CN212112231U

CN212112231U - Walking type unmanned vehicle washing equipment with positioning and bypassing vehicle function

Info

Publication number: CN212112231U
Application number: CN202021115777.XU
Authority: CN
Inventors: 施恒之
Original assignee: Zhejiang Yikm Intelligent Technology Co ltd
Current assignee: Zhejiang Yikm Intelligent Technology Co ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-12-08
Anticipated expiration: 2030-06-16

Abstract

The utility model provides a walking unmanned washing equipment with location vehicle function of detouring, it includes the equipment casing at least, the control panel, remove subassembly and location sensing subassembly, wherein the bottom that the equipment casing was arranged in to the removal subassembly receives the control of control panel, location sensing subassembly UNICOM control panel, wherein the removal subassembly includes two independent removal wheels of being controlled motor control at least, wherein location sensing subassembly includes target identification sensor and obstacle sensor at least, this walking unmanned washing equipment can fix a position and treat near the vehicle that washes of position and self-propelled removal of vehicle, and take walking unmanned washing equipment can intelligently detour after removing the vehicle position and treat that the vehicle that washes its washs.

Description

Walking type unmanned vehicle washing equipment with positioning and bypassing vehicle function

Technical Field

The utility model relates to an unmanned carwash field, in particular to walking unmanned carwash equipment with location vehicle function of detouring.

Background

The unmanned car washer refers to equipment capable of automatically cleaning cars without intervention of car washer personnel, and due to the advantages of low cleaning cost, low efficiency and the like, the adoption of the unmanned car washer for cleaning the cars is slowly becoming the first choice of a car owner.

At present, the common unmanned car washer on the market still has limitations in practical application due to certain limitations of the structure of the car washer. Specifically, a common unmanned car washer is a gantry type car washer, and the whole car washer is fixed in a specific place for a vehicle owner to use. When a user needs to use the gantry type car washer to wash a vehicle, the user needs to drive the vehicle to be washed into a car washing cavity of the gantry type car washer by himself, and in the process of driving the vehicle into the car washing cavity, the situation that the vehicle scratches the gantry type car washer or the vehicle collides with the gantry type car washer is likely to occur, and the driving accidents are losses for car owners and operators of unmanned car washers. In addition, the user needs to drive the vehicle into the car washing chamber by himself, and the vehicle can be washed only when the vehicle drives into a specific car washing area, and the car washing mode is still a semi-automatic car washing mode.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned washing equipment of walking with location vehicle function of detouring, this unmanned washing equipment of walking can fix a position the position of waiting to wash the vehicle and remove by oneself and wait to wash near the vehicle, and take unmanned washing equipment of walking to can intelligently detour after removing the carwash position and wait to wash the vehicle and wash it.

In order to realize the purpose of any one of the above utility model, this technical scheme provides a walking unmanned carwash equipment with location vehicle function of detouring, and it includes the equipment casing at least, the control panel, removes subassembly and location sensing subassembly, and wherein the bottom that the equipment casing was arranged in to the removal subassembly is controlled by the control panel, location sensing subassembly UNICOM control panel, and wherein the removal subassembly includes two independent removal wheels of being controlled by the motor at least, and wherein the location sensing subassembly includes target identification sensor and obstacle sensor at least.

Compared with the prior art, the utility model has the following characteristics and beneficial effect:

1. set up the UNICOM control panel and control the removal subassembly of control panel control, remove the subassembly and include a plurality of independent control's removal wheel, the cooperation through a plurality of removal wheels can be controld this walking unmanned carwash equipment can realize the output of arbitrary speed, advances simultaneously and retreat, and turning and the pivot rotation of arbitrary angle to remove to appointed carwash position by oneself without obstacle.

2. The moving assembly of the scheme is controlled by the control board and can walk on the ground of the trackless platform, so that the application places of the moving assembly can run on different road surfaces such as cement ground, asphalt road, stone road and the like without any ground transformation.

3. Set up serial location sensing subassembly, through laser radar, two mesh structure light vision sensor, positioning sensor such as ultrasonic wave fix a position the car, control car washing robot accurately and paste the automobile body and scrub, do not hit the car when guaranteeing the laminating effect.

Drawings

Fig. 1 is a schematic structural diagram of a walking type unmanned vehicle washing device with a function of positioning a detour vehicle according to an embodiment of the present invention.

Fig. 2 is another schematic structural diagram of a walking type unmanned vehicle washing device with a function of positioning a detour vehicle according to an embodiment of the present invention.

In the figure: 10-equipment shell, 11-base, 12-accommodating chamber, 13-side wall body, 14-opening and closing door, 15-top cover, 20-moving component, 21-driving wheel, 22-driven wheel and 30-positioning sensing component.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purposes of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

The utility model provides a walking unmanned vehicle washing equipment with location bypass vehicle function, be different from traditional longmen reciprocating type car washer, this walking unmanned vehicle washing equipment can fix a position the vehicle position and move to corresponding carwash position by oneself, very big one advantage lies in, can realize the carwash mode that the carwash equipment cooperates the vehicle to be washed, and such mode can improve user's carwash experience to a great extent; in addition, the walking type unmanned vehicle washing equipment can move without rails, and further the application places of the equipment are expanded.

Specifically, this walking unmanned vehicle washing equipment with location vehicle function of detouring at least includes: the device shell 10, the control panel, remove subassembly 20 and location sensing subassembly 30, wherein the bottom that the removal subassembly 20 was placed in the device shell 10 is controlled by the control panel, location sensing subassembly 30 UNICOM control panel to with the information transmission who obtains for the control panel, wherein remove subassembly 20 includes two independent controlled motor control's removal wheel at least, wherein location sensing subassembly includes target identification sensor and obstacle sensor at least, the target identification sensor discerns the vehicle target, the radar sensor discerns the barrier of this walking unmanned vehicle washing equipment in-process of marcing.

Of course, various vehicle washing assemblies are included in the walking type unmanned vehicle washing equipment, and the structure and the matching of the vehicle washing assemblies are not the key points of the description of the scheme, so that the cumbersome description is not performed. After the walking type unmanned vehicle washing equipment with the positioning and bypassing vehicle linkage function moves to the position near the vehicle to be washed, the bypassing vehicle washes the vehicle according to the set vehicle washing rule.

Description of the structure of the moving assembly 20:

the moving assembly 20 includes a moving wheel and a control motor (not shown in the drawings) connected to and controlling the moving wheel, the control motor is controlled by the control board, the moving wheel moves forward and backward under the control of the control motor, and makes a turn at any angle and rotates in place, so as to realize free walking of the walking type unmanned vehicle washing apparatus, and the control and moving principles of the moving wheel are well known to those skilled in the art.

In a specific embodiment of the present disclosure, the moving assembly 20 at least includes a driving wheel 21 and a driven wheel 22, wherein the driving wheel 21 is disposed at the bottom of the device housing 10, the driven wheel 22 is disposed at a side position of the bottom of the device housing 10, the driving wheel 21 is connected to the control motor to move under the control of the control motor, so as to drive the driven wheel 22 to move, and preferably, the driving wheel 21 is disposed at a central position of the bottom of the device housing 10 to ensure walking stability.

Specifically, the moving assembly 20 at least comprises two driving wheels 21 and four driven wheels 22 arranged at the corners of four sides, wherein the two driving wheels 21 are controlled by two independent control motors, the driven wheels 22 are universal driven wheels, and the walking type unmanned vehicle washing equipment can move forward and backward, turn at any angle and rotate in place through the differential control of the two driving wheels 21. Preferably, the two driving wheels 21 are respectively disposed at both sides of the middle position of the bottom of the apparatus housing 10. For example, if the walking type unmanned car washing equipment is controlled to rotate to the right, the operation speed of the driving wheel 21 on the left side can be controlled to be faster than that of the driving wheel 21 on the right side.

In some embodiments, the moving assembly 20 of the driving type unmanned vehicle washing device provided by the present disclosure obtains remote vehicle positioning information transmitted by the control board, and then moves to the washing position, where the vehicle positioning information includes walking path information of the unmanned vehicle washing device, or the control board obtains the walking path information after converting the vehicle positioning information, and the control motor of the moving assembly 10 controls the driving wheel 21 and the driven wheel 22 according to the walking path information.

In other preferred embodiments, the walking type unmanned vehicle washing equipment can self-position the spatial position of the vehicle in the vehicle washing area to acquire the vehicle positioning information; or the walking type unmanned vehicle washing equipment can self-position the space position of the vehicle in the vehicle washing area, and the vehicle positioning information provided by the remote end is combined to carry out calibration.

At this moment, the walking unmanned vehicle washing equipment of this scheme includes location sensing subassembly 30, wherein the target identification sensor in the location sensing subassembly 30 includes laser radar at least, the vision sensor, the obstacle sensor includes ultrasonic radar sensor (concrete sensor structure and set up not drawn in the position map), wherein laser radar and the spatial position of the vehicle in the location vehicle washing region of vision sensor discernment, thereby obtain vehicle locating information, vehicle locating information obtains walking path information after handling analysis after transmitting the control panel, walking path information provides removal subassembly 20 again and realizes the removal of unmanned vehicle washing equipment, wherein ultrasonic radar discerns the obstacle of unmanned vehicle washing equipment in the in-process of marcing, transmit after obtaining obstacle information and update walking path information after handling analysis after the control panel.

The laser radar transmits a detection laser beam to a target, then compares a received target echo reflected from the target with a transmitting signal, and after appropriate processing, related information of the target, such as target distance, direction, height, speed, posture, even shape and other parameters, can be obtained. The vision sensor who adopts in this scheme adopts two mesh structure light 3D vision sensors, can play the same function with laser radar. The two methods are different in the principle of obtaining the spatial position relationship of the vehicle, and have advantages and disadvantages in practical application.

It is worth mentioning that in the scheme, the laser radar and the vision sensor both play a role in identifying the vehicle target, in the preferred embodiment of the scheme, two sensors with similar functions are combined, a fusion algorithm is built in the control panel, the fusion algorithm fuses data of the two sensors, and the problem of inaccurate positioning caused by failure of a certain sensor under special conditions is avoided. In other words, in practical application, there are a plurality of spatial coordinate information transmitted by a plurality of sensors, and each spatial coordinate information has a certain difference, and the fusion algorithm compares the plurality of information to obtain accurate information. For example, a fusion algorithm acquires position information a acquired by a laser radar and position information b acquired by a vision sensor, judges whether the position information a and the position information b are consistent or position difference data, and selects accurate information from the position information b to acquire more accurate positioning information.

The vehicle positioning information acquired by the laser radar and the vision sensor can be used for formulating traveling path information and controlling the distance between the traveling type unmanned vehicle washing equipment and the vehicle to be washed. Specifically, the walking type unmanned vehicle washing equipment reaches the position near a vehicle to be washed, the distance between the walking type unmanned vehicle washing equipment and the vehicle starts to be detected, the walking type unmanned vehicle washing equipment obtains the distance information between the walking type unmanned vehicle washing equipment and the surface of the vehicle body through the feedback data of the laser radar and the binocular vision sensor, if the distance is too close, the walking type unmanned vehicle washing equipment slightly keeps away from the vehicle through controlling the movement trend of the moving platform until the distance meets the requirement, and through continuous accurate fine adjustment, the walking type unmanned vehicle washing equipment stably keeps a certain distance away from the vehicle to be washed, and the vehicle can bypass.

The feedback data of the vision sensor and the ultrasonic radar sensor can also help the unmanned car washing equipment to analyze moving objects or obstacles on the traveling path of the unmanned car washing equipment, and once the data feedback is possible, the obstacles collide with the unmanned car washing equipment, the unmanned car washing equipment can actively stop and know that the obstacles disappear. Specifically, the ultrasonic radar sensor acquires whether an obstacle exists on a traveling path through ultrasonic waves, the vision sensor judges whether the obstacle is a target vehicle, if the obstacle is not determined to exist by the target vehicle, the control panel updates the traveling path information, the updating refers to stopping, and the updating can even be backing.

That is, the positioning sensing assembly 30 provided in this scheme can acquire the positioning information of the vehicle, and then formulate or update the walking path information of the unmanned vehicle washing device, and also can acquire the obstacle that may be encountered on the traveling path to update the walking path information, the moving assembly 20 walks to the position to be washed near the vehicle to be washed after acquiring the walking path information, and the positioning sensing assembly 30 ensures that a certain spacing distance is kept between the walking unmanned vehicle washing device and the vehicle to be washed, so as to avoid damaging the vehicle to be washed. In other words, the washing mode of the unmanned car washing device matched with the car to be washed is realized through the matching of the positioning sensing assembly 30 and the moving assembly 20.

In addition, a gyroscope is arranged in the walking type unmanned vehicle washing equipment, the gyroscope acquires acceleration information of the walking type unmanned vehicle washing equipment and judges walking speed according to the acceleration information, and the gyroscope is used for judging self walking track and judging self real-time space coordinate position. Namely, after the original position of the walking type unmanned vehicle washing equipment is set, the gyroscope acquires the walking path of the walking type unmanned vehicle washing equipment and is used for calculating and judging to obtain the real-time position information of the walking type unmanned vehicle washing equipment. However, the gyroscope may generate accumulated errors when the walking unmanned vehicle washing device walks for a long distance, and at this time, the binocular vision sensor installed on the walking unmanned vehicle washing device may periodically identify and locate the markers in the field environment to correct the position deviation of the walking unmanned vehicle washing device.

The walking type unmanned vehicle washing device moves to a position to be washed near a vehicle to be washed through the moving assembly 20 or the cooperation of the moving assembly 20 and the positioning sensing assembly 30, and bypasses the vehicle to complete the washing of the vehicle. In addition, the traveling component 20 travels to a position near a vehicle to be washed, trackless movement of the traveling type unmanned vehicle washing equipment can be achieved, the traveling type unmanned vehicle washing equipment can directly run on various fields, and the traveling type unmanned vehicle washing equipment can run on different road surfaces such as cement ground, asphalt road, stone road and the like without any ground transformation.

In addition, the equipment shell 10 of the scheme at least comprises a base 11, a side wall body 13, an opening and closing door 14 and a top cover 15, wherein the side wall body 13 is arranged on the base 11 to form an accommodating cavity 12 at least provided with a one-side opening, the opening and closing door 14 is movably connected with the side wall body 13 to change positions between a door opening state and a door closing state, and the opening and closing door 14 moves towards the direction of the one-side opening, so that when the opening and closing door 14 is in the door opening state, the walking type unmanned equipment is in a closed state, the top cover 15 is arranged on the top side of the side wall body 13, the moving assembly 20 is arranged at the bottom of the base 11, and various sensors in the positioning and sensing assembly 20 are arranged outside the equipment shell 10 to better acquire detection information.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.

Claims

1. A walking type unmanned vehicle washing equipment with the function of positioning a vehicle around, which is characterized by at least comprising:

the device comprises a device shell (10), a control board, a moving assembly (20) and a positioning sensing assembly (30), wherein the moving assembly (20) is arranged at the bottom of the device shell (10) and is controlled by the control board, the positioning sensing assembly (30) is communicated with the control board, the moving assembly (20) at least comprises two moving wheels which are independently controlled by a control motor, and the positioning sensing assembly (30) at least comprises an object recognition sensor and an obstacle sensor.

2. The walk-behind unmanned car washing apparatus with function of positioning the detour vehicle according to claim 1, wherein the moving assembly (20) comprises at least a driving wheel (21) and a driven wheel (22), wherein the driving wheel (21) is disposed at the bottom of the apparatus housing (10), and the driven wheel (22) is disposed at a side position of the bottom of the apparatus housing (10).

3. The walk-behind unmanned vehicle washing equipment with the function of positioning the passing vehicle according to claim 2, characterized in that the moving assembly (20) comprises at least two driving wheels (21) and four driven wheels (22) arranged at the four corners, wherein the two driving wheels (21) are controlled by two independent control motors, and the driven wheels (22) are universal driven wheels.

4. The pedestrian-free vehicle washing apparatus with the function of positioning the passing vehicle according to claim 3, wherein the two driving wheels (21) are disposed on both sides of a middle position of the bottom of the apparatus case (10).

5. The walk-behind unmanned vehicle washing apparatus with function of locating passing vehicles according to claim 1, characterized in that the target recognition sensor in the location sensing assembly (30) comprises at least a lidar, a vision sensor and the obstacle sensor comprises an ultrasonic radar sensor.

6. The walking unmanned vehicle washing equipment with function of positioning the vehicle around according to claim 5, wherein the vision sensor is a binocular structured light 3D vision sensor.

7. The walk-behind unmanned vehicle washing device with function of positioning the detour vehicle according to claim 1, comprising a gyroscope, wherein the gyroscope obtains acceleration of the walk-behind unmanned vehicle washing device.

8. The walk-behind unmanned vehicle washing equipment with function of positioning the detour vehicle according to claim 1, characterized in that the equipment housing (10) at least comprises a base (11), a side wall body (13), an opening and closing door (14) and a top cover (15), wherein the side wall body (13) is arranged on the base (11) to form an accommodating chamber (12) at least provided with a single-side opening, and the opening and closing door (14) is movably connected with the side wall body (13) to change the position between a door closing state and a door opening state.

9. The walk-behind unmanned vehicle washing equipment with the function of positioning the detour vehicle according to claim 8, characterized in that the moving assembly (20) is arranged at the bottom of the base (11), and the positioning sensing assembly (30) is arranged outside the equipment shell (10).