CN111422166B - Method, device and system for cleaning vehicle, electronic equipment and storage medium - Google Patents
Method, device and system for cleaning vehicle, electronic equipment and storage medium Download PDFInfo
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- CN111422166B CN111422166B CN202010187607.0A CN202010187607A CN111422166B CN 111422166 B CN111422166 B CN 111422166B CN 202010187607 A CN202010187607 A CN 202010187607A CN 111422166 B CN111422166 B CN 111422166B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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Abstract
The embodiment of the invention provides a method and a device for cleaning a vehicle, electronic equipment and a storage medium, wherein the method comprises the steps of judging the stain grade of the peripheral surface of the vehicle, determining a proper cleaning mode according to the stain grade, and cleaning the peripheral surface of the vehicle according to the determined cleaning mode. Through the selection of clean mode, can realize the accurate control to water consumption and clean foam quantity, and through setting up suitable predetermined stain grade requirement, can avoid causing the wasting of resources through the comparison control washing number of times that stain grade and predetermined stain grade required.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a method, an apparatus, a system, an electronic device, and a storage medium for vehicle cleaning.
Background
At present, the quantity of automobiles kept by people in China is increasing day by day, and the problem of water resource waste caused by automobile washing is also serious day by day. The manual car washing charge is high, the time is slow, the queue is long, and the washing quality is uneven. The machine car washing is carried out at present, but the existing machine car washing still has certain problems.
Daily car washing only needs to simply clean dust and soil of the car, but the car with more soil needs deep cleaning. However, the machine washing mode is single, and the water consumption, the cleaning foam consumption and the washing times are rarely set according to the cleanness degree of the automobile, so that the waste of water resources is caused or the satisfaction degree of a user cannot be reached by one-time washing. While a single car wash mode may present a fair charge problem with different vehicle cleanliness but the same charge.
Therefore, the existing method for cleaning the vehicle cannot realize the accurate control of the water consumption and the cleaning foam consumption, and cannot control the cleaning times, thereby causing resource waste.
Disclosure of Invention
The embodiment of the invention provides a vehicle cleaning method, a vehicle cleaning device, electronic equipment and a storage medium, and aims to solve the problems that the existing vehicle cleaning method cannot accurately control the water consumption and the cleaning foam consumption, cannot control the cleaning times and causes resource waste.
In view of the above technical problems, in a first aspect, an embodiment of the present invention provides a method for washing a vehicle, including:
before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the reflection degree of each image identified from each image;
if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
In a second aspect, an embodiment of the present invention provides an apparatus for washing a vehicle, including:
the device comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for acquiring at least one image acquired on the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle, which is identified from each image, with stains and/or the reflectivity of each image;
the cleaning unit is used for determining a cleaning mode for cleaning the peripheral surface of the vehicle by a wheel according to the stain grade if the stain grade does not meet the requirement of a preset stain grade, and cleaning the peripheral surface of the vehicle by the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
In a third aspect, an embodiment of the present invention provides a vehicle cleaning system, including an image acquisition module, a data processing module, and a control module;
the image acquisition module is used for acquiring images of the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a front wheel, and transmitting the acquired images to the data processing module;
the data processing module is used for executing the vehicle cleaning method and sending the determined cleaning mode for cleaning the peripheral surface of the vehicle in the current round to the control module;
the control module cleans the peripheral surface of the vehicle according to the received cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for washing a vehicle described above when executing the program.
In a fifth aspect, embodiments of the invention provide a non-transitory readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of vehicle washing as described in any one of the above.
The embodiment of the invention provides a method, a device, a system, electronic equipment and a storage medium for cleaning a vehicle. Through the selection of clean mode, can realize the accurate control to water consumption and clean foam quantity, and through setting up suitable predetermined stain grade requirement, can avoid causing the wasting of resources through the comparison control washing number of times that stain grade and predetermined stain grade required.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method of vehicle washing provided by an embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle wash zone provided by another embodiment of the present invention;
FIG. 3 is a block diagram of an apparatus for washing a vehicle according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle washing system according to another embodiment of the present invention;
fig. 5 is a physical structure diagram of an electronic device according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for washing a vehicle, which is executed by a control device for controlling washing of a vehicle, according to the embodiment, and the method includes:
step 101: before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the reflection degree of each image identified from each image;
step 102: if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
The preset stain grade requirement is preset, images of the surfaces around the vehicle with the recognized cleaning degree can be collected, the recognized stain grade of the surfaces around the vehicle with the recognized cleaning degree is determined through the collected images, and the determined stain grade serves as the preset stain grade requirement.
The method comprises the steps of cleaning the peripheral surface of the vehicle according to a cleaning mode determined by a wheel, specifically, cleaning the peripheral surface of the vehicle according to the cleaning times set in the cleaning mode determined by the wheel, the water spray amount and the water spray pressure for spraying water when the peripheral surface of the vehicle is cleaned every time, and the spray amount of a cleaning agent when the peripheral surface of the vehicle is cleaned every time, and after the cleaning mode is set, performing quick-drying operation on the peripheral surface of the vehicle after the peripheral surface of the vehicle is cleaned for a certain time (for example, after the last cleaning of the wheel).
The embodiment provides a method for cleaning a vehicle, which comprises the steps of judging the stain grade of the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, determining a proper cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the determined cleaning mode. Through the selection of clean mode, can realize the accurate control to water consumption and clean foam quantity, and through setting up suitable predetermined stain grade requirement, can avoid causing the wasting of resources through the comparison control washing number of times that stain grade and predetermined stain grade required.
Further, on the basis of the above-described embodiments,
if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the wheel, wherein the cleaning mode comprises the following steps:
if the stain grade does not meet the requirement of the preset stain grade, judging whether the number of wheels for cleaning the peripheral surface of the vehicle is less than or equal to the preset number of wheels, if so, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, so as to clean the peripheral surface of the vehicle according to the cleaning mode determined by the wheel, and otherwise, sending prompt information for prompting manual inspection of the peripheral surface of the vehicle;
and after each round of cleaning the peripheral surface of the vehicle according to the determined cleaning mode, increasing the number of the rounds of cleaning the peripheral surface of the vehicle by one round.
Wherein, the cleaning mode for cleaning the peripheral surface of the vehicle by the self-wheel is determined according to the stain grade, and the cleaning mode comprises the following steps:
and acquiring a mapping relation between the predetermined stain grade and a cleaning mode, and determining the cleaning mode corresponding to the stain grade from the mapping relation to be used as the cleaning mode for cleaning the peripheral surface of the vehicle in the current round.
And sending prompt information for completing the process of cleaning the peripheral surface of the vehicle if the stain grade meets the preset stain grade requirement.
The preset number of rounds is preset, for example, the preset number of rounds is 2 rounds.
The following specific implementation process is provided under the condition that the preset number of rounds is 2 rounds:
before the peripheral surface of the vehicle is cleaned for the first time, a first-round cleaning mode is obtained by photographing the peripheral surface of the vehicle according to the determined stain grade, after the peripheral surface of the vehicle is cleaned according to the first-round cleaning mode, the peripheral surface of the vehicle is photographed, a first-round cleaning result is evaluated (namely the stain grade determined after the cleaning according to the first-round cleaning mode is finished), if the preset stain grade requirement is not met, a corresponding cleaning mode is selected according to the new stain grade, and then the cleaning of a second round is carried out. (where the number of washes specified for each round may be multiple, e.g., 3 washes specified in the first defined wash pattern, then a second assessment should be made after the 3 washes are completed).
In this embodiment, when the number of cleaning rounds is less than or equal to the preset number of rounds, if the stain level does not meet the preset stain level requirement, the above steps 101 to 102 are executed again, and after the cleaning rounds with the number of rounds equal to the preset number of rounds are performed, the manual inspection is not requested under the condition that the preset stain level requirement is not met. The control of the number of preset wheels for cleaning the peripheral surface of the vehicle is realized through the preset stain grade requirement and the preset wheel number.
Further, on the basis of the foregoing embodiments, the acquiring at least one image of the surface around the vehicle, and determining the stain level of the surface around the vehicle according to the area where the stain exists on the surface around the vehicle identified from each image and the reflectivity of each image includes:
acquiring at least one image acquired on the surface around the vehicle, identifying an area with stains in the image through a pre-trained machine identification model for each image, and determining the reflectivity grade of the image through a pre-trained reflectivity grade evaluation model;
determining the stain level of the surface around the vehicle according to the first area of the area where the surface around the vehicle shown in each image is stained, the second area of the surface around the vehicle shown in each image and the reflectivity level of each image;
the machine recognition model is obtained through machine learning training according to the first sample image in advance and is used for recognizing the areas with stains in the images of the surfaces around the vehicle; the first sample image is an image in which a region where stains exist in the image of the surface around the vehicle is marked; the model for determining the degree of reflection of the light is obtained through machine learning training according to a second sample image with the degree of reflection marked in advance according to the light intensity during photographing.
The machine identification model and the reflection degree evaluation model may be obtained by training a convolutional neural network, which is not specifically limited in this embodiment.
Further, on the basis of the foregoing embodiments, the determining the stain level of the surrounding surface of the vehicle according to the first area of the region where the surrounding surface of the vehicle shown in each image is stained, the second area of the surrounding surface of the vehicle shown in each image, and the reflectivity level of each image includes:
for each image, according to the formula
Determination of soil class component element anWherein S isDirtAnd SAll-purposeA first area representing a region in which stains are present on the peripheral surface of the vehicle shown by the same image and a fourth area of the vehicle shown in the imageA second area of the peripheral surface, n being an nth image of the at least one image acquired of the peripheral surface of the vehicle;
according to the formula
Determining a first stain level component a, wherein N is a total number of images of at least one image acquired of the surface around the vehicle, knTo correspond to anA first preset weighting coefficient;
according to the formula
Determining a second stain level component l, where k'nIs corresponding to lnSecond preset weighting coefficients;
according to the formula A ═ k ″)1a+k″2l determining the stain level A, k of the surrounding surface of said vehicle1"is a third predetermined weighting factor, k", corresponding to a2A fourth preset weighting factor corresponding to/.
Wherein, still include: after the peripheral surfaces of the vehicle are cleaned, the images collected by the peripheral surfaces of the vehicle and the images of the areas marked with stains in the images are displayed through the display module.
Wherein the first preset weighting coefficient knAnd a second preset weighting coefficient k'nMay be determined based on the second area of the vehicle's surrounding surface shown in the image and the total area of the vehicle's surrounding surface. For example, the larger the second area of the vehicle peripheral surface shown in the image accounts for the total area of the vehicle peripheral surface, the first preset weighting coefficient k corresponding to the image isnThe larger the second preset weighting coefficient k'nThe larger.
Wherein, the third preset weighting coefficient k ″)1And a fourth preset weighting coefficient k ″2It can be determined according to practical needs, for example, when the influence of the glistening degree on the stain grade needs to be increased, k' can be increased2。
Fig. 2 is a schematic diagram of a vehicle cleaning area provided in this embodiment, and the cleaning area shown in fig. 2 collects images of the front, rear, left, and right sides of the surface around the vehicle, determines the stain level through the collected 4 images, and determines the cleaning mode. The specific process for determining the stain grade comprises the following steps:
according to
Determining the stain grade component element a of each imagenThen, according to the formula a ═ k1a1+k2a2+k3a3+k4a4Determining a first soil level component a, then k 'according to the formula l ═ k'1l1+k′2l2+k′3l3+k′4l4Determining a second stain level component l, and finally determining a second stain level component k according to the formula1″a+k″2l determining the stain level of the surrounding surfaces of the vehicle.
According to the method and the device, the determination process of the grades of the stains on the surfaces around the vehicle is realized, the determination method is simple, and the parameters capable of accurately reflecting the cleaning degree of the surfaces around the vehicle can be obtained.
Fig. 3 is a block diagram showing the configuration of the vehicle washing apparatus according to the present embodiment, and referring to fig. 3, the apparatus includes a determination unit 301 and a washing unit 302, wherein,
the determining unit 301 is configured to acquire at least one image acquired of the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, and determine the stain level of the peripheral surface of the vehicle according to the area where the stain exists on the peripheral surface of the vehicle and/or the light reflectivity of each image, which are identified from each image;
a cleaning unit 302 for
If the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
The vehicle cleaning device provided by the embodiment is suitable for the vehicle cleaning method provided by each embodiment, and is not described herein again.
The embodiment provides a vehicle cleaning device, which judges the stain grade of the peripheral surface of a vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, determines a proper cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel according to the stain grade, and cleans the peripheral surface of the vehicle according to the determined cleaning mode. Through the selection of clean mode, can realize the accurate control to water consumption and clean foam quantity, and through setting up suitable predetermined stain grade requirement, can avoid causing the wasting of resources through the comparison control washing number of times that stain grade and predetermined stain grade required.
The embodiment provides a vehicle cleaning system, which comprises an image acquisition module, a data processing module and a control module;
the image acquisition module is used for acquiring images of the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a front wheel, and transmitting the acquired images to the data processing module;
the data processing module is used for the vehicle cleaning method, and sends the determined cleaning mode for cleaning the peripheral surface of the vehicle in the current round to the control module;
the control module cleans the peripheral surface of the vehicle according to the received cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
Further, on the basis of the embodiment, the cleaning machine further comprises a water spraying module, a cleaning agent spraying module and a quick drying module;
the control module is used for cleaning the peripheral surface of the vehicle by controlling the water spraying module, the cleaning agent spraying module and/or the quick drying module according to the cleaning times for cleaning the peripheral surface of the vehicle, which are set in the received cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel;
wherein, the control module controls the in-process of washing to vehicle surface all around each time:
according to the cleaning mode set by the wheel for cleaning the peripheral surface of the vehicle, controlling the water spraying module to spray water on the peripheral surface of the vehicle when the peripheral surface of the vehicle is cleaned at this time and controlling the cleaning agent spraying module to spray the cleaning agent on the peripheral surface of the vehicle according to the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at this time;
whether quick-drying operation is carried out on the peripheral surface of the vehicle or not after the cleaning is finished is set according to a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel, and the quick-drying module is controlled;
if the cleaning area for cleaning the surfaces around the vehicle is rectangular, the water spraying module, the cleaning agent spraying module and the quick drying module are arranged at each corner of the cleaning area.
Further, on the basis of the above embodiments, the display device further comprises a display module and an indicator light module;
the image acquisition module comprises at least one camera;
the display module is used for displaying the images acquired by the image acquisition module on the peripheral surface of the vehicle and/or displaying the images which are sent by the data processing module and mark the areas where stains exist on the peripheral surface of the vehicle;
the indicating lamp module is used for sending first indicating information after receiving prompt information sent by the data processing module for manually checking the peripheral surface of the vehicle, and sending second indicating information after receiving information sent by the data processing module that the stain grade meets the preset stain grade requirement;
if the cleaning area for cleaning the peripheral surface of the vehicle is rectangular, at least one camera is arranged in the middle of each edge of the cleaning area and used for photographing the peripheral surface of the vehicle in the cleaning area.
Wherein, still include: and sending out third indication information when the vehicle is being cleaned.
The first indication information and the second indication information are realized by colors displayed by the indicator lights, and may also be displayed in other manners, which is not limited in this embodiment. For example, after receiving prompt information sent by the data processing module for manually checking the peripheral surface of the vehicle, a yellow indicator light is displayed as first indication information; after receiving the information that the stain grade sent by the data processing module meets the preset stain grade requirement, displaying a green indicator lamp as second indication information; when the vehicle is being washed, a red indicator lamp is displayed as third indication information.
Specifically, the system for washing a vehicle includes: the device comprises an image acquisition module, a data processing module, a control module, a water spraying module, a cleaning agent spraying module, a quick drying module, a display module and an indicator lamp module.
The image acquisition module is used for acquiring images around the vehicle and transmitting the images to the data processing module, and a camera is usually used.
The data processing module evaluates the stain degree of the vehicle body by adopting the image acquired by the machine recognition and analysis image acquisition module, gives the evaluation grade of the stain degree of the vehicle body, selects a corresponding cleaning mode according to the evaluation grade, and transmits the cleaning mode to the control module. Meanwhile, the calibrated image acquisition module shoots stains in the image and transmits the calibrated image to the display module for display, so that the manual judgment of where the image is cleaned and does not meet the cleaning requirement is facilitated.
The control module is used for controlling the water quantity and the water pressure of the water spraying module according to the cleaning mode sent by the data processing module, controlling the spraying quantity of the cleaning agent spraying module, controlling the quick drying module to carry out quick drying operation after cleaning is finished, and controlling the indicator lamp module to display different prompt colors according to the operation condition.
The water spraying module is controlled by the control module and can adjust the sprayed water quantity and the water pressure.
The cleaning agent spraying module is controlled by the control module, and the spraying amount of the cleaning agent can be adjusted.
And the quick drying module is controlled by the control module, and performs simple quick drying operation on the vehicle after the cleaning is finished.
And the display module is used for displaying the image of the periphery of the vehicle after the stain is calibrated by the data processing module.
And the indicator light module is controlled by the control module and is used for displaying the current car washing state. A green light indicates the end of the wash, a red light indicates work, and a yellow light indicates manual handling is required.
The embodiment provides a system for cleaning a vehicle, which is used for judging the stain grade of the peripheral surface of the vehicle, determining a proper cleaning mode according to the stain grade and cleaning the peripheral surface of the vehicle according to the determined cleaning mode. Through the selection of clean mode, can realize the accurate control to water consumption and clean foam quantity, and through setting up suitable predetermined stain grade requirement, can avoid causing the wasting of resources through the comparison control cleaning wheel number that stain grade and predetermined stain grade required.
Based on the cleaning area provided in fig. 2 (wherein, in fig. 2, each of the modules a to D includes a water spraying module, a cleaning agent spraying module and a quick drying module, it can be understood that the placement positions of the modules in the modules a to D can be changed), fig. 4 is a schematic diagram of a vehicle cleaning system provided in this embodiment, and referring to fig. 4, the vehicle cleaning process specifically includes:
(1) when the vehicle enters the operation area, the image acquisition module acquires images around the vehicle and sends the acquired images to the data processing module. The data processing module utilizes machine recognition to recognize and analyze images around the vehicle, respectively recognizes and positions stains of the vehicle body in the four images, and calculates the stain area S in each image as shown in the following formulaDirtAnd the current side of the car body area SAll-purposeRatio a ofnObtaining the stain grade of a certain side of the vehicle:
(2) weighting and calculating the four stain grades of the vehicle body obtained in the step (1) according to the following formula to obtain the final stain grade a of the whole vehicle, wherein k is1～k4As weighting coefficients:
a＝k1a1+k2a2+k3a3+k4a4
(3) identifying the reflectivity of the vehicle body, and respectively obtaining the reflectivity grades l of the four images according to preset judging grades1、l2、l3、l4. A lower grade indicates a dirtier body. And then, weighting and calculating the four obtained reflectivities to obtain a final reflectivities grade l, wherein k 'is shown in the formula'1～k′4As weighting coefficients:
l＝k′1l1+k′2l2+k′3l3+k′4l4
(4) after obtaining the stain grade a and the glistening degree grade l, the weighting calculation is carried out again as the following formula, and the final judgment A of the stain grade of the vehicle is obtained, wherein k is1″～k″2As weighting coefficients:
A＝k1″a+k″2l
(5) and the data processing module selects a corresponding cleaning mode according to the vehicle stain grade A. And then the control module respectively sets the water yield and the water pressure of the water spraying module and the spraying amount of the cleaning agent spraying module according to the pre-stored control parameters according to the cleaning mode given by the data processing module, and then the cleaning operation of the current round is started, and the indicator light module is changed into red.
(6) And (3) after the first round of cleaning is finished, performing quick-drying operation, after the quick-drying operation is finished, performing (1) - (4) again, judging whether the stain grade A 'of the vehicle after the cleaning of the current round meets the requirement, and if not, performing one round of cleaning again according to the stain grade A' of the current vehicle.
(7) And after the second round of cleaning is finished, calculating the stain grade of the vehicle again, and if the stain grade meets the requirement, finishing the cleaning of the current round. If the requirement of the stain grade of the vehicle is still not met, system misjudgment is possibly caused by damage of vehicle paint of the vehicle body, the indicating lamp module turns yellow to inform workers of the fact that manual inspection is needed, the identified stain is calibrated by the data processing module, an image with the calibration is output to the display module, and the workers can conveniently confirm the position of the stain with the problem in system judgment. If the requirement of the stain grade of the vehicle is met, the cleaning of the wheel is finished, and the indicator light module is changed into green.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a communication bus 504, wherein the processor 501, the communication Interface 502, and the memory 503 are configured to communicate with each other via the communication bus 504. The processor 501 may call logic instructions in the memory 503 to perform the following method: acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the light reflection degree of each image identified from each image; if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle according to the stain grade, and cleaning the peripheral surface of the vehicle according to the determined cleaning mode; wherein, different washing modes set up the water spray volume and the water spray pressure of spraying water when wasing vehicle surface all around, the volume of spraying of cleaner when wasing vehicle surface all around to and whether carry out fast dry operation after wasing vehicle surface all around.
In addition, the logic instructions in the memory 503 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, embodiments of the present invention disclose a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the methods provided by the above-mentioned method embodiments, for example, comprising: acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the light reflection degree of each image identified from each image; if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle according to the stain grade, and cleaning the peripheral surface of the vehicle according to the determined cleaning mode; wherein, different washing modes set up the water spray volume and the water spray pressure of spraying water when wasing vehicle surface all around, the volume of spraying of cleaner when wasing vehicle surface all around to and whether carry out fast dry operation after wasing vehicle surface all around.
In another aspect, an embodiment of the present invention further provides a non-transitory readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, for example, the method includes: acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the light reflection degree of each image identified from each image; if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle according to the stain grade, and cleaning the peripheral surface of the vehicle according to the determined cleaning mode; wherein, different washing modes set up the water spray volume and the water spray pressure of spraying water when wasing vehicle surface all around, the volume of spraying of cleaner when wasing vehicle surface all around to and whether carry out fast dry operation after wasing vehicle surface all around.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method of vehicle washing, comprising:
before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, acquiring at least one image acquired from the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle with stains and/or the reflection degree of each image identified from each image;
if the stain grade does not meet the requirement of the preset stain grade, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times of the peripheral surface of the vehicle, the water spraying amount and water spraying pressure of water sprayed when the peripheral surface of the vehicle is cleaned every time, the spraying amount of a cleaning agent when the peripheral surface of the vehicle is cleaned every time, and whether quick drying operation is carried out after the peripheral surface of the vehicle is cleaned in the current round;
the acquiring at least one image collected on the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the areas of the peripheral surface of the vehicle with stains and the light reflection degree of each image, which are identified from each image, comprises:
acquiring at least one image acquired on the surface around the vehicle, identifying an area with stains in the image through a pre-trained machine identification model for each image, and determining the reflectivity grade of the image through a pre-trained reflectivity grade evaluation model;
determining the stain level of the surface around the vehicle according to the first area of the area where the surface around the vehicle shown in each image is stained, the second area of the surface around the vehicle shown in each image and the reflectivity level of each image;
determining the stain level of the surrounding surface of the vehicle according to the first area of the region where the surrounding surface of the vehicle shown in each image is stained, the second area of the surrounding surface of the vehicle shown in each image, and the reflectivity level of each image, comprising:
for each image, according to the formula
Determination of soil class component element anWherein S isDirtAnd SAll-purposeRespectively representing a first area of a region where dirt exists on the peripheral surface of the vehicle shown by the same image and a second area of the peripheral surface of the vehicle shown in the image, and n is the nth image of the at least one image collected on the peripheral surface of the vehicle;
according to the formula
Determining a first stain level component a, wherein N is a total number of images of at least one image acquired of the surface around the vehicle, knTo correspond to anA first preset weighting coefficient;
according to the formula
Determining a second stain level component l, wherein lnIs the retroreflectivity rating, k 'of the n-th image'nIs corresponding to lnSecond preset weighting coefficients;
according to the formula A ═ k ″)1a+k″2l determining the stain level A, k' of the surrounding surface of the vehicle1Is a third predetermined weighting factor, k ″, corresponding to a2A fourth preset weighting factor corresponding to/.
2. The method for cleaning the vehicle according to claim 1, wherein if the stain level does not meet a preset stain level requirement, determining a cleaning mode for cleaning the peripheral surface of the vehicle according to the stain level, and cleaning the peripheral surface of the vehicle according to the cleaning mode determined by the vehicle, comprises:
if the stain grade does not meet the requirement of the preset stain grade, judging whether the number of wheels for cleaning the peripheral surface of the vehicle is less than or equal to the preset number of wheels, if so, determining a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel according to the stain grade, so as to clean the peripheral surface of the vehicle according to the cleaning mode determined by the wheel, and otherwise, sending prompt information for prompting manual inspection of the peripheral surface of the vehicle;
and after each round of cleaning the peripheral surface of the vehicle according to the determined cleaning mode, increasing the number of the rounds of cleaning the peripheral surface of the vehicle by one round.
3. The method for washing the vehicle according to claim 1, wherein the machine recognition model is a model obtained by machine learning training in advance according to the first sample image and used for recognizing the region where the stains exist in the image of the surface around the vehicle; the first sample image is an image in which a region where stains exist in the image of the surface around the vehicle is marked; the model for determining the degree of reflection of the light is obtained through machine learning training according to a second sample image with the degree of reflection marked in advance according to the light intensity during photographing.
4. An apparatus for vehicle washing, comprising:
the device comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for acquiring at least one image acquired on the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a previous wheel, and determining the stain grade of the peripheral surface of the vehicle according to the region of the peripheral surface of the vehicle, which is identified from each image, with stains and/or the reflectivity of each image;
the cleaning unit is used for determining a cleaning mode for cleaning the peripheral surface of the vehicle by a wheel according to the stain grade if the stain grade does not meet the requirement of a preset stain grade, and cleaning the peripheral surface of the vehicle by the cleaning mode determined by the wheel;
the different cleaning modes set the cleaning times of the peripheral surface of the vehicle, the water spraying amount and water spraying pressure of water sprayed when the peripheral surface of the vehicle is cleaned every time, the spraying amount of a cleaning agent when the peripheral surface of the vehicle is cleaned every time, and whether quick drying operation is carried out after the peripheral surface of the vehicle is cleaned in the current round;
the acquiring at least one image collected on the peripheral surface of the vehicle, and determining the stain grade of the peripheral surface of the vehicle according to the areas of the peripheral surface of the vehicle with stains and the light reflection degree of each image, which are identified from each image, comprises:
acquiring at least one image acquired on the surface around the vehicle, identifying an area with stains in the image through a pre-trained machine identification model for each image, and determining the reflectivity grade of the image through a pre-trained reflectivity grade evaluation model;
determining the stain level of the surface around the vehicle according to the first area of the area where the surface around the vehicle shown in each image is stained, the second area of the surface around the vehicle shown in each image and the reflectivity level of each image;
determining the stain level of the surrounding surface of the vehicle according to the first area of the region where the surrounding surface of the vehicle shown in each image is stained, the second area of the surrounding surface of the vehicle shown in each image, and the reflectivity level of each image, comprising:
for each image, according to the formula
Determination of soil class component element anWherein S isDirtAnd SAll-purposeRespectively representing a first area of a region where dirt exists on the peripheral surface of the vehicle shown by the same image and a second area of the peripheral surface of the vehicle shown in the image, and n is the nth image of the at least one image collected on the peripheral surface of the vehicle;
according to the formula
Determining a first stain level component a, wherein N is a total number of images of at least one image acquired of the surface around the vehicle, knTo correspond to anA first preset weighting coefficient;
according to the formula
Determining a second stain level component l, wherein lnIs the retroreflectivity rating, k 'of the n-th image'nIs corresponding to lnSecond preset weighting coefficients;
according to the formula A ═ k ″)1a+k″2l determining the stain level A, k' of the surrounding surface of the vehicle1Is a third predetermined weighting factor, k ″, corresponding to a2A fourth preset weighting factor corresponding to/.
5. The vehicle cleaning system is characterized by comprising an image acquisition module, a data processing module and a control module;
the image acquisition module is used for acquiring images of the peripheral surface of the vehicle before the peripheral surface of the vehicle is cleaned for the first time or after the peripheral surface of the vehicle is cleaned by a front wheel, and transmitting the acquired images to the data processing module;
the data processing module is used for executing the vehicle cleaning method according to any one of claims 1-3 and sending the determined cleaning mode for cleaning the peripheral surface of the vehicle in the current round to the control module;
the control module cleans the peripheral surface of the vehicle according to the received cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel;
the different cleaning modes set the cleaning times for cleaning the peripheral surface of the vehicle, the water spraying amount and the water spraying pressure for spraying water when the peripheral surface of the vehicle is cleaned at each time, the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at each time, and whether the quick drying operation is carried out after the peripheral surface of the vehicle is cleaned at the current wheel.
6. The vehicle washing system of claim 5, further comprising a water spray module, a cleaning agent spray module, and a quick dry module;
the control module is used for cleaning the peripheral surface of the vehicle by controlling the water spraying module, the cleaning agent spraying module and/or the quick drying module according to the cleaning times for cleaning the peripheral surface of the vehicle, which are set in the received cleaning mode for cleaning the peripheral surface of the vehicle by the current wheel;
wherein, the control module controls the in-process of washing to vehicle surface all around each time:
according to the cleaning mode set by the wheel for cleaning the peripheral surface of the vehicle, controlling the water spraying module to spray water on the peripheral surface of the vehicle when the peripheral surface of the vehicle is cleaned at this time and controlling the cleaning agent spraying module to spray the cleaning agent on the peripheral surface of the vehicle according to the spraying amount of the cleaning agent when the peripheral surface of the vehicle is cleaned at this time;
whether quick-drying operation is carried out on the peripheral surface of the vehicle or not after the cleaning is finished is set according to a cleaning mode for cleaning the peripheral surface of the vehicle by the wheel, and the quick-drying module is controlled;
if the cleaning area for cleaning the surfaces around the vehicle is rectangular, the water spraying module, the cleaning agent spraying module and the quick drying module are arranged at each corner of the cleaning area.
7. The vehicle washing system of claim 5, further comprising a display module and an indicator light module;
the image acquisition module comprises at least one camera;
the display module is used for displaying the images acquired by the image acquisition module on the peripheral surface of the vehicle and/or displaying the images which are sent by the data processing module and mark the areas where stains exist on the peripheral surface of the vehicle;
the indicating lamp module is used for sending first indicating information after receiving prompt information sent by the data processing module for manually checking the peripheral surface of the vehicle, and sending second indicating information after receiving information sent by the data processing module that the stain grade meets the preset stain grade requirement;
if the cleaning area for cleaning the peripheral surface of the vehicle is rectangular, at least one camera is arranged in the middle of each edge of the cleaning area and used for photographing the peripheral surface of the vehicle in the cleaning area.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the method of vehicle washing according to any one of claims 1 to 3.
9. A non-transitory readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of vehicle washing according to any one of claims 1 to 3.
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| CN111873949A (en) * | 2020-08-10 | 2020-11-03 | 配天机器人技术有限公司 | Intelligent car washing method and system |
| CN112401773B (en) * | 2020-11-19 | 2022-02-11 | 深圳市吉万实业有限公司 | Ground washing and suction drying unmanned system, equipment and control method |
| CN112550235A (en) * | 2020-11-20 | 2021-03-26 | 北京中铁建建筑科技有限公司 | Automatic wheel washing system and wheel washing method thereof |
| CN112677933B (en) * | 2021-01-15 | 2021-11-23 | 湖南凌翔磁浮科技有限责任公司 | Intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN112721863A (en) * | 2021-01-26 | 2021-04-30 | 中铁二十局集团市政工程有限公司 | Building site vehicle cleaning device and method |
| US20220250590A1 (en) * | 2021-02-09 | 2022-08-11 | Ford Global Technologies, Llc | Systems And Methods To Wash A Vehicle In A Car Wash |
| CN113397435A (en) * | 2021-07-10 | 2021-09-17 | 中建海龙科技有限公司 | Automatic floor cleaning method and equipment and storage medium |
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| CN109017695A (en) * | 2018-07-27 | 2018-12-18 | 沃尔新(北京)自动设备有限公司 | The car washer of rail transit rolling stock |
| CN209132174U (en) * | 2018-11-22 | 2019-07-19 | 大连明和光电有限公司 | A kind of optical detection apparatus |
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