reduce, until rotational angle θ becomes θ 1 from θ 2；In the process, nozzle component and horizontal direction bar on vertical direction bar are allowed
Always it is in θ -90 ° of angle, while vertical direction bar distance is controlled by the vehicle body second distance sensor on vertical direction bar
Distance of the vehicle to be washed far from car washer one side is constant, and spray foam treat carwash far from car washer one side and
It is cleaned its close top surface；
Step 21, control unit control rotating electric machine rotate counterclockwise, and make the rotational angle θ of horizontal direction bar gradually
Increase, until rotational angle θ becomes θ 2 from θ 1；In the process, nozzle component and horizontal direction bar on vertical direction bar are allowed
Always it is in θ -90 ° of angle, while vertical direction bar distance is controlled by the vehicle body second distance sensor on vertical direction bar
Distance of the vehicle to be washed far from car washer one side sprays high pressure water and treats carwash far from washing within the scope of pre-determined distance
Vehicle device one side and its close top surface are cleaned；
Step 22, control unit control rotating electric machine carry out step-scan counterclockwise, when the ground identity distance on horizontal direction bar
From all ground distance sensors of sensor institute it is collected with a distance from obviously become smaller when, i.e. expression horizontal direction bar has reached vehicle
Rear nearly corner location, and record the last one occur distance change ground distance sensor position and rotating electric machine at this time
Rotational angle θ be θ 3；
Step 23, control unit controlled level direction screw rod retraction, and vertical direction bar is bounced back to apart from fixed column
At the position [(L1*sin θ 1+0.2)/sin θ 2] * cos (180 ° of-θ 3)；
Step 24, control unit control rotating electric machine rotate clockwise, and make the rotational angle θ of horizontal direction bar gradually
Reduce, until rotational angle θ becomes θ 2 from θ 3；In the process, nozzle component and horizontal direction bar on vertical direction bar are allowed
Always it is in θ -180 ° of angle, while vertical direction bar distance is controlled by the vehicle body second distance sensor on vertical direction bar
The distance of the rear end face of vehicle to be washed is constant, and spray foam treats the rear end face of carwash and its close top surface is cleaned；
Step 25, control unit control rotating electric machine rotate counterclockwise, and make the rotational angle θ of horizontal direction bar gradually
Increase, until rotational angle θ becomes θ 3 from θ 2；In the process, nozzle component and horizontal direction bar on vertical direction bar are allowed
Always it is in θ -180 ° of angle, while vertical direction bar distance is controlled by the vehicle body second distance sensor on vertical direction bar
The distance of the rear end face of vehicle to be washed sprays high pressure water and treats the rear end face of carwash and its close within the scope of pre-determined distance
Top surface is cleaned；
Step 26, control unit controlled level direction screw rod retraction, and make vertical direction bar bounce back to step 22 and remembered
At the position of the ground distance sensor of record；
Step 27, control unit control control angle adjust motor, make nozzle component vertical with horizontal direction bar, and be directed toward
Vehicle side to be washed；
Step 28 is obtained between vehicle and car washer to be washed using the vehicle body second distance sensor on vertical direction bar
Distance；Meanwhile control unit control rotating electric machine drives horizontal direction to rotate counterclockwise, so that vehicle body second distance senses
The collected distance of device and first distance sensor institute are collected apart from consistent, show that horizontal direction bar and vehicle body are flat at this time
Row；
Step 29, control unit control controlled level direction screw rod retraction, and make vertical direction bar gradually to close to solid
Fixed column direction is mobile, until vertical direction bar and fixed column distance are minimum；In the process, the nozzle component on vertical direction bar
Always it is in -90 ° of angle with horizontal direction bar, keeps angle constant, and spray foam treats carwash close to car washer one
The hindfoot portion of side and its close top surface are cleaned；
Step 30, control unit control controlled level direction screw rod elongation, and make vertical direction bar gradually to far from solid
Fixed column direction is mobile, until the collected data generation of second distance sensor institute on vertical direction bar obviously becomes larger；Herein
In the process, the nozzle component angle on vertical direction bar is constant, and sprays high pressure water and treat carwash close to car washer side
Hindfoot portion and its close top surface cleaned；
Step 31, control unit control control vertical direction screw rod increase, and vertical direction bar are made to be increased to distance ground
The highest position in face, this carwash process terminate.
Compared with prior art, the present invention need to only utilize 1 car washer, and control unit is cooperated to can be realized to carwash
Full vehicle clean automatically, to save human cost；Furthermore car washer structure is simple, and occupied area is small, at low cost, makes to produce
The applicable scene of product is more, cleans vehicle for user and offers convenience.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the car washer of automatic car washing system.
Fig. 2 (a)-(t) is the schematic diagram of each process of automatic car washing method.
Figure label: 1, fixed column；2, horizontal direction bar；3, horizontal direction screw rod；4, vertical direction bar；5, vertical direction
Screw rod；6, rotating electric machine；7, angle adjusts motor；8, nozzle component；9, the first vehicle body sensor；10, the second vehicle body sensor；
11, ground distance sensor.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific example, and referring to attached
Figure, the present invention is described in more detail.It should be noted that the direction term mentioned in example, for example, "upper", "lower",
" in ", " left side " " right side ", "front", "rear" etc., be only the direction with reference to attached drawing.Therefore, the direction used is intended merely to explanation
For limiting the scope of the invention.
Referring to Fig. 1, a kind of automatic car washing system, including control unit and at least one car washer.Each car washer by
Fixed column 1, horizontal direction bar 2, horizontal direction screw rod 3, vertical direction bar 4, vertical direction screw rod 5, rotating electric machine 6, angle tune
Whole motor 7, nozzle component 8, the first vehicle body range sensor 9, the second vehicle body range sensor 10 and multiple ground distances sensing
Device 11 forms.The bottom of fixed column 1 is fixedly mounted in carwash region, and the fixed end of rotating electric machine 6 is mounted on the top of fixed column 1
Portion, horizontal direction bar 2 are mounted on the moved end of rotating electric machine 6.Horizontal direction screw rod 3 is installed on bar 2 in the horizontal direction, and both
It is parallel to the horizontal plane.For the installation of vertical direction bar 4 in the horizontal direction on screw rod 3, vertical direction screw rod 5 is mounted on vertical direction bar 4
On, and both with horizontal plane.The fixed end of angle adjustment motor 7 is mounted on vertical direction screw rod 5, and nozzle component 8 is pacified
Mounted in the moved end of angle adjustment motor 7.Nozzle component 8 is equipped with spray head.The spray head of nozzle component 8 can be only high pressure water jets
Head.But in order to realize the cleaning and cleaning for the treatment of carwash, in a preferred embodiment of the invention, the spray on the nozzle component 8
Head includes foam nozzle and high-pressure water nozzle.In order to avoid the vertical direction bar 4 of car washer bumps against the top of vehicle to be washed, institute
The height for stating vertical direction bar 4 needs the top of vehicle slightly above to be washed, at this time in order to allowing nozzle component 8 to be ejected
Foam and high pressure water can be incident on four side surfaces and its corresponding top surface of vehicle to be washed, the spray head of the nozzle component 8
It is arranged diagonally downward.First vehicle body range sensor 9 is mounted in the wherein one side wall of fixed column 1, and the second vehicle body distance passes
Sensor 10 is mounted on nozzle component 8, the acquisition direction of the first vehicle body range sensor 9 and the second vehicle body range sensor 10 with
Horizontal plane is equal.Multiple ground distance sensors 11 are uniformly distributed bar 2 in the horizontal direction, all ground distance sensors 11 with
Horizontal plane.The main function of ground distance sensor 11 is the angle point for monitoring vehicle to be washed, more regular in a row, tighter
Close, the precision of the angle point of the carwash detected is also higher, and in the present invention, ground distance sensor 11 is in entire level side
It is in arranged at equal intervals on bar 2, i.e., the distance between every 2 ground distance sensors 11 are equal.First vehicle body range sensor
9, the input terminal of the second vehicle body range sensor 10 and multiple ground distance sensors 11 is connect with control unit.Control unit
Output end is connect with horizontal direction screw rod 3, vertical direction screw rod 5, rotating electric machine 6, angle adjustment motor 7 and nozzle component 8.
The automatic car washing method that above system is realized, specifically includes that steps are as follows:
(1) preparation stage
Under step 1, standby mode, control unit controls vertical direction screw rod 5 and increases, and vertical direction bar 4 is increased
To apart from the highest position in ground, to ensure the normal pass of vehicle near car washer in the standby state；
Near step 2, vehicle driving to car washer to be washed, and make one of side and the fixed column of vehicle to be washed
The one side that vehicle body first distance sensor is equipped on 1 is opposite；After vehicle to be washed enters this position, user sends carwash signal
To control unit, start carwash process；
(2) front section and its close top surface of the vehicle to be washed close to car washer one side are cleaned
Step 3, carwash flow startup, control unit are obtained to be washed by the vehicle body first distance sensor in fixed column 1
The distance between vehicle and car washer；Meanwhile control unit controlled level direction screw rod 3 extends, and makes vertical direction bar 4
To with fixed column 1 apart from farthest；Referring to fig. 2 (a)；
Step 4, control unit control rotating electric machine 6 carry out step-scan counterclockwise, when 2 upper ground surface distance of horizontal direction bar
When only the 11 collected distances of institute of ground distance sensor obviously become smaller in sensor 11, that is, indicate horizontal direction bar 2
Reach the preceding nearly corner location of vehicle, and records the position of the ground distance sensor 11；Referring to fig. 2 (b)；
Step 5, on the basis of this position, control unit control rotating electric machine 6 return back to a stepping point clockwise,
And make 11 institute of all ground distance sensors on horizontal direction bar 2 collected apart from identical；Referring to fig. 2 (c)；
Step 6, control unit controlled level direction screw rod 3 bounce back, and make vertical direction bar 4 bounce back to step 4 and remembered
At the position of the ground distance sensor 11 of record；Referring to fig. 2 (d)；
Step 7, control unit control vertical direction screw rod 5 decline, and vertical direction bar 4 are made to drop to preset work
Highly；Meanwhile control unit control control angle adjust motor 7, make nozzle component 8 vertical with horizontal direction bar 2, and direction to
Carwash side；Referring to fig. 2 (e)；
Step 8 is obtained between vehicle and car washer to be washed using the vehicle body second distance sensor on vertical direction bar 4
Distance；Meanwhile control unit control rotating electric machine 6 drives horizontal direction bar 2 to rotate clockwise, so that vehicle body second distance
The collected distance of sensor and first distance sensor institute are collected apart from consistent, show at this time horizontal direction bar 2 with
Vehicle body parallel；Referring to fig. 2 (f)；
Step 9, control unit control controlled level direction screw rod 3 bounce back, and make vertical direction bar 4 gradually to close to solid
1 direction of fixed column is mobile, until vertical direction bar 4 and fixed column 1 are apart from minimum；In the process, the spray head on vertical direction bar 4
8 angle of component is constant, and spray foam treat carwash close to car washer one side front section and its close top surface into
Row cleaning；Referring to fig. 2 (g)；
Step 10, control unit control controlled level direction screw rod 3 extend, and make vertical direction bar 4 gradually to separate
1 direction of fixed column is mobile, until the collected data generation of second distance sensor institute on vertical direction bar 4 obviously becomes larger,
And the extended length L1 of recording level direction screw rod 3 at this time；In the process, 8 angle of nozzle component on vertical direction bar 4 is not
Become, and injection high pressure water is treated carwash and cleaned close to the front section of car washer one side and its close top surface；Ginseng
See Fig. 2 (h)；
(3) front of the car face to be washed and its close top surface are cleaned
Step 11, control unit control controlled level direction screw rod 3 extend, and vertical direction bar 4 are arrived and fixed column 1
Distance is farthest；
Step 12, control unit control rotating electric machine 6 carry out step-scan, the ground on horizontal direction bar 2 counterclockwise
Range sensor 11 the quantity of range sensor that obviously becomes smaller of collected distance when reaching peak value for the first time, that is, indicate horizontal
Steering yoke 2 has reached the preceding remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine 6 at this time is θ 1；Referring to fig. 2
(i)；
Step 13, control unit controlled level direction screw rod 3 bounce back, and it is fixed to make vertical direction bar 4 bounce back to distance
At 1 position L1/cos θ of column 1；
Step 14, control unit control control angle adjust motor 7, and angle is allowed to adjust the nozzle group of the drive of motor 7 thereon
Part 8 and horizontal direction bar 2 are in the angle of 180 ° of-θ 1, and are directed toward vehicle side to be washed；
Step 15, control unit control rotating electric machine 6 rotate clockwise, and make the rotational angle θ of horizontal direction bar 2 by
It is decrescence small, until rotational angle θ becomes 0 from θ 1；In the process, nozzle component 8 and horizontal direction on vertical direction bar 4 are allowed
Bar 2 is in the angle of 180 ° of-θ always, while controlling vertical direction bar by the vehicle body second distance sensor on vertical direction bar 4
The distance of 4 front end face apart from vehicle to be washed is constant, and spray foam treats the front end face of carwash and its close top surface carries out
Cleaning；Referring to fig. 2 (j)；
Step 16, control unit control rotating electric machine 6 counterclockwise rotate, and make the rotational angle θ of horizontal direction bar 2 by
It is cumulative big, until rotational angle θ becomes θ 1 from 0；In the process, nozzle component 8 and horizontal direction on vertical direction bar 4 are allowed
Bar 2 is in the angle of 180 ° of-θ always, while controlling vertical direction bar by the vehicle body second distance sensor on vertical direction bar 4
The distance of 4 front end face apart from vehicle to be washed within the scope of pre-determined distance, and spray high pressure water treat carwash front end face and
Its close top surface is cleaned；Referring to fig. 2 (k)；
(4) vehicle to be washed is cleaned far from car washer one side and its close top surface
Step 17, control unit control controlled level direction screw rod 3 extend, and vertical direction bar 4 are arrived and fixed column 1
Distance is farthest；Control unit controls rotating electric machine 6 and carries out step-scan counterclockwise, when the ground distance on horizontal direction bar 2 passes
Sensor 11 the quantity of range sensor that obviously becomes smaller of collected distance when reaching peak value again, i.e. expression horizontal direction bar
2 have reached the rear remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine 6 at this time is θ 2；Referring to fig. 2 (l)；
Step 18, control unit controlled level direction screw rod 3 bounce back, and it is fixed to make vertical direction bar 4 bounce back to distance
At 2 position of (L1*sin θ 1+0.2)/sin θ of column 1；
Step 19, control unit control control angle adjust motor 7, and angle is allowed to adjust the nozzle group of the drive of motor 7 thereon
Part 8 and horizontal direction bar 2 are in the angle of θ 2-90 °, and are directed toward vehicle side to be washed；
Step 20, control unit control rotating electric machine 6 rotate clockwise, and make the rotational angle θ of horizontal direction bar 2 by
It is decrescence small, until rotational angle θ becomes θ 1 from θ 2；In the process, nozzle component 8 and level side on vertical direction bar 4 are allowed
Always it is in θ -90 ° of angle to bar 2, while vertical direction is controlled by the vehicle body second distance sensor on vertical direction bar 4
Distance of the bar 4 apart from vehicle to be washed far from car washer one side is constant, and spray foam treats carwash far from car washer
One side and its close top surface are cleaned；Referring to fig. 2 (m)；
Step 21, control unit control rotating electric machine 6 counterclockwise rotate, and make the rotational angle θ of horizontal direction bar 2 by
It is cumulative big, until rotational angle θ becomes θ 2 from θ 1；In the process, nozzle component 8 and level side on vertical direction bar 4 are allowed
Always it is in θ -90 ° of angle to bar 2, while vertical direction is controlled by the vehicle body second distance sensor on vertical direction bar 4
Distance of the bar 4 apart from vehicle to be washed far from car washer one side sprays high pressure water and treats carwash within the scope of pre-determined distance
It is cleaned far from car washer one side and its close top surface；Referring to fig. 2 (n)；
(5) vehicle to be washed is cleaned far from car washer rear end face and its close top surface
Step 22, control unit control rotating electric machine 6 carry out step-scan, the ground on horizontal direction bar 2 counterclockwise
When all 11 collected distances of institute of ground distance sensor of range sensor 11 obviously become smaller, i.e. expression horizontal direction bar 2 reaches
The rear nearly corner location of vehicle has been arrived, and has recorded position and the rotation of the ground distance sensor 11 that distance change occurs in the last one
The rotational angle θ of rotating motor 6 at this time is θ 3；(0) referring to fig. 2；
Step 23, control unit controlled level direction screw rod 3 bounce back, and it is fixed to make vertical direction bar 4 bounce back to distance
At position [(L1*sin θ 1+0.2)/sin θ 2] * cos (180 ° of-θ 3) of column 1；
Step 24, control unit control rotating electric machine 6 rotate clockwise, and make the rotational angle θ of horizontal direction bar 2 by
It is decrescence small, until rotational angle θ becomes θ 2 from θ 3；In the process, nozzle component 8 and level side on vertical direction bar 4 are allowed
Always it is in θ -180 ° of angle to bar 2, while vertical direction is controlled by the vehicle body second distance sensor on vertical direction bar 4
The distance of rear end face of the bar 4 apart from vehicle to be washed is constant, and spray foam treat carwash rear end face and its close top surface into
Row cleaning；Referring to fig. 2 (p)；
Step 25, control unit control rotating electric machine 6 counterclockwise rotate, and make the rotational angle θ of horizontal direction bar 2 by
It is cumulative big, until rotational angle θ becomes θ 3 from θ 2；In the process, nozzle component 8 and level side on vertical direction bar 4 are allowed
Always it is in θ -180 ° of angle to bar 2, while vertical direction is controlled by the vehicle body second distance sensor on vertical direction bar 4
The distance of rear end face of the bar 4 apart from vehicle to be washed sprays the rear end face that high pressure water treats carwash within the scope of pre-determined distance
And its close top surface is cleaned；Referring to fig. 2 (q)；
(6) hindfoot portion and its close top surface of the vehicle to be washed close to car washer one side are cleaned
Step 26, control unit controlled level direction screw rod 3 bounce back, and vertical direction bar 4 are made to bounce back to step 22 institute
At the position of the ground distance sensor 11 of record；
Step 27, control unit control control angle adjust motor 7, make nozzle component 8 vertical with horizontal direction bar 2, and
It is directed toward vehicle side to be washed；
Step 28, obtained using the vehicle body second distance sensor on vertical direction bar 4 vehicle to be washed and car washer it
Between distance；Meanwhile control unit control rotating electric machine 6 drives horizontal direction to rotate counterclockwise, so that vehicle body second distance
The collected distance of sensor and first distance sensor institute are collected apart from consistent, show at this time horizontal direction bar 2 with
Vehicle body parallel；Referring to fig. 2 (r)；
Step 29, control unit control controlled level direction screw rod 3 bounce back, and make vertical direction bar 4 gradually to close
1 direction of fixed column is mobile, until vertical direction bar 4 and fixed column 1 are apart from minimum；In the process, the spray on vertical direction bar 4
Head assembly 8 and horizontal direction bar 2 are in -90 ° of angle always, keep 8 angle of nozzle component on vertical direction bar 4 constant, and
Spray foam is treated carwash and is cleaned close to the hindfoot portion of car washer side and its close top surface；Referring to fig. 2 (s)；
Step 30, control unit control controlled level direction screw rod 3 extend, and make vertical direction bar 4 gradually to separate
1 direction of fixed column is mobile, until the collected data generation of second distance sensor institute on vertical direction bar 4 obviously becomes larger；
In the process, 8 angle of nozzle component on vertical direction bar 4 is constant, and sprays high pressure water and treat carwash close to carwash dress
The hindfoot portion and its close top surface for setting side are cleaned；Referring to fig. 2 (t)；
Step 31, control unit control control vertical direction screw rod 5 increase, and vertical direction bar 4 are made to be increased to distance
The highest position in ground, this carwash process terminate.
It should be noted that although the above embodiment of the present invention be it is illustrative, this be not be to the present invention
Limitation, therefore the invention is not limited in above-mentioned specific embodiment.Without departing from the principles of the present invention, all
The other embodiment that those skilled in the art obtain under the inspiration of the present invention is accordingly to be regarded as within protection of the invention.
Claims (5)
1. automatic car washing system, characterized in that including control unit and at least one car washer；
Each car washer is by fixed column (1), horizontal direction bar (2), horizontal direction screw rod (3), vertical direction bar (4), vertical
Direction screw rod (5), rotating electric machine (6), angle adjustment motor (7), nozzle component (8), the first vehicle body range sensor (9), the
Two vehicle body range sensors (10) and multiple ground distance sensors (11) composition；
The bottom of fixed column (1) is fixedly mounted in carwash region, and the fixed end of rotating electric machine (6) is mounted on the top of fixed column (1)
Portion, horizontal direction bar (2) are mounted on the moved end of rotating electric machine (6)；Horizontal direction screw rod (3) is installed on bar (2) in the horizontal direction,
And it is both parallel to the horizontal plane；In the horizontal direction on screw rod (3), vertical direction screw rod (5) is installed for vertical direction bar (4) installation
On vertical direction bar (4), and both with horizontal plane；The fixed end of angle adjustment motor (7) is mounted on vertical direction silk
On bar (5), nozzle component (8) is mounted on the moved end of angle adjustment motor (7)；Nozzle component (8) is equipped with spray head；
First vehicle body range sensor (9) is mounted in the wherein one side wall of fixed column (1), the second vehicle body range sensor (10)
Be mounted on nozzle component (8), the acquisition direction of the first vehicle body range sensor (9) and the second vehicle body range sensor (10) with
Horizontal plane is equal；Multiple ground distance sensors (11) are uniformly distributed bar (2) in the horizontal direction, all ground distance sensors
(11) and horizontal plane；
First vehicle body range sensor (9), the second vehicle body range sensor (10) and multiple ground distance sensors (11) it is defeated
Enter end to connect with control unit；The output end and horizontal direction screw rod (3), vertical direction screw rod (5), rotating electric machine of control unit
(6), angle adjustment motor (7) and nozzle component (8) connection.
2. automatic car washing system according to claim 1, characterized in that nozzle component (8) includes foam nozzle and high pressure
Sprinkler head.
3. automatic car washing system according to claim 1 or 2, characterized in that the spray head of nozzle component (8) is diagonally downward
Setting.
4. automatic car washing system according to claim 1, characterized in that between every 2 ground distance sensors (11)
It is equidistant.
5. the automatic car washing method that automatic car washing system described in claim 1 is realized, characterized in that specifically include step such as
Under:
Under step 1, standby mode, control unit controls vertical direction screw rod (5) and increases, and vertical direction bar (4) are increased
To apart from the highest position in ground, to ensure the normal pass of vehicle near car washer in the standby state；
Near step 2, vehicle driving to car washer to be washed, and make the one of side and fixed column (1) of vehicle to be washed
On be equipped with vehicle body first distance sensor one side it is opposite；After vehicle to be washed enters this position, user sends carwash signal
To control unit, start carwash process；
Step 3, carwash flow startup, control unit are obtained by the vehicle body first distance sensor on fixed column (1) to carwash
The distance between with car washer；Meanwhile control unit controlled level direction screw rod (3) extends, and makes vertical direction bar
(4) to farthest with fixed column (1) distance；
Step 4, control unit control rotating electric machine (6) carry out step-scan counterclockwise, when horizontal direction bar (2) upper ground surface distance
When only a collected distance of ground distance sensor (11) institute obviously becomes smaller in sensor (11), that is, indicate horizontal direction
Bar (2) has reached the preceding nearly corner location of vehicle, and records the position of the ground distance sensor (11)；
Step 5, on the basis of this position, control unit control rotating electric machine (6) return back to a stepping point clockwise, and
So that all ground distance sensors (11) institute on horizontal direction bar (2) is collected apart from identical；
Step 6, control unit controlled level direction screw rod (3) retraction, and make vertical direction bar (4) bounce back to step 4 and remembered
At the position of the ground distance sensor (11) of record；
Step 7, control unit control vertical direction screw rod (5) decline, and vertical direction bar (4) is made to drop to preset work
Highly；Meanwhile control unit control control angle adjustment motor (7), make nozzle component (8) vertical with horizontal direction bar (2), and
It is directed toward vehicle side to be washed；
Step 8 is obtained between vehicle and car washer to be washed using the vehicle body second distance sensor on vertical direction bar (4)
Distance；Meanwhile control unit control rotating electric machine (6) drive horizontal direction bar (2) rotate clockwise so that vehicle body second away from
From sensor it is collected with a distance from it is collected apart from consistent with first distance sensor institute, show horizontal direction bar at this time
(2) and vehicle body parallel；
Step 9, control unit control controlled level direction screw rod (3) retraction, and make vertical direction bar (4) gradually to close to solid
Fixed column (1) direction is mobile, and until vertical direction bar (4) and fixed column (1), distance is minimum；In the process, vertical direction bar (4)
On nozzle component (8) angle it is constant, and spray foam treat carwash close to car washer one side front section and its
It is cleaned close top surface；
Step 10, control unit control controlled level direction screw rod (3) elongation, and make vertical direction bar (4) gradually to separate
Fixed column (1) direction is mobile, until obvious become occurs for the collected data of second distance sensor institute on vertical direction bar (4)
Greatly, and the extended length L1 of recording level direction screw rod (3) at this time；In the process, the nozzle component on vertical direction bar (4)
(8) angle is constant, and spray high pressure water treat carwash close to car washer one side front section and its close top surface into
Row cleaning；
Step 11, control unit control controlled level direction screw rod (3) elongation, and vertical direction bar (4) is arrived and fixed column
(1) distance is farthest；
Step 12, control unit control rotating electric machine (6) carry out step-scan counterclockwise, the ground on horizontal direction bar (2)
Range sensor (11) the quantity of range sensor that obviously becomes smaller of collected distance when reaching peak value for the first time, i.e. expression water
Flat steering yoke (2) has reached the preceding remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine (6) at this time is θ 1；
Step 13, control unit controlled level direction screw rod (3) retraction, and it is fixed to make vertical direction bar (4) bounce back to distance
At 1 position column (1) L1/cos θ；
Step 14, control unit control control angle adjustment motor (7) allow angle to adjust the nozzle group of motor (7) drive thereon
Part (8) and horizontal direction bar (2) are in the angle of 180 ° of-θ 1, and are directed toward vehicle side to be washed；
Step 15, control unit control rotating electric machine (6) rotate clockwise, and make the rotational angle θ of horizontal direction bar (2) by
It is decrescence small, until rotational angle θ becomes 0 from θ 1；In the process, nozzle component (8) on vertical direction bar (4) and horizontal is allowed
Steering yoke (2) is in the angle of 180 ° of-θ always, while being hung down by the vehicle body second distance sensor control on vertical direction bar (4)
The distance of straight front end face of the steering yoke (4) apart from vehicle to be washed is constant, and spray foam treats the front end face and its phase of carwash
It is cleaned nearly top surface；
Step 16, control unit control rotating electric machine (6) counterclockwise rotate, and make the rotational angle θ of horizontal direction bar (2) by
It is cumulative big, until rotational angle θ becomes θ 1 from 0；In the process, nozzle component (8) on vertical direction bar (4) and horizontal is allowed
Steering yoke (2) is in the angle of 180 ° of-θ always, while being hung down by the vehicle body second distance sensor control on vertical direction bar (4)
The distance of straight front end face of the steering yoke (4) apart from vehicle to be washed sprays high pressure water and treats carwash within the scope of pre-determined distance
Front end face and its close top surface cleaned；
Step 17, control unit control controlled level direction screw rod (3) elongation, and vertical direction bar (4) is arrived and fixed column
(1) distance is farthest；Control unit control rotating electric machine (6) carries out step-scan counterclockwise, the ground on horizontal direction bar (2)
Range sensor (11) the quantity of range sensor that obviously becomes smaller of collected distance when reaching peak value again, i.e. expression water
Flat steering yoke (2) has reached the rear remote corner location of vehicle, and recording the rotational angle θ of rotating electric machine (6) at this time is θ 2；
Step 18, control unit controlled level direction screw rod (3) retraction, and it is fixed to make vertical direction bar (4) bounce back to distance
At 2 position of column (1) (L1*sin θ 1+0.2)/sin θ；
Step 19, control unit control control angle adjustment motor (7) allow angle to adjust the nozzle group of motor (7) drive thereon
Part (8) and horizontal direction bar (2) are in the angle of θ 2-90 °, and are directed toward vehicle side to be washed；
Step 20, control unit control rotating electric machine (6) rotate clockwise, and make the rotational angle θ of horizontal direction bar (2) by
It is decrescence small, until rotational angle θ becomes θ 1 from θ 2；In the process, nozzle component (8) and water on vertical direction bar (4) are allowed
Flat steering yoke (2) is in θ -90 ° of angle always, while passing through the vehicle body second distance sensor control on vertical direction bar (4)
Distance of the vertical direction bar (4) apart from vehicle to be washed far from car washer one side is constant, and spray foam treats carwash far
It is cleaned from car washer one side and its close top surface；
Step 21, control unit control rotating electric machine (6) counterclockwise rotate, and make the rotational angle θ of horizontal direction bar (2) by
It is cumulative big, until rotational angle θ becomes θ 2 from θ 1；In the process, nozzle component (8) and water on vertical direction bar (4) are allowed
Flat steering yoke (2) is in θ -90 ° of angle always, while passing through the vehicle body second distance sensor control on vertical direction bar (4)
Distance of the vertical direction bar (4) apart from vehicle to be washed far from car washer one side sprays high pressure within the scope of pre-determined distance
Water is treated carwash and is cleaned far from car washer one side and its close top surface；
Step 22, control unit control rotating electric machine (6) carry out step-scan counterclockwise, the ground on horizontal direction bar (2)
When all collected distances of ground distance sensor (11) institute of range sensor (11) obviously become smaller, that is, indicate horizontal direction bar
(2) reach the rear nearly corner location of vehicle, and record the ground distance sensor (11) that distance change occurs in the last one
The rotational angle θ of position and rotating electric machine (6) at this time is θ 3；
Step 23, control unit controlled level direction screw rod (3) retraction, and it is fixed to make vertical direction bar (4) bounce back to distance
At the position column (1) [(L1*sin θ 1+0.2)/sin θ 2] * cos (180 ° of-θ 3)；
Step 24, control unit control rotating electric machine (6) rotate clockwise, and make the rotational angle θ of horizontal direction bar (2) by
It is decrescence small, until rotational angle θ becomes θ 2 from θ 3；In the process, nozzle component (8) and water on vertical direction bar (4) are allowed
Flat steering yoke (2) is in θ -180 ° of angle always, while passing through the vehicle body second distance sensor control on vertical direction bar (4)
The distance of rear end face of the vertical direction bar (4) apart from vehicle to be washed is constant, and spray foam treat carwash rear end face and its
It is cleaned close top surface；
Step 25, control unit control rotating electric machine (6) counterclockwise rotate, and make the rotational angle θ of horizontal direction bar (2) by
It is cumulative big, until rotational angle θ becomes θ 3 from θ 2；In the process, nozzle component (8) and water on vertical direction bar (4) are allowed
Flat steering yoke (2) is in θ -180 ° of angle always, while passing through the vehicle body second distance sensor control on vertical direction bar (4)
The distance of rear end face of the vertical direction bar (4) apart from vehicle to be washed sprays high pressure water and treats carwash within the scope of pre-determined distance
Rear end face and its close top surface cleaned；
Step 26, control unit controlled level direction screw rod (3) retraction, and vertical direction bar (4) is made to bounce back to step 22 institute
At the position of the ground distance sensor (11) of record；
Step 27, control unit control control angle adjustment motor (7), make nozzle component (8) vertical with horizontal direction bar (2),
And it is directed toward vehicle side to be washed；
Step 28 is obtained between vehicle and car washer to be washed using the vehicle body second distance sensor on vertical direction bar (4)
Distance；Meanwhile control unit control rotating electric machine (6) drives horizontal direction to rotate counterclockwise, so that vehicle body second distance
The collected distance of sensor and first distance sensor institute are collected apart from consistent, show horizontal direction bar (2) at this time
With vehicle body parallel；
Step 29, control unit control controlled level direction screw rod (3) retraction, and make vertical direction bar (4) gradually to close
Fixed column (1) direction is mobile, and until vertical direction bar (4) and fixed column (1), distance is minimum；In the process, vertical direction bar
(4) nozzle component (8) and horizontal direction bar (2) on are in -90 ° of angle always, keep angle constant, and spray foam is treated
Carwash is cleaned close to the hindfoot portion of car washer side and its close top surface；
Step 30, control unit control controlled level direction screw rod (3) elongation, and make vertical direction bar (4) gradually to separate
Fixed column (1) direction is mobile, until obvious become occurs for the collected data of second distance sensor institute on vertical direction bar (4)
Greatly；In the process, nozzle component (8) angle on vertical direction bar (4) is constant, and sprays high pressure water to treat carwash close
The hindfoot portion of car washer side and its close top surface are cleaned；
Step 31, control unit control control vertical direction screw rod (5) increase, and vertical direction bar (4) are made to be increased to distance
The highest position in ground, this carwash process terminate.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619519A (en) * | 2020-05-28 | 2020-09-04 | 广东电网有限责任公司 | Automatic car washer |
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Application publication date: 20190607 Assignee: Guilin Sensing Material Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2023980046110 Denomination of invention: Automatic Car Wash System and Method Granted publication date: 20221206 License type: Common License Record date: 20231107 Application publication date: 20190607 Assignee: Guilin Xingyuan Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2023980045835 Denomination of invention: Automatic Car Wash System and Method Granted publication date: 20221206 License type: Common License Record date: 20231107 |