CN111661010B - Walking car washing method and control system based on walking unmanned car washing equipment - Google Patents
Walking car washing method and control system based on walking unmanned car washing equipment Download PDFInfo
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- CN111661010B CN111661010B CN202010546785.8A CN202010546785A CN111661010B CN 111661010 B CN111661010 B CN 111661010B CN 202010546785 A CN202010546785 A CN 202010546785A CN 111661010 B CN111661010 B CN 111661010B
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The invention discloses a walking car washing method and a control system based on walking unmanned car washing equipment, and relates to the technical field of car washing machines. The system comprises a cloud control system, a car washing machine independent system and a car washing machine monitoring system, wherein the cloud control system is used for collecting, analyzing and processing position information and monitoring information sent by the car washing machine independent system and sending task information to the car washing machine independent system; the car washing machine independent control system uploads the position information to the cloud control system, receives and executes the command issued by the cloud control system, and performs information interaction with other car washing machine independent control systems, wherein the interactive information comprises real-time position information and control information of a command executed by the brush at the position, and the car washing machine is controlled by the system to perform cooperative car washing. According to the invention, the cloud-end controller is used for issuing the cooperative tasks to the multiple car washing machines to carry out cooperative car washing, so that the car washing speed is increased.
Description
Technical Field
The invention belongs to the technical field of car washing machines, and particularly relates to a walking car washing method and a control system based on walking unmanned car washing equipment.
Background
The car washer is a machine for automatically washing car by using computer to control brush and high-pressure water, and is mainly formed from control system, circuit, gas circuit, water circuit and mechanical structure. The car washer has the characteristics of simplicity in operation, attractive and elegant appearance, small damage to car paint and the like, room-type car washers are available in the existing markets, the car washer is large in occupied area, long in construction time consumption, single and stiff in car washing mode, and a certain assembly is damaged and cannot be used, so that the independent car washer which is rapid and flexible in construction and can cooperate with a clear vehicle is urgently needed.
Disclosure of Invention
The invention aims to provide a walking car washing method and a control system based on walking unmanned car washing equipment, wherein a plurality of car washing machines capable of washing cars independently are linked to carry out cooperative car washing, so that the speed of car washing is improved, and the single car washing machine can also finish independent car washing.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a walking car washing method based on walking unmanned car washing equipment, which comprises the following steps:
uploading the position information and the positioning information of the vehicle to a cloud-end controller through a first wireless module, and receiving a vehicle washing task issued by the cloud-end controller and identification information of other vehicle washing machines in the vehicle washing task;
searching the car washing machine corresponding to the identification information through the second wireless module, if the car washing machine corresponding to the identification information is searched, establishing communication, uploading a search result to the cloud-end controller, and executing a cooperative car washing task;
configuring an initial car washing route according to the initial position, transmitting the position information of the car washing route to other car washing machines and a cloud end controller through a second wireless module, and receiving real-time position information from other car washing machines;
recording the real-time position, generating a washed route according to the record, and adjusting a subsequent washing route according to the washed route.
Preferably, the real-time position information during the washing process is transmitted through the second wireless module and/or the first wireless module, and the real-time position information also comprises the execution information of the brush driving mechanism corresponding to the vehicle washing machine at the position at the time point.
Preferably, the car washing machine respectively sends status information to other car washing machines in real time, and the status information comprises driving mechanism execution status information, brush rotation status information and brush propulsion status information.
Preferably, the car washing machine respectively sends status information to other car washing machines in real time, and the status information comprises driving mechanism execution status information, brush rotation status information and brush propulsion status information.
Preferably, if the state information does not match the preset state information of the position of the car washing machine, the car washing machine feeds the information back to the cloud-end controller and the car washing machine associated at the moment, the car washing machine is not associated, a new car washing machine is added to replace the car washing machine, or the unwashed part is cooperatively washed by replanning routes through the remaining car washing machines.
Preferably, the cooperative car wash comprises the following steps:
acquiring a cooperative task, and calculating a pre-walking speed according to the real-time position of the cooperative task and the acquired walking path to be cleaned and through set cleaning time;
uploading an uncleaned walking path according to a certain time interval, and redistributing a path to be cleaned according to the pre-walking speed;
the cloud end controller plans the path again according to the number of the remaining cleaning machines which normally work if the cleaning machines break down.
If the identification information is searched by the second wireless module, the corresponding car washing machine is searched, and the search result is uploaded to the cloud-end controller and/or a separate car washing task is executed additionally.
Preferably, the second wireless module on the car washing machine is a bluetooth module.
Walking carwash control system based on unmanned carwash equipment of walking includes:
the cloud control system is used for collecting, analyzing and processing the position information and the monitoring information sent by the car washing machine independent system and sending task information to the car washing machine independent system;
and the car washing machine independent control system uploads the position information to the cloud control system, receives and executes the command sent by the cloud control system, and performs information interaction with other car washing machine independent control systems, wherein the interactive information comprises real-time position information and control information of the command executed by the brush at the position.
Preferably, the car washer is connected with the cloud control system through the first wireless module, and car washer independent control systems on different car washers are connected through the second wireless module.
Preferably, the car washing machine independent control system comprises:
the positioning module is used for positioning the position of the car washing machine;
the vision module is used for determining the spatial position of the vehicle in the vehicle washing area and determining the distance between the vehicle washing machine and the washed vehicle;
the execution module comprises a walking mechanism and a washing mechanism;
and the monitoring module is used for monitoring the running states of the brush driving washing mechanism and the running mechanism.
The invention has the following beneficial effects:
the cloud-end controller issues the cooperative tasks to the multiple car washing machines to carry out cooperative car washing, the car washing speed is increased compared with that of a single car washing machine, car washing path correction is carried out during cooperative car washing, the machines for cooperative car washing can work to the end as much as possible before car washing is completed, the total car washing time is further shortened, and execution information and washing paths of the car washing machines are monitored during car washing, so that repeated washing, incomplete washing and incomplete washing caused by faults of a certain car washing machine are avoided, simultaneous washing can be carried out through the multiple car washing machines, and a car washing mode is more flexible.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a walking car washing method based on a walking unmanned car washing device of the invention;
FIG. 2 is a flow chart of a method for cooperative car washing;
fig. 3 is a block diagram of a control system for walking car washing based on the walking unmanned car washing equipment.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 and 2, the present invention relates to a walking car washing method based on a walking unmanned car washing device, comprising:
at least two car washing machines are arranged on one car washing position, each car washing machine is provided with an independent control system, a first infinite module interacting with a cloud-end controller is arranged in each car washing machine, and a second infinite module, a specific Bluetooth module, interacting with the first car washing machines and the other car washing machines is arranged in each car washing position.
The corresponding car washing machine is provided with an independent travelling mechanism and a brush driving washing mechanism, wherein the travelling mechanism comprises a moving platform, the moving platform is composed of 2 driving wheels and universal driven wheels at 4 angles, the two driving wheels are controlled by two independent motors, the other driving wheels are controlled by an independent control system of the car washing machine, the output of any speed can be realized, and the robot can advance and retreat, turn at any angle and rotate in place by carrying out differential control on the two driving wheels.
The system is provided with a positioning sensor, wherein the positioning sensor comprises a laser radar, a binocular structured light 3D vision sensor, an ultrasonic radar, the laser radar and the binocular vision sensor can be used for positioning the space position of a vehicle in a car washing area and assisting a robot to identify a target, so that a traveling route close to the vehicle is formulated through a cloud end controller, the data of the two sensors can be fused by a fusion algorithm, the problem of inaccurate positioning caused by failure of a certain sensor is avoided, the mounted ultrasonic radar can be prevented from colliding with obstacles in the advancing or turning process of the robot, and safety is ensured; after the robot reaches near the vehicle, the distance between the robot and the vehicle starts to be monitored, the robot can acquire the distance information between the robot and the surface of the vehicle body through the feedback data of the laser radar and the binocular vision sensor, and if the distance is too close, the robot slightly keeps away from the vehicle through controlling the movement direction of the mobile platform until the distance meets the requirement. Through continuous accurate fine adjustment, the robot can stably keep a certain distance away from a vehicle to be washed, the vehicle can detour, and a gyroscope is arranged on the other robot to judge the self walking track and judge the self real-time space coordinate position. The gyroscope can generate errors when the robot walks for a long distance, and at this time, the binocular vision camera installed on the robot can periodically identify and position markers in the field environment to correct the position deviation of the robot.
The brush driving mechanism controls the lifting of the brush in a cooperative manner through the two 3-section lifting electric cylinders; the front and back displacement of the brush is controlled through a synchronous pulley mechanism and a guide rail, so that the brush is close to or far away from the vehicle;
the lifting motor drives the lifting plate to do arc motion relative to the vertical plane and the horizontal plane, and then the position of the hairbrush is driven to change.
The lifting assembly drives the bearing to move through the lifting motor, so that the lifting motion of the cleaning brush in the vertical direction is realized, the posture of the cleaning brush can be kept at any angle of-30 degrees to 150 degrees, specifically, one side of the lifting plate is connected with the lifting motor through the bearing, the output shaft of the lifting motor controls the bearing to do arc-shaped circular motion between a vertical plane and a horizontal plane, and the motion stroke is between-30 degrees and 150 degrees.
When the car body needs to be brushed, the brush can be kept in a low-position vertical state; when the car window needs to be brushed, the brush is kept at a high position and keeps an inclination angle of about minus 10 degrees so as to be attached to the car window; when the car roof needs to be brushed, the brush keeps a horizontal state and moves up and down in a self-adaptive mode according to the outer contour of the car roof.
The device also comprises a box body for containing the washing liquid and a power supply for supplying power.
In addition, the running state of the components is monitored in real time.
The device used for washing the car is modularized and integrated into a car washing robot with an independent control system.
The specific car washing machine uploads the position information and the positioning information of the car to the cloud end controller through the first wireless module, the cloud end controller analyzes the uploaded information according to the number of the car washing machines on or near the parking space, two car washing machines are preferably configured for the trolley to wash the car, and the cloud end controller issues a cooperative car washing task after the car washing task is determined.
A car washing machine receives the car washing task issued by the cloud-end controller and the identification information of other car washing machines in the car washing task, searches the car washing machine corresponding to the identification information through a second wireless module, if the car washing machine is searched, establishes communication connection, uploads the search result to the cloud-end controller and executes a cooperative car washing task, and after the authentication is completed;
the method comprises the steps that an initial car washing route is configured according to the initial position, meanwhile, self position information is transmitted to other car washing machines and a cloud end controller through a second wireless module, the information is transmitted more quickly and accurately through short-distance information transmission, real-time position information from the other car washing machines is received, and the two car washing machines can also perform information verification through mutual transmission of information, so that mutual collision is avoided;
recording the real-time position, generating a washed route according to the record, avoiding repeated washing, adjusting subsequent washing routes according to the washed route, and performing optimized adjustment to avoid the situation that one car washer spends time around obstacles or accurately adjusts the time and stops after another car washer washes the washing task which needs to be completed, so that the whole washing time is prolonged.
Shortening the car washing time can make two car washing machines carry out the cooperation in coordination, and the car washing in coordination includes following step:
acquiring cooperative tasks at the two car washing machines, wherein the other car washing machines can have more than two cooperative tasks, and calculating the pre-walking speed according to the real-time position of the car washing machines and the acquired walking path to be cleaned and the set cleaning time; under the ideal condition, the two machines simultaneously complete the respectively distributed car washing tasks, so that the car brushing is completed. In the actual cooperative vehicle washing process, the vehicle washing speeds of the two vehicle washing machines are influenced by the aging of the machines, the obstacle avoidance requirement, the time length for accurately correcting the distance between the vehicle washing machines and the vehicle and the like.
Therefore, repeated correction is needed in the car washing process, so that the finishing time nodes of the two car washing machines are close, unwashed walking paths are uploaded according to a certain time interval, and the paths to be cleaned are redistributed according to the pre-walking speed, namely, the cleaning length is distributed;
and uploading the uncleaned walking path to the cloud end controller at least before the pre-cleaning time is over half, and distributing the length of the path to be cleaned for the second time according to the pre-walking speed.
The straightening is carried out at least 1 time during the car washing according to the steps.
In addition, the real-time position information during the washing is transmitted through the second wireless module and/or the first wireless module, and the real-time position information also comprises the execution information of the brush driving mechanism corresponding to the car washing machine in the position at the time point.
Preferably, the second wireless module and the first wireless module transmit real-time position information during washing respectively, the real-time position information at the time point also comprises execution information of a brush driving mechanism corresponding to a car washing machine at the position, the information is transmitted to the cloud end controller to be subjected to master control through the cloud end controller, and the cloud end can acquire real-time information of washing of the vehicle when the vehicle is washed, so that a worker can have an opportunity to master the information in real time.
If only the information interaction between the first infinite module and the second infinite module is carried out with the second infinite module, the outside cannot easily know the car washing information.
During actual washing, in order to reduce the time consumption of up-and-down driving and angle adjustment of the brushes, namely, a car washing machine keeps a brush posture to quickly wash a specific part (not including a roof) on the side of a car body, the corresponding washing route is recorded, the part of the roof is not washed during execution of a program, at the moment, a subdivision washing path can be recorded, namely, one path is divided into a roof washing path and a car side washing path, at the moment, washing can be carried out by four car washing machines optionally, and the roof and the car side can be respectively washed once by using two car washing machines repeatedly and washing the route again.
When the car washing machine is used for washing the cars, if the washing machine fails, the cloud-end controller replans the paths according to the number of the remaining washing machines which normally work.
Specifically, the working states of the brush driving washing mechanism and the travelling mechanism are monitored and uploaded to the cloud-end controller while the vehicle is washed by the vehicle washing machine.
The car washing machine respectively sends state information to other car washing machines in real time to carry out mutual monitoring, the fault of a first infinite module of a certain car washing machine is avoided, and important state information comprises driving mechanism execution state information, brush rotation state information and brush propulsion state information.
If the driving mechanism is in failure and needs to remove the failed car washing machine, a new car washing machine can be added to replace the failed car washing machine, the route of the car washing machine for the finished cleaning route can be distributed through the rest car washing machines, and if the cleaning caused by the rotation of the brush and the propulsion of the brush is incomplete, the route of the car washing machine after the failure of the brush driving is distributed.
If the state information does not accord with the preset state information of the position of the car washing machine, namely the car washing machine is in a position path for washing the side body of the car, and the brush in the car washing machine is in a flat state (the state is the state for washing the roof), the car washing machine feeds the information back to the cloud end controller and the car washing machine which is associated at the moment, the system fault of the car washing machine which is associated with the car washing machine is cancelled, a new car washing machine is added to replace the car washing machine, or the path is re-planned through the rest car washing machines to carry out cooperative car washing on the part which is not washed.
If the identification information is searched by the second wireless module, the corresponding car washing machine is searched, and the search result is uploaded to the cloud-end controller and/or a separate car washing task is executed additionally.
And uploading the information to a cloud end controller, and distributing the car washing task through the cloud end controller.
If the two car washers executing the cooperative task fail to be connected for multiple times, the cloud-end controller can execute one of the car washers to perform an independent car washing task.
Preferably, the second wireless module on the car washing machine is a bluetooth module.
Specifically, as shown in fig. 3, the walking car washing control system based on the walking unmanned car washing device includes:
the cloud control system is used for collecting, analyzing and processing the position information and the monitoring information sent by the car washing machine independent system and sending task information to the car washing machine independent system; the task information can be a cooperative car washing task or a car washing task alone.
And the car washing machine independent control system uploads the position information to the cloud control system, receives and executes the command sent by the cloud control system, and performs information interaction with other car washing machine independent control systems, wherein the interactive information comprises real-time position information and control information of the command executed by the brush at the position.
Preferably, the car washer is connected with the cloud control system through the first wireless module, and car washer independent control systems on different car washers are connected through the second wireless module.
Preferably, the car washing machine independent control system comprises:
the positioning module is used for positioning the position of the car washing machine;
the vision module is used for determining the spatial position of the vehicle in the vehicle washing area and determining the distance between the vehicle washing machine and the washed vehicle;
the execution module comprises a traveling mechanism and a washing mechanism, wherein the washing mechanism is a brush driving mechanism;
and the monitoring module is used for monitoring the running states of the brush driving washing mechanism and the running mechanism.
The above modules correspond to sensors, mechanisms or combinations of mechanisms disclosed in a walking car washing method based on walking unmanned car washing equipment.
It should be noted that, in the foregoing system embodiment, each unit included is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A walking car washing method based on walking unmanned car washing equipment is characterized by comprising the following steps:
uploading the position information and the positioning information of the vehicle to a cloud-end controller through a first wireless module, and receiving a vehicle washing task issued by the cloud-end controller and identification information of other vehicle washing machines in the vehicle washing task;
searching the car washing machine corresponding to the identification information through the second wireless module, if the car washing machine corresponding to the identification information is searched, establishing communication, uploading a search result to the cloud-end controller, and executing a cooperative car washing task;
configuring an initial car washing route according to the initial position, transmitting the position information of the car washing route to other car washing machines and a cloud end controller through a second wireless module, and receiving real-time position information from other car washing machines;
recording the real-time position, generating a washed route according to the record, and adjusting a subsequent washing route according to the washed route;
when the car body is brushed, the brush is kept in a low-position vertical state; when brushing the car window, the brush is kept at a high position and is attached to the car window at an inclined angle; when the car roof is brushed, the brush keeps a horizontal state and moves up and down in a self-adaptive manner according to the outer contour of the car roof; the car washing machine respectively sends state information to other car washing machines in real time, wherein the state information comprises driving mechanism execution state information, brush rotation state information and brush propulsion state information;
if the state information does not accord with the preset state information of the position of the car washing machine, namely the car washing machine is on the position path of the car washing machine for washing the side body of the car, and the brush in the car washing machine is in the state of washing the top of the car at the moment, the car washing machine feeds the state information back to the cloud end controller and the associated car washing machine at the moment, the associated car washing machine is cancelled, a new car washing machine is added to replace the car washing machine, or the path is replanned through the rest car washing machines to carry out cooperative car washing on the part which is not washed.
2. The walking car washing method based on the walking unmanned car washing equipment of claim 1, wherein the real-time position information during washing is transmitted through the second wireless module and/or the first wireless module, and the execution information of the corresponding brush driving mechanism on the car washing machine in the real-time position is also included.
3. The walking car washing method based on walking unmanned car washing equipment according to claim 1 or 2, characterized in that the car washing machine respectively sends status information to other car washing machines in real time, and the status information includes driving mechanism execution status information, brush rotation status information and brush propulsion status information.
4. The walking car washing method based on the walking unmanned car washing equipment of claim 3, wherein if the state information does not match the preset state information of the location of the car washing machine, the car washing machine feeds the information back to the cloud-end controller and the car washing machine associated at the moment, the car washing machine is disassociated, a new car washing machine is added to replace the car washing machine, or the unwashed part is cooperatively washed by re-planning the route through the rest car washing machines.
5. The walking car washing method based on the walking unmanned car washing equipment of claim 4, wherein the cooperative car washing comprises the following steps:
acquiring a cooperative task, and calculating a pre-walking speed according to the real-time position of the cooperative task and the acquired walking path to be cleaned and through set cleaning time;
uploading an uncleaned walking path according to a certain time interval, and redistributing a path to be cleaned according to the pre-walking speed;
and if the cleaning machines break down, the cloud end controller replans the path according to the number of the remaining cleaning machines which normally work.
6. The walking vehicle washing method based on the walking unmanned vehicle washing equipment of claim 3, wherein if the identification information is searched by the second wireless module to find the corresponding vehicle washing machine, the search result is uploaded to a cloud-end controller and/or a separate vehicle washing task is executed.
7. The walking car washing method based on the walking unmanned car washing equipment of claim 1 or 6, wherein the second wireless module on the car washing machine is a Bluetooth module.
8. The walking unmanned vehicle washing control system based on walking vehicle washing equipment of claim 1, comprising:
the cloud end controller is used for collecting, analyzing and processing the position information and the monitoring information sent by the car washing machine independent system and sending task information to the car washing machine independent system;
and the car washing machine independent control system uploads the position information to the cloud end controller, receives and executes the command issued by the cloud end controller, and performs information interaction with other car washing machine independent control systems, wherein the interactive information comprises real-time position information and control information of the command executed by the brush at the position.
9. The walking unmanned vehicle washing control system based on walking car washing equipment of claim 8, wherein the car washing machine is connected with the cloud-end controller through a first wireless module, and the car washing machine independent control systems on different car washing machines are connected through a second wireless module.
10. The walking unmanned vehicle washing control system based on walking car washing equipment of claim 8, characterized in that, the car washing machine independent control system comprises:
the positioning module is used for positioning the position of the car washing machine;
the vision module is used for determining the spatial position of the vehicle in the vehicle washing area and determining the distance between the vehicle washing machine and the washed vehicle;
the execution module comprises a traveling mechanism and a washing mechanism;
and the monitoring module is used for monitoring the running states of the brush driving washing mechanism and the running mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546785.8A CN111661010B (en) | 2020-06-16 | 2020-06-16 | Walking car washing method and control system based on walking unmanned car washing equipment |
| PCT/CN2020/123415 WO2021253700A1 (en) | 2020-06-16 | 2020-10-23 | Locomotion-based vehicle washing method and control system based on unmanned mobile device for washing vehicles |
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|---|---|---|---|
| CN202010546785.8A CN111661010B (en) | 2020-06-16 | 2020-06-16 | Walking car washing method and control system based on walking unmanned car washing equipment |
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| CN111661010A CN111661010A (en) | 2020-09-15 |
| CN111661010B true CN111661010B (en) | 2022-12-30 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111661010B (en) * | 2020-06-16 | 2022-12-30 | 浙江驿公里智能科技有限公司 | Walking car washing method and control system based on walking unmanned car washing equipment |
| CN113682272B (en) * | 2021-09-26 | 2023-06-13 | 深圳市雅宝智能装备系统有限公司 | Car washer and brush monitoring method thereof |
| CN114185350B (en) * | 2021-12-06 | 2022-09-23 | 浙江驿公里智能科技有限公司 | Path control method and system of connecting shaft car washing equipment based on angle encoder |
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| CN111661010A (en) | 2020-09-15 |
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