WO2021253699A1 - Mobile automatic car wash apparatus - Google Patents

Mobile automatic car wash apparatus Download PDF

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Publication number
WO2021253699A1
WO2021253699A1 PCT/CN2020/123414 CN2020123414W WO2021253699A1 WO 2021253699 A1 WO2021253699 A1 WO 2021253699A1 CN 2020123414 W CN2020123414 W CN 2020123414W WO 2021253699 A1 WO2021253699 A1 WO 2021253699A1
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Prior art keywords
car washing
assembly
component
unmanned car
walking
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PCT/CN2020/123414
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French (fr)
Chinese (zh)
Inventor
施恒之
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浙江驿公里智能科技有限公司
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Priority to CN202010546778.8 priority Critical
Priority to CN202010546778.8A priority patent/CN111547015A/en
Application filed by 浙江驿公里智能科技有限公司 filed Critical 浙江驿公里智能科技有限公司
Publication of WO2021253699A1 publication Critical patent/WO2021253699A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S3/00Vehicle cleaning apparatus not integral with vehicles
    • B60S3/04Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S3/00Vehicle cleaning apparatus not integral with vehicles
    • B60S3/04Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
    • B60S3/06Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S3/00Vehicle cleaning apparatus not integral with vehicles
    • B60S3/04Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
    • B60S3/06Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle
    • B60S3/063Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle the axis of rotation being approximately vertical
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means

Abstract

A mobile automatic car wash apparatus comprises: car wash components, such as a lifting component (20), a brush position control component (30) and a cleaning brush (40), provided inside an apparatus housing (10); and a moving component (60) provided at a bottom portion of the apparatus housing (10). The mobile automatic car wash apparatus can move to a set car wash position, and then the car wash components provided therein cooperate to complete washing of a car. The invention replaces car wash methods performed by conventional gantry-type automatic car wash apparatuses. The mobile automatic car wash apparatus can adaptively move relative to a car to be washed to complete washing of the car, has a small size, and can be applied in a wider range of scenarios.

Description

一种行走式无人洗车设备Walking type unmanned car washing equipment 技术领域Technical field
本发明涉及无人洗车机领域,特别涉及一种行走式无人洗车设备。The invention relates to the field of unmanned car washing machines, in particular to a walking type unmanned car washing equipment.
背景技术Background technique
无人洗车机,指的是无需洗车人员介入即可全自动完成车辆清洗的设备,由于其具有清洗成本低效率高等优势,采用无人洗车机进行车辆清洗正慢慢成为有车一族的首选。The unmanned car washing machine refers to equipment that can fully clean the vehicle without the intervention of the car washing staff. Due to its advantages of low cleaning cost and high efficiency, the use of the unmanned car washing machine for vehicle cleaning is slowly becoming the first choice for car owners.
然而,目前市面上常见的无人洗车机其本身结构存在一定的限制,导致其在实际应用中依旧存在局限。具体的,常见的无人洗车机为龙门式洗车机,整机被固定在特定场所供有车一族使用。龙门式洗车机的体积非常庞大,通常一台龙门式洗车机的尺寸达到长2.7米、宽3.6米、高3米,进而导致无人洗车机的可选应用场地受到限制以及运营成本的提高。比如,目前的龙门式洗车机无法被设置在限高的地下车库,租借公共场所也需要根据占地面积每年支付大笔的场地费。However, the unmanned car washing machine currently on the market has certain limitations in its own structure, resulting in its limitations in practical applications. Specifically, a common unmanned car washing machine is a gantry-type car washing machine, and the whole machine is fixed in a specific place for use by car owners. The size of the gantry-type car washing machine is very large. Usually, the size of a gantry-type car washing machine is 2.7 meters in length, 3.6 meters in width, and 3 meters in height, which leads to restrictions on the optional application sites of the unmanned car washer and increases in operating costs. For example, the current gantry-type car washing machine cannot be installed in an underground garage with a height limit, and a large amount of venue fees must be paid every year for renting public places based on the area occupied.
置于室外使用的龙门式洗车机还存在不便于安装的问题。龙门式洗车机包括行走轨道,置于行走轨道上的龙门架及各种洗车设备,且重量高达2.5吨左右,这些特点给龙门式洗车机的安装和搬运带来了诸多不便。比如,目前的龙门式洗车机的轨道结构导致其在安装前需要选择平整的路面,或者对路面进行平整处理。The gantry-type car washing machine used outdoors also has the problem of inconvenience to install. The gantry car washing machine includes a walking track, a gantry placed on the walking track and various car washing equipment, and the weight is up to about 2.5 tons. These characteristics bring a lot of inconvenience to the installation and handling of the gantry car washing machine. For example, the track structure of the current gantry-type car washing machine leads to the need to choose a smooth pavement or smooth the pavement before installation.
总结而言,目前的无人洗车已经成为洗车行业的趋势,但是目前的龙门式洗车机在实际使用过程中存在着局限。In summary, the current unmanned car washing has become a trend in the car washing industry, but the current gantry car washing machine has limitations in actual use.
发明内容Summary of the invention
本发明的目的在于提供一种取代传统龙门式洗车机实现智能无人洗车的行走式无人洗车设备,该行走式无人洗车设备结构高度精简,可无轨自由移动,自动探寻车辆并智能精确绕行车辆进行车辆清洗。The purpose of the present invention is to provide a walking type unmanned car washing equipment that replaces the traditional gantry type car washing machine to realize intelligent unmanned car washing. Run the vehicle for vehicle cleaning.
为了实现以上任一发明目的,本发明提供一种行走式无人洗车设备, 包括;设备壳体,控制板,被控制板连接控制的升降组件,刷体位置控制组件,清洗刷以及移动组件;其中移动组件置于设备壳体的底部,其中升降组件,刷体位置控制组件以及清洗刷依次连接且置于设备壳体内,升降组件至少包括设置在设备壳体高度方向上的升降电缸,刷体位置控制组件至少包括依次连接的平移组件,抬举组件以及旋转组件,其中平移组件平行水平面设置,抬举组件相对垂直面和水平面之间做弧周运动,旋转组件连接控制清洗刷。In order to achieve any of the above objectives of the invention, the present invention provides a walking type unmanned car washing equipment, including: an equipment housing, a control board, a lifting assembly controlled by the control board connection, a brush position control assembly, a cleaning brush and a moving assembly; The moving component is placed at the bottom of the equipment housing, and the lifting component, the brush position control component and the cleaning brush are connected in sequence and placed in the equipment housing. The body position control component at least includes a translation component, a lifting component and a rotating component which are connected in sequence, wherein the translation component is arranged parallel to the horizontal plane, the lifting component moves in an arc relative to the vertical surface and the horizontal plane, and the rotating component is connected to control the cleaning brush.
相较现有技术,本发明具有以下的特点和有益效果:Compared with the prior art, the present invention has the following characteristics and beneficial effects:
1.该行走式无人洗车设备不同于传统的龙门式洗车机,以模块化高度集成各类洗车组件,尺寸体积相较传统的龙门式洗车机小25%,所需占地面积小,对场地的高度要求也低,可方便地进入地下车库等场景,扩大无人洗车设备的应用场景1. The walking type unmanned car washing equipment is different from the traditional gantry type car washing machine. It integrates various car washing components with a high degree of modularity. The size and volume are 25% smaller than the traditional gantry type car washing machine, and the required area is small. The height requirement of the site is also low, and it can easily enter the underground garage and other scenes, expanding the application scenarios of unmanned car washing equipment
2.无需固定在特定场所可自由移动,同时实现无轨移动以在各个场地上自由运行,无需进行任何地面改造,就可以在水泥地,柏油路,石子路等不同路面运行。2. It can move freely without being fixed in a specific place, and at the same time, it can realize trackless movement to run freely on various sites. It can run on different roads such as cement ground, asphalt road, and gravel road without any ground modification.
3.涉及三轴联动的配套清洗刷组件的升降组件和刷体位置控制组件,清洗刷组件的角度在-30度到150度之间任意变化,以使得该行走式无人洗车设备的清洗刷组件可对任意车型进行清洗,确保车辆清洗效果。3. The lifting assembly and the brush position control assembly of the matching cleaning brush assembly involving three-axis linkage, the angle of the cleaning brush assembly can be changed arbitrarily between -30 degrees and 150 degrees, so that the cleaning brush of the walking unmanned car washing equipment The components can be cleaned for any vehicle type to ensure the vehicle cleaning effect.
4.设置系列的定位传感组件,以使得该行走式无人洗车设备可以精准地抵达清洗位置,实现洗车设备配合待洗车辆的洗车方式,而不是让待洗车辆配合洗车设备,提高了洗车用户的用户体验的同时可使得无人洗车设备和待洗车辆的贴合度更高。4. Set up a series of positioning sensor components, so that the walking unmanned car washing equipment can accurately reach the washing position, and realize the car washing equipment cooperates with the car washing method of the vehicle to be washed, instead of letting the vehicle to be washed cooperate with the car washing equipment, which improves the car washing The user experience of the user can also make the unmanned car washing equipment and the vehicle to be washed more closely fit.
附图说明Description of the drawings
图1是根据本发明提供的一实施例的行走式无人洗车设备的结构示意图。Fig. 1 is a schematic structural diagram of a walking type unmanned car washing equipment according to an embodiment of the present invention.
图2是根据本发明提供的一实施例的行走式无人洗车设备的清洗刷组件置于设备内的结构示意图。Fig. 2 is a schematic structural diagram of a washing brush assembly of a walking type unmanned car washing equipment placed in the equipment according to an embodiment of the present invention.
图3是根据本发明提供的一实施例的行走式无人洗车设备的清洗刷组 件活动向外式的结构示意图。Fig. 3 is a schematic diagram of a movable outward structure of a cleaning brush assembly of a walking type unmanned car washing equipment according to an embodiment of the present invention.
图4是根据本发明提供的一实施例的行走式无人洗车设备的局部结构示意图。Fig. 4 is a partial structural diagram of a walking type unmanned car washing equipment according to an embodiment of the present invention.
图5是根据本发明提供的一实施例的行走式无人洗车设备的局部结构示意图。Fig. 5 is a partial structural diagram of a walking type unmanned car washing equipment according to an embodiment of the present invention.
图6是根据本发明提供的一实施例的行走式无人洗车设备的局部结构示意图。Fig. 6 is a partial structural diagram of a walking type unmanned car washing equipment according to an embodiment of the present invention.
图中:10-设备壳体,11-底座,12-容置腔室,13-侧壁体,131-滑动轨,14-开合门,141-滑动件,142-门体,143-门连接件,144-旋转电机,15-顶盖,151-前盖片,20-升降组件,21-连接横杆,22-升降电缸,30-刷体位置控制组件,31-旋转组件,311-旋转电机,312-电机输出轴,32-抬举组件,321-抬举板,322-抬举电机,323-轴承,324-固定套,33-平移组件,331-平移主板,332-齿轮带,333-带轮,334-平移次板,40-清洗刷,41-刷毛,42-刷毛杆,50-定位传感组件,60移动组件,61-从动轮,62-主动轮。In the picture: 10-device housing, 11-base, 12-accommodating chamber, 13-side wall body, 131-sliding rail, 14-opening and closing door, 141-sliding part, 142-door body, 143-door Connecting parts, 144-rotating motor, 15-top cover, 151-front cover, 20-lifting assembly, 21-connection bar, 22-lifting electric cylinder, 30-brush position control assembly, 31-rotating assembly, 311 -Rotating motor, 312-motor output shaft, 32-lifting assembly, 321-lifting plate, 322-lifting motor, 323-bearing, 324-fixing sleeve, 33-translation assembly, 331-translation main board, 332-gear belt, 333 -Belt wheel, 334-translational secondary board, 40-cleaning brush, 41-bristles, 42-bristle rod, 50-positioning sensor assembly, 60 moving assembly, 61-driven wheel, 62-driving wheel.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of the present invention.
本领域技术人员应理解的是,在本发明的揭露中,术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系,其仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此上述术语不能理解为对本发明的限制。Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above-mentioned terms should not be construed as limiting the present invention.
可以理解的是,术语“一”应理解为“至少一”或“一个或多个”,即在一个实施例中,一个元件的数量可以为一个,而在另外的实施例中,该元件的数量可以为多个,术语“一”不能理解为对数量的限制。It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, and in another embodiment, the number of the element The number can be more than one, and the term "one" cannot be understood as a restriction on the number.
本技术方案的行走式无人洗车设备提供了一种完全不同于传统的龙门式无人洗车机的无人洗车方案,该行走式无人洗车设备可在洗车场所探寻定位车辆位置,移动到对应的清洗位置并智能精确绕行车辆进行刷洗,实现洗车设备配合待洗车辆的无人洗车方案,且该行走式无人洗车设备集成各类洗车设备以达到结构高度精简的效果,扩大了无人洗车设备的应用场所。The walking type unmanned car washing equipment of this technical solution provides an unmanned car washing solution completely different from the traditional gantry type unmanned car washing machine. The washing position of the car and intelligently and accurately bypass the vehicle for scrubbing, to realize the unmanned car washing scheme of the car washing equipment to cooperate with the vehicle to be washed, and the walking unmanned car washing equipment integrates various car washing equipment to achieve the effect of highly streamlined structure and expand the unmanned Application places of car washing equipment.
本方案提供的行走式无人洗车设备至少包括:设备壳体10,控制板,被控制板连接控制的升降组件20,刷体位置控制组件30,清洗刷40以及移动组件60,其中移动组件60置于设备壳体10的底部,以在获取到控制板的移动指令时实现行走式无人洗车设备的移动,其中升降组件20,刷体位置控制组件30以及清洗刷依次连接且置于设备壳体10上,升降组件20至少包括设置在设备壳体10高度方向上的升降电缸22,以在获取到控制板的升降指令后在高度方向上升降清洗刷40,刷体位置控制组件30至少包括依次连接的平移组件33,抬举组件32以及旋转组件31,其中平移组件33平行水平面设置,抬举组件32相对垂直面和水平面之间做弧周运动,或者说,抬举组件32相对高度方向做抬举运动,旋转组件31连接控制清洗刷40,刷体位置控制组件30在获取到控制板的位置调节指令后控制清洗刷40做三轴运动。The walking unmanned car washing equipment provided by this solution at least includes: an equipment housing 10, a control board, a lifting assembly 20 controlled by the control board connection, a brush position control assembly 30, a cleaning brush 40 and a moving assembly 60, of which the moving assembly 60 It is placed at the bottom of the equipment housing 10 to realize the movement of the walking unmanned car washing equipment when the movement instruction of the control panel is obtained. The lifting assembly 20, the brush body position control assembly 30 and the cleaning brush are connected in sequence and placed in the equipment housing On the body 10, the lifting assembly 20 at least includes a lifting electric cylinder 22 arranged in the height direction of the equipment housing 10 to lift the cleaning brush 40 in the height direction after obtaining the lifting instruction of the control panel. The brush body position control assembly 30 is at least It includes a translation component 33, a lifting component 32, and a rotating component 31 connected in sequence. The translation component 33 is arranged parallel to the horizontal plane, and the lifting component 32 moves in an arc relative to the vertical surface and the horizontal plane. In other words, the lifting component 32 performs lifting relative to the height direction. For movement, the rotating assembly 31 is connected to control the cleaning brush 40, and the brush body position control assembly 30 controls the cleaning brush 40 to perform three-axis movement after obtaining the position adjustment instruction of the control board.
本方案提供的行走式无人洗车设备可定位待洗车辆的位置后通过移动组件60移动到对应的清洗位置,随后通过升降组件20和刷体位置控制组件30来调节清洗刷40的位置,通过旋转组件31旋转清洗刷40实现对待洗车辆的清洗。The walking-type unmanned car washing equipment provided by this solution can locate the position of the vehicle to be washed and then move it to the corresponding washing position through the moving assembly 60, and then adjust the position of the washing brush 40 through the lifting assembly 20 and the brush body position control assembly 30. The rotating assembly 31 rotates the washing brush 40 to realize the washing of the vehicle to be washed.
当然,该行车式无人洗车设备内还包括水洗组件(图中未画出)和供能组件,水洗组件至少包括置于该行走式无人洗车设备上的供水箱和供水管,供水管将供水箱内的水向外传输,配合清洗刷40实现对待洗车辆的清洗,供能组件为该行走式无人洗车设备内的设备提供能量支持,而水洗组件和供能组件的具体结构,以及水洗组件与清洗刷40配合的技术为本领域技术人员熟知的技术内容,可参考龙门式洗车机内对应的结构,本申请人在此方案中不对其进行说明。Of course, the traveling-type unmanned car washing equipment also includes a washing component (not shown in the figure) and an energy supply component. The washing component at least includes a water supply box and a water supply pipe placed on the traveling-type unmanned car washing equipment. The water in the water supply tank is transmitted outwards, and the washing brush 40 is used to realize the washing of the vehicle to be washed. The energy supply component provides energy support for the equipment in the walking unmanned car washing equipment, and the specific structure of the water washing component and the energy supply component, and The technology of the water washing component and the washing brush 40 is well known to those skilled in the art, and the corresponding structure in the gantry car washing machine can be referred to, and the applicant will not describe it in this solution.
与现有的龙门式无人洗车设备内的水洗组件不同的是,本方案的行走式无人洗车设备内的供水箱内设有水位传感器,当水位传感器发现供水箱内 的水位低于阈值时传输信号给控制板,控制板传输补水路径信息给移动组件10,移动组件10根据补水路径信息行走到对应的补水处进行补水。当然,补水可以是人工补水也可以自补水,若采用自补水的方式,在补水处设置有自补水装置,该行走式无人洗车设备通过激光雷达和视觉传感器(下面关于定位传感组件部分的内容会进行说明)判断自补水装置的接口位置,然后自动连接上该接口进行补水。Different from the washing components in the existing gantry-type unmanned car wash equipment, the water level sensor in the water supply tank of the walking unmanned car wash equipment of this scheme is that when the water level sensor finds that the water level in the water supply tank is lower than the threshold value The signal is transmitted to the control board, and the control board transmits the water replenishment path information to the mobile component 10, and the mobile component 10 walks to the corresponding water replenishment place to replenish water according to the water replenishment path information. Of course, the water replenishment can be artificial or self-replenishment. If the self-replenishment method is adopted, a self-replenishment device is installed at the water replenishment place. The content will be explained) Determine the position of the interface of the self-replenishing device, and then automatically connect to the interface for replenishing.
与现有的龙门式无人洗车设备内的供能组件不同的是,本方案的供能组件自带能量传感器,当能量传感器发现供能组件内的能量不足时传输信号给控制板,控制板传输供能补给路线信息给移动组件10,移动组件10根据供能补给路线信息行走到对应的供能处进行供能。若采用自供能的方式,在供能处设有自供能装置,该行走式无人洗车设备通过激光雷达和视觉传感器判断自供能装置的接口位置,然后自动连接上该接口进行补电。自补水和自补电原理同于目前市面上常见的扫地机器人的原理逻辑,在此不进行展开说明。Different from the energy supply components in the existing gantry-type unmanned car wash equipment, the energy supply components of this scheme have their own energy sensors. When the energy sensors find that the energy in the energy supply components is insufficient, they will transmit signals to the control board. The energy supply route information is transmitted to the mobile component 10, and the mobile component 10 walks to the corresponding energy supply place to supply energy according to the energy supply route information. If the self-supply method is adopted, a self-supplying device is installed at the energy supply place. The walking unmanned car washing equipment judges the interface position of the self-supplying device through lidar and visual sensors, and then automatically connects to the interface for recharging. The principles of self-replenishing water and self-replenishing electricity are the same as the principle logic of the common sweeping robots currently on the market, and will not be explained here.
移动组件10包括移动轮和连接控制移动轮的控制电机(图中未画出),控制电机受控制板的控制,移动轮在控制电机的控制下前进后退,进行任意角度的转弯以及原地旋转,进而实现行走式无人洗车设备的自由行走,移动轮的控制和移动原理也是本领域技术人员所熟知的。The moving assembly 10 includes a moving wheel and a control motor (not shown in the figure) connected to the control 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, turning at any angle and rotating in place In order to realize the free walking of the walking type unmanned car washing equipment, the control and movement principles of the movable wheels are also well known to those skilled in the art.
在本方案的具体实施例中,移动组件10至少包括主动轮62和从动轮61,其中主动轮62设置在设备壳体10底部,从动轮61设置在移动组件10的边侧位置,主动轮62和控制电机连接以在控制电机的控制下移动,带动从动轮61的移动,优选地,主动轮62设置在设备壳体10底部的中心位置上以保证行走的稳定性。In the specific embodiment of this solution, the mobile assembly 10 includes at least a driving wheel 62 and a driven wheel 61, wherein the driving wheel 62 is arranged at the bottom of the device housing 10, the driven wheel 61 is arranged at a side position of the mobile assembly 10, and the driving wheel 62 It is connected with the control motor to move under the control of the control motor to drive the movement of the driven wheel 61. Preferably, the driving wheel 62 is arranged at the center of the bottom of the equipment housing 10 to ensure the stability of walking.
具体的,移动组件10至少包括两个主动轮62和四个置于四侧角落位置的从动轮61,其中两个主动轮62由两个独立的控制电机控制,从动轮61为万向从动轮,通过两个主动轮62的差速控制,实现该行走式无人洗车设备的前进后退,任意角度的转弯以及原地旋转。举例来说,若想要控制该行走式无人洗车设备右转,则可控制位于左侧的主动轮62的运转速度较右侧的主动轮62的运转速度更快。Specifically, the mobile assembly 10 includes at least two driving wheels 62 and four driven wheels 61 placed at four corners. The two driving wheels 62 are controlled by two independent control motors, and the driven wheels 61 are universal driven wheels. , Through the differential control of the two driving wheels 62, the walking type unmanned car washing equipment forwards and backwards, turns at any angle, and rotates on the spot. For example, if it is desired to control the walking type unmanned car washing equipment to turn right, the driving wheel 62 on the left can be controlled to run faster than the driving wheel 62 on the right.
在一些实施例中,本方案提供的行车式无人洗车设备的移动组件60获 取远程的车辆定位信息后移动到清洗位置,其中车辆定位信息包括无人洗车设备的行走路径信息,或者,控制板转换车辆定位信息后得到行走路径信息,移动组件10的控制电机根据行走路径信息控制主动轮62和从动轮61。In some embodiments, the mobile component 60 of the driving-type unmanned car wash equipment provided in this solution moves to the washing position after acquiring remote vehicle positioning information, where the vehicle positioning information includes the walking path information of the unmanned car wash equipment, or the control panel After the vehicle positioning information is converted, the walking path information is obtained. The control motor of the moving assembly 10 controls the driving wheel 62 and the driven wheel 61 according to the walking path information.
而在另一些优选的实施例中,该行走式无人洗车设备可自定位洗车区域中的车辆的空间位置,以获取到车辆定位信息;或者,行走式无人洗车设备可自定位洗车区域中车辆的空间位置,结合远程端提供的车辆定位信息,进行校准。In other preferred embodiments, the walking unmanned car washing device can self-locate the spatial position of the vehicle in the car washing area to obtain vehicle positioning information; or, the walking unmanned car washing device can self-locate in the car washing area. The space position of the vehicle is calibrated in combination with the vehicle positioning information provided by the remote end.
此时,本方案的行走式无人洗车设备包括定位传感组件50,其中定位传感组件50至少包括激光雷达,视觉传感器以及超声波雷达(具体的雷达结构以及设置位置图中未画出),其中激光雷达和视觉传感器识别定位洗车区域中的车辆的空间位置,从而获取车辆定位信息,车辆定位信息传输给控制板后经过处理分析后得到行走路径信息,行走路径信息再提供给移动组件60实现无人洗车设备的移动,其中超声波雷达识别无人洗车设备在行进过程中的障碍物,得到障碍物信息后传输给控制板后经过处理分析后更新行走路径信息。At this time, the walking unmanned car wash equipment of this solution includes a positioning sensor assembly 50, where the positioning sensor assembly 50 at least includes a laser radar, a vision sensor, and an ultrasonic radar (the specific radar structure and installation location are not shown in the figure), The lidar and vision sensor identify and locate the spatial position of the vehicle in the car wash area to obtain vehicle positioning information. The vehicle positioning information is transmitted to the control board and processed and analyzed to obtain the walking path information. The walking path information is then provided to the mobile component 60 for implementation. The movement of unmanned car washing equipment, in which the ultrasonic radar recognizes obstacles in the process of unmanned car washing equipment, obtains the obstacle information and transmits it to the control board, and then updates the walking path information after processing and analysis.
激光雷达,通过向目标发射探测激光束,然后将接收到的从目标反射回来的目标回波与发射信号进行比较,作适当处理后,就可获得目标的有关信息,如目标距离、方位、高度、速度、姿态、甚至形状等参数,本方案利用激光雷达即可获取待洗车辆的目标识别,识别的内容不仅仅包括待洗车辆的位置还可包括待洗车辆的外观形状,便于后续洗车时进行针对性洗车。本方案中采用的视觉传感器采用双目结构光3D视觉传感器,能起到和激光雷达同样的功能。两者不同之处在于其获取车辆的空间位置关系的原理不同,在实际应用中各自存在优点和缺点。Lidar, by launching a detection laser beam to the target, and then comparing the received target echo reflected from the target with the transmitted signal, after proper processing, relevant information of the target can be obtained, such as target distance, azimuth, height , Speed, posture, and even shape. This solution uses lidar to obtain the target recognition of the vehicle to be washed. The recognition content includes not only the location of the vehicle to be washed, but also the appearance and shape of the vehicle to be washed, which is convenient for subsequent car washing. Carry out a targeted car wash. The vision sensor used in this solution adopts a binocular structured light 3D vision sensor, which can perform the same function as a lidar. The difference between the two is that they have different principles for obtaining the spatial position relationship of the vehicle, and each has advantages and disadvantages in practical applications.
值得一提的是,在本方案中激光雷达和视觉传感器均起到识别车辆目标的作用,本方案的优选实施例中结合两个起到类似功能的传感器,控制板内置融合算法,融合算法融合两类传感器的数据,避免在特殊情况下,某个传感器失效带来的定位不精确的问题。换言之,在实际应用中会有多个传感器传输的多个空间坐标信息,每个空间坐标信息之间存在一定的差异,融合算法会在多个信息中比对获取准确的信息。比如,融合算法获取激光雷达获 取的位置信息a以及视觉传感器获取的位置信息b,判断位置信息a和位置信息b是否一致或者位置差的数据,并从中选择准确的信息,以获取更为准确的定位信息。It is worth mentioning that in this solution, both lidar and vision sensors play the role of identifying vehicle targets. In the preferred embodiment of this solution, two sensors with similar functions are combined. The control board has a built-in fusion algorithm, and the fusion algorithm is fused. The data of the two types of sensors can avoid the problem of inaccurate positioning caused by the failure of a certain sensor under special circumstances. In other words, in actual applications, there will be multiple spatial coordinate information transmitted by multiple sensors, and there are certain differences between each spatial coordinate information, and the fusion algorithm will compare multiple pieces of information to obtain accurate information. For example, the fusion algorithm obtains the position information a obtained by the lidar and the position information b obtained by the vision sensor, determines whether the position information a and the position information b are the same or the data is different, and selects accurate information from them to obtain more accurate Positioning information.
激光雷达和视觉传感器获取到的车辆定位信息不仅仅可用于制定行走路径信息,还可以控制行走式无人洗车设备和待洗车辆之间的距离。具体的,该行走式无人洗车设备达到待洗车辆附近,开始检测自身和车辆的距离,通过激光雷达和双目视觉传感器的反馈数据,该行走式无人洗车设备获取自己与车身表面的距离信息,如果距离过近,该行走式无人洗车设备通过控制移动平台的运动走向,稍微远离车辆,直到距离符合要求位置,通过不断地精确微调,该行走式无人洗车设备实现稳定保持距离待洗车辆一定距离,实现车辆绕行。The vehicle positioning information obtained by lidar and vision sensors can be used not only to formulate walking path information, but also to control the distance between the walking unmanned car washing equipment and the vehicle to be washed. Specifically, the walking unmanned car washing equipment reaches the vicinity of the vehicle to be washed and starts to detect the distance between itself and the vehicle. Through the feedback data of lidar and binocular vision sensors, the walking unmanned car washing equipment obtains the distance between itself and the surface of the vehicle body. Information, if the distance is too short, the walking unmanned car washing equipment controls the movement of the mobile platform to move slightly away from the vehicle until the distance meets the required position. Through continuous and precise fine-tuning, the walking unmanned car washing equipment achieves a stable distance. Wash the vehicle a certain distance to realize the vehicle detour.
视觉传感器和超声波雷达传感器的反馈数据还能帮助无人洗车设备分析其行进路径上的移动物体或者障碍物,一旦数据反馈有可能障碍物会和无人洗车设备发生碰撞,无人洗车设备会主动停止,知道障碍物消失。具体的,超声波雷达传感器通过超声波获取行进路程上是否有障碍物,视觉传感器判断该障碍物是否为目标车辆,若不是目标车辆认定该障碍物存在,控制板更新行走路径信息,此处的更新指的是停止运行,此处的更新甚至可以是后退。The feedback data of vision sensors and ultrasonic radar sensors can also help the unmanned car wash equipment to analyze the moving objects or obstacles on its path. Once the data feedback may cause the obstacle to collide with the unmanned car wash equipment, the unmanned car wash equipment will take the initiative Stop until the obstacle disappears. Specifically, the ultrasonic radar sensor obtains whether there is an obstacle on the travel distance through ultrasonic waves, and the visual sensor determines whether the obstacle is the target vehicle. If the target vehicle does not identify the obstacle, the control panel updates the travel path information. The update here refers to Is to stop running, the update here can even be back.
即,本方案提供的定位传感组件50可获取车辆的定位信息,进而制定或者更新无人洗车设备的行走路径信息,还可获取行进路程上可能遇到的障碍物以更新行走路径信息,移动组件60在获取到行走路径信息后行走至待洗车辆附近的待洗位置,且该定位传感组件50保证该行走式无人洗车设备和待洗车辆之间保持一定的间隔距离,以避免损坏待洗车辆。换言之,通过定位传感组件50和移动组件60的配合实现无人洗车设备配合待洗车辆的洗车方式。That is, the positioning sensor component 50 provided by this solution can obtain the positioning information of the vehicle, and then formulate or update the walking path information of the unmanned car washing equipment, and can also obtain the obstacles that may be encountered on the travel distance to update the walking path information. The component 60 walks to the position to be washed near the vehicle to be washed after acquiring the walking path information, and the positioning sensor component 50 ensures that a certain distance is maintained between the walking unmanned car washing equipment and the vehicle to be washed to avoid damage Vehicles to be washed. In other words, the cooperation of the positioning sensor assembly 50 and the mobile assembly 60 realizes the car washing mode in which the unmanned car washing equipment cooperates with the vehicle to be washed.
另外,其上提到的行走式无人洗车设备内设置陀螺仪,陀螺仪获取该行走式无人洗车设备的加速度信息,并根据加速度信息判断行走速度,该陀螺仪用于判断自身的行走轨迹并判断出自己的实时空间坐标位置。即,本方案的行走式无人洗车设备的原始位置被设定好后,陀螺仪获取行走式无人洗 车设备的行走路径并用于计算判断得到行走式无人洗车设备的实时位置信息。但,陀螺仪在行走式无人洗车设备行走较远的距离时会出现累加误差,这个时候安装在行走式无人洗车设备上的双目视觉传感器会定期的通过对现场环境中的标记物进行识别定位,来修正行走式无人洗车设备的位置偏差。In addition, the walking unmanned car washing equipment mentioned above is equipped with a gyroscope. The gyroscope obtains the acceleration information of the walking unmanned car washing equipment and judges the walking speed based on the acceleration information. The gyroscope is used to judge its own walking trajectory. And judge their real-time spatial coordinate position. That is, after the original position of the walking unmanned car washing equipment in this solution is set, the gyroscope obtains the walking path of the walking unmanned car washing equipment and uses it for calculation and judgment to obtain the real-time position information of the walking unmanned car washing equipment. However, the gyroscope will have accumulated errors when the walking unmanned car washing equipment travels a long distance. At this time, the binocular vision sensor installed on the walking unmanned car washing equipment will periodically check the markers in the on-site environment. Recognize and locate to correct the position deviation of walking unmanned car washing equipment.
行走式无人洗车设备通过移动组件60,或者移动组件60和定位传感组件50的配合移动到待洗车辆附近的待洗位置,对车辆进行绕行以完成对车辆的清洗。且,本方案中通过移动组件60行走移动至待洗车辆附近,可实现行走式无人洗车设备的无轨移动,可以直接在各种场地上运行,无需进行任何地面改造,就可以在水泥地,柏油路,石子路等不同路面运行。The walking unmanned car washing equipment moves to a position to be washed near the vehicle to be washed through the cooperation of the moving assembly 60 or the moving assembly 60 and the positioning sensor assembly 50, and detours the vehicle to complete the washing of the vehicle. Moreover, in this solution, the mobile component 60 is moved to the vicinity of the vehicle to be washed, which can realize the trackless movement of the walking unmanned car washing equipment, which can be directly operated on various sites without any ground modification, and can be used on cement ground. Asphalt roads, gravel roads and other different roads run.
本方案提供的行走式无人洗车设备的一大特点就在于其结构高度精简,在其未处于工作状态时被集中收纳,以使得该行走式无人洗车设备的体积比龙门式无人洗车机小25%。A major feature of the walking unmanned car wash equipment provided by this solution is that its structure is highly simplified, and it is concentratedly stored when it is not in working condition, so that the volume of the walking unmanned car wash equipment is larger than that of the gantry type unmanned car wash machine. 25% less.
具体的,本方案的设备壳体10包括底座11,侧壁体13,开合门14以及顶盖15,其中侧壁体13置于底座11上形成至少设有单侧开口的容置腔室12,开合门14活动连接侧壁体13以在门关合状态和门开启状态之间变化位置,且开合门14朝向单侧开口的方向活动,以使得当开合门14处于门关合状态时,该行走式无人设备处于封闭状态,顶盖15置于侧壁体13的顶侧,升降组件20,刷体位置控制组件30以及清洗刷40收纳置于容置腔室12内,以使得该行走式无人洗车设备在非洗车状态时的尺寸大小控制为一个设备壳体10的尺寸大小即可。Specifically, the device housing 10 of this solution includes a base 11, a side wall 13, an opening and closing door 14, and a top cover 15. The side wall 13 is placed on the base 11 to form an accommodation chamber with at least one side opening. 12. The opening and closing door 14 is movably connected to the side wall body 13 to change position between the door closed state and the door open state, and the opening and closing door 14 moves toward the unilateral opening direction, so that when the opening and closing door 14 is closed In the closed state, the walking unmanned equipment is in a closed state, the top cover 15 is placed on the top side of the side wall 13, the lifting assembly 20, the brush position control assembly 30 and the cleaning brush 40 are accommodated in the accommodation chamber 12 , So that the size of the walking-type unmanned car washing equipment in the non-car washing state can be controlled to the size of one equipment housing 10.
升降组件20采用多段式电缸设计,具体的,升降组件20包括设置在高度方向上的升降电缸22以及连接电缸22的连接横杆21,连接横杆21连接刷体位置控制组件30,以使得升降组件20可通过带动刷体位置控制组件30进而带动清洗刷40在高度方向上移动。The lifting assembly 20 adopts a multi-stage electric cylinder design. Specifically, the lifting assembly 20 includes a lifting electric cylinder 22 arranged in the height direction and a connecting cross bar 21 connected to the electric cylinder 22, and the connecting cross bar 21 is connected to the brush position control assembly 30, In this way, the lifting assembly 20 can drive the brush body position control assembly 30 to drive the cleaning brush 40 to move in the height direction.
为了保证升降组件20升降时的稳定性和匀称性,升降电缸22对称分置于清洗刷40的两侧,且两侧的升降电缸22同步驱动实现清洗刷40的高度位置的变化,以此方式也可保证整体结构的稳定性。在本方案的具体实施例中,选择三段式结构的升降电缸22,以使得清洗刷40可刷洗60CM-220CM高度之间的任意表面。In order to ensure the stability and uniformity of the lifting assembly 20 during lifting, the lifting electric cylinder 22 is symmetrically arranged on both sides of the cleaning brush 40, and the lifting electric cylinders 22 on both sides are driven synchronously to realize the change of the height position of the cleaning brush 40. This method can also ensure the stability of the overall structure. In the specific embodiment of this solution, a three-stage structure of the lifting electric cylinder 22 is selected, so that the cleaning brush 40 can scrub any surface between the height of 60CM-220CM.
为了更优化尺寸结构,本方案的连接横杆21连接于升降电缸22靠近顶端的位置,连接横杆21横跨清洗刷所在位置并连接平移组件33。且升降电缸22的顶端连接顶盖15,以驱动顶盖15随之一起发生位置变动,这样的好处在于避免顶盖影响清洗刷40的位置调节。In order to optimize the size and structure, the connecting cross bar 21 of this solution is connected to a position close to the top end of the lifting electric cylinder 22, and the connecting cross bar 21 spans the position where the cleaning brush is located and is connected to the translation assembly 33. In addition, the top end of the lifting electric cylinder 22 is connected to the top cover 15 to drive the top cover 15 to change its position. The advantage of this is to prevent the top cover from affecting the adjustment of the position of the cleaning brush 40.
值得一提的是,传统的龙门式洗车机的高度至少需要比车辆本身高度高,这样才可以保证车辆能够进入龙门式洗车机内被清洗;且在传统的龙门式洗车机的盖顶是固定的,清洗刷难以在其内进行自由的升降,导致龙门洗车机的高度直接相关于清洗高度,从而导致龙门式洗车机的高度较高,难以被应用在有限高的场所。而,本方案的行走式无人洗车设备的升降组件20设置就使得整机高度大幅度地减少,整机的体积尺寸也得到很好的优化。It is worth mentioning that the height of the traditional gantry car washing machine needs to be at least higher than the height of the vehicle itself, so as to ensure that the vehicle can enter the gantry car washing machine to be cleaned; and the roof of the traditional gantry car washing machine is fixed However, it is difficult for the cleaning brush to lift freely in it, which causes the height of the gantry car washer to be directly related to the cleaning height, resulting in a higher height of the gantry car washer, which is difficult to be used in places with limited height. However, the installation of the lifting assembly 20 of the walking-type unmanned car washing equipment of this solution greatly reduces the height of the whole machine, and the volume size of the whole machine is also well optimized.
刷体位置控制组件30的平移组件33采用同步带轮的机构,带动清洗刷40在水平方向上前移或后退,实现靠近或远离车辆的操作。The translation assembly 33 of the brush position control assembly 30 adopts a mechanism of a timing belt wheel to drive the cleaning brush 40 to move forward or backward in the horizontal direction, so as to realize the operation close to or away from the vehicle.
具体的,平移组件30包括平移主板331,齿轮带332,带轮333,平移次板334以及驱动电机(图中未标出),其中平移主板331和连接横杆21连接,平移次板334和抬举组件32连接,平移次板334和平移主板331之间以同步带轮传动的方式进行平移,不同于其他传统方式,同步带轮传动可承载更重的传动物以及控制传动的平行度,本方案的清洗刷40,抬举组件32,旋转组件31等元件具有相当分量的重量,故本方案在此采用同步带轮传动的方式进行平移。Specifically, the translation assembly 30 includes a translation main board 331, a gear belt 332, a pulley 333, a translation secondary board 334, and a driving motor (not shown in the figure). The lifting assembly 32 is connected, and the translational sub-board 334 and the main-board 331 are driven by a synchronous belt wheel. Unlike other traditional methods, the synchronous belt wheel drive can carry heavier transmission objects and control the parallelism of the transmission. The cleaning brush 40, the lifting assembly 32, the rotating assembly 31 and other components of the solution have a considerable weight, so this solution adopts a synchronous belt wheel transmission method for translation.
齿轮带332设置在平移主板331的底侧,带轮333连接平移次板334,且带轮333连接驱动电机,其中齿轮带332内侧齿结构和带轮333的外齿结构匹配,以使得带轮333可在齿轮带332内沿着设计的行程移动。The gear belt 332 is arranged on the bottom side of the translation main board 331, the pulley 333 is connected to the translation secondary board 334, and the pulley 333 is connected to the drive motor. 333 can move within the gear belt 332 along the designed stroke.
值得一提的是,本方案的平移次板334沿着水平方向的行程移动,设定无人洗车设备的高度为垂直方向。It is worth mentioning that the translational sub-board 334 of this solution moves along the stroke in the horizontal direction, and the height of the unmanned car washing equipment is set to the vertical direction.
抬举组件32包括抬举板321,抬举电机322以及轴承323,其中抬举板321活动连接于平移次板334,抬举板321通过轴承322连接抬举电机322,连接有清洗刷40的旋转组件31连接抬举板321,抬举电机322带动抬举板321相对垂直面和水平面之间做弧周运动,进而带动清洗刷40的位置变动。The lifting assembly 32 includes a lifting plate 321, a lifting motor 322, and a bearing 323. The lifting plate 321 is movably connected to the translation secondary plate 334, the lifting plate 321 is connected to the lifting motor 322 through the bearing 322, and the rotating assembly 31 connected to the cleaning brush 40 is connected to the lifting plate 321. The lifting motor 322 drives the lifting plate 321 to make an arc motion relative to the vertical plane and the horizontal plane, thereby driving the position of the cleaning brush 40 to change.
抬举组件32通过抬举电机322带动轴承323运动,实现清洗刷40在垂直 方向上的举平动作,并可把清洗刷40姿态保持在-30度到150度任意一个角度上,具体的,抬举板321的一侧通过轴承323连接抬举电机322,抬举电机322的输出轴控制轴承323做相对垂直面和水平面之间的弧周运动,运动行程为-30度到150度之间(以高度为0度垂直线)。The lifting assembly 32 drives the bearing 323 to move through the lifting motor 322 to realize the vertical lifting motion of the cleaning brush 40 and maintain the posture of the cleaning brush 40 at any angle from -30 degrees to 150 degrees. Specifically, the lifting plate One side of 321 is connected to the lifting motor 322 through the bearing 323. The output shaft of the lifting motor 322 controls the bearing 323 to make an arc relative to the vertical plane and the horizontal plane. The movement stroke is between -30 degrees and 150 degrees (with a height of 0). Degree vertical line).
在本方案中,抬举板321的轴承323活动置于固定套324内,固定套324连接平移次板334,以使得抬举组件32可实现和平移组件33的连接的同时实现抬举。具体的,平移次板324包括横板和分置两侧的竖板,其中竖板相对横板垂直向下设置,固定套324穿过竖板同时连接竖板,抬举板321置于两侧竖板之间形成的空间内。即,抬举电机322带动轴承323在固定套324内活动,由于轴承323连接抬举板321,抬举板321也随之运动,固定套324连接平移次板333,从而实现抬举组件32和平移组件33之间的连接。In this solution, the bearing 323 of the lifting plate 321 is movably placed in the fixed sleeve 324, and the fixed sleeve 324 is connected to the translational sub-board 334, so that the lifting assembly 32 can realize the connection of the translation assembly 33 while simultaneously lifting. Specifically, the translation secondary board 324 includes a horizontal board and vertical boards on both sides of the vertical board. The vertical board is arranged vertically downward relative to the horizontal board. In the space formed between the plates. That is, the lifting motor 322 drives the bearing 323 to move in the fixed sleeve 324. Since the bearing 323 is connected to the lifting plate 321, the lifting plate 321 also moves, and the fixed sleeve 324 is connected to the translation sub-plate 333, thereby realizing the difference between the lifting assembly 32 and the translation assembly 33. The connection between.
旋转组件31包括旋转电机311和与旋转电机311连接的电机输出轴312,其中电机输出轴312连接清洗刷40,且在旋转电机311的作用下带动清洗刷40旋转。The rotating assembly 31 includes a rotating motor 311 and a motor output shaft 312 connected to the rotating motor 311. The motor output shaft 312 is connected to the cleaning brush 40 and drives the cleaning brush 40 to rotate under the action of the rotating motor 311.
旋转组件31连接置于抬举组件32上,具体的,抬举板321上形成可供电机输出轴312穿过的通孔,旋转电机311置于抬举板321上侧且连接于抬举板321,实现旋转组件31和抬举组件20的连接。The rotating assembly 31 is connected to the lifting assembly 32. Specifically, the lifting plate 321 is formed with a through hole for the motor output shaft 312 to pass through, and the rotating motor 311 is placed on the upper side of the lifting plate 321 and connected to the lifting plate 321 to realize rotation The connection of the assembly 31 and the lifting assembly 20.
值得一提的是,抬举电机322置于平移次板334的竖板边侧,旋转电机311至于两侧竖板内部的空间内。即,旋转组件30充分利用平移次板334和抬举板321之间的距离,充分利用行走式无人洗车设备的空间,以使得该行走式无人洗车设备的体积尺寸得到进一步地优化。It is worth mentioning that the lifting motor 322 is placed on the side of the vertical plate of the translation secondary plate 334, and the rotating motor 311 is in the space inside the vertical plates on both sides. That is, the rotating assembly 30 makes full use of the distance between the translational secondary plate 334 and the lifting plate 321, and makes full use of the space of the walking unmanned car washing equipment, so that the volume size of the walking unmanned car washing equipment is further optimized.
总结而言,本方案提供的行走式无人洗车设备的升降组件20实现清洗刷40在高度方向上的运动,平移组件33实现清洗刷40在水平方向上的运动,抬举组件32实现清洗刷40在高度方向上的抬举,旋转组件31实现清洗刷40运转。本方案通过几个结构的联合控制,使得该行走式无人洗车设备可根据车身表面的结构状态,保持一个最合适的角度姿态去刷洗车辆,确保刷洗贴合度。In summary, the lifting component 20 of the walking unmanned car washing equipment provided by this solution realizes the movement of the washing brush 40 in the height direction, the translation component 33 realizes the movement of the washing brush 40 in the horizontal direction, and the lifting component 32 realizes the movement of the washing brush 40. Lifting in the height direction, the rotating assembly 31 realizes the operation of the cleaning brush 40. Through the joint control of several structures, the walking type unmanned car washing equipment can maintain a most suitable angle and posture to scrub the vehicle according to the structural state of the surface of the car body to ensure the scrubbing fit.
比如,在需要刷洗车身时,刷子可保持在低位竖直状态;需要刷洗车窗时,刷子保持在高位并保持一个-10度左右的倾斜角度以贴合车窗;在需 要刷洗车顶时,刷子保持水平状态,并根据车顶外轮廓自适应上下移动。For example, when the car body needs to be washed, the brush can be kept in a low vertical position; when the car window needs to be washed, the brush should be kept in a high position and kept at an inclination angle of about -10 degrees to fit the car window; when the car roof needs to be washed, The brush remains horizontal and moves up and down adaptively according to the outer contour of the roof.
另外值得一提的是,本方案的平移组件33可使得清洗刷40相对设备壳体10向外侧运动,进而为清洗刷40提供足够的抬举空间,实现清洗刷40多角度的位置变化,以更好地满足洗车要求。且,本方案的升降组件20和刷体位置控制组件30可同时被控制驱动。It is also worth mentioning that the translational assembly 33 of this solution can make the cleaning brush 40 move outwards relative to the device housing 10, thereby providing sufficient lifting space for the cleaning brush 40, and realizing the multi-angle position change of the cleaning brush 40, so as to improve Satisfy the car wash requirements well. Moreover, the lifting assembly 20 and the brush position control assembly 30 of this solution can be controlled and driven at the same time.
本方案提供的清洗刷40包括刷毛杆42和置于刷毛杆42外周侧的刷毛41,其中刷毛杆42和电机输出轴312连接,以在电机输出轴312的作用下旋转。清洗刷40的形状尺寸不大于容置腔室12,以使得该清洗刷40在非使用状态下可容置在容置腔室12内。The cleaning brush 40 provided by this solution includes a bristle rod 42 and bristles 41 placed on the outer periphery of the bristle rod 42, wherein the bristle rod 42 is connected to the motor output shaft 312 to rotate under the action of the motor output shaft 312. The shape and size of the cleaning brush 40 are not larger than the accommodating chamber 12, so that the cleaning brush 40 can be accommodated in the accommodating chamber 12 when not in use.
另,在一些实施例中,刷毛41设计为特殊的梯形结构,刷毛41的横向宽度从靠近刷毛杆42的一侧向外依次变小,进而使得靠近外侧的刷毛41之间的间隔大于靠近内侧的刷毛41的面积,这样的设计可在降低制作成本的同时提高清洗效率,与此同时,梯形形状的刷毛还可以起到更好的刷到车窗上沿的部分,增加刷洗干净程度的作用。In addition, in some embodiments, the bristles 41 are designed as a special trapezoidal structure, and the lateral width of the bristles 41 gradually decreases from the side close to the bristle rod 42 outward, so that the interval between the bristles 41 close to the outside is larger than that close to the inside. The area of the bristles 41, this design can reduce the production cost while improving the cleaning efficiency. At the same time, the trapezoid-shaped bristles can also better brush the upper edge of the car window and increase the degree of cleanliness. .
另,本方案提供的行走式无人洗车设备在非使用状态时为封闭状态,这样可以避免行走式无人洗车设备内的精密设备被损坏,这也是目前传统的龙门式无人洗车机无法做到的,目前传统的龙门式洗车机在非使用状态时依旧有设备暴露在外界环境中,长期以往必然会引起不必要的设备损坏。In addition, the walking unmanned car wash equipment provided by this solution is closed when it is not in use, which can prevent the precision equipment in the walking unmanned car wash equipment from being damaged. This is also the current traditional gantry type unmanned car wash cannot do As a result, the current traditional gantry car washing machine still has equipment exposed to the outside environment when it is not in use, which will inevitably cause unnecessary equipment damage in the long run.
本方案的开合门14可在门关合状态和门开启状态之间变化位置。具体的,如图3所示,位于设备壳体10两侧的侧壁体13形成滑动轨131,开合门14包括滑动件141,门体142,门连接件143,旋转电机144以及移动电机(图中未标出),其中滑动件141连接移动电机在移动电机的作用下在滑动轨131内滑动,旋转电机144置于滑动件141上侧,门连接件143的两端侧分别连接旋转电机144和门体142。The opening and closing door 14 of this solution can change its position between the door closed state and the door open state. Specifically, as shown in FIG. 3, the side walls 13 located on both sides of the equipment housing 10 form a sliding rail 131, and the opening and closing door 14 includes a sliding member 141, a door body 142, a door connecting member 143, a rotating motor 144, and a moving motor (Not shown in the figure), the sliding member 141 is connected to the moving motor to slide in the sliding rail 131 under the action of the moving motor, the rotating motor 144 is placed on the upper side of the sliding member 141, and the two ends of the door connecting member 143 are respectively connected to rotate The motor 144 and the door 142.
具体的,在本方案的实施例中,滑动轨131贯通两侧的侧壁体13,该行走式无人洗车设备包括分置于设备壳体10两侧的两个门体142,当门体142位于设备壳体10的转角位置(设有传感件,图中也未画出),旋转电机144旋转带动门体42沿着设备壳体10的转角转动,以使得门体142可处于设备壳体10的前端侧或者侧端侧。由于门体142通过门连接件143连接于旋转电机 144,进而使得门体142和侧壁体13之间间隔小段距离,从而使得旋转电机144旋转门体142时门体142不会触碰到侧壁体13。另,移动电机通过同步带轮机构连接滑动件141,当门体142已处于侧壁体13的侧端侧时,移动电机带动滑动件141前后滑动。Specifically, in the embodiment of the present solution, the sliding rail 131 penetrates the sidewall bodies 13 on both sides, and the walking type unmanned car washing equipment includes two door bodies 142 disposed on both sides of the equipment housing 10. 142 is located at the corner position of the equipment housing 10 (with a sensor, not shown in the figure), the rotating motor 144 rotates to drive the door 42 to rotate along the corner of the equipment housing 10, so that the door 142 can be in the equipment The front end side or the side end side of the housing 10. Since the door body 142 is connected to the rotating motor 144 through the door connector 143, the door body 142 and the side wall 13 are separated by a small distance, so that the door body 142 will not touch the side when the rotating motor 144 rotates the door body 142. Wall 13. In addition, the moving motor is connected to the sliding member 141 through a synchronous pulley mechanism. When the door body 142 is already at the side end side of the side wall body 13, the moving motor drives the sliding member 141 to slide back and forth.
即,本方案提供的行走式无人洗车设备在待机时,刷子往里收缩,行走式无人洗车设备的开合门14处于关闭状态,整个行走式无人洗车设备处于密封状态,当需要清洗车辆时,旋转电机144旋转带动开合门14在闭合状态和打开状态之间变动,同时开合门14上的另一个移动电机带动一个同步带轮机构,把门往后拉,让其停靠在行走式无人洗车设备两侧。That is, when the walking-type unmanned car washing equipment provided by this solution is in standby, the brush retracts inward, the opening and closing door 14 of the walking-type unmanned car washing equipment is in a closed state, and the entire walking-type unmanned car washing equipment is in a sealed state. When the vehicle is in a vehicle, the rotating motor 144 rotates to drive the opening and closing door 14 to change between the closed state and the open state. At the same time, another moving motor on the opening and closing door 14 drives a synchronous pulley mechanism to pull the door back and let it stop at walking. On both sides of the unmanned car washing equipment.
另,两个门体142远离彼此的边侧设有弧边,该弧边可使得当门体142处于闭合状态时起到密封的作用。门体142设计为梯形结构,门体142靠近顶盖15的侧边为倾斜边,且倾斜边的向下倾斜,顶盖15的前端侧设有前盖片151,其中前盖片151设计为倒三角的结构,倒三角的倾斜三角边的倾斜度同于门体142倾斜边的倾斜度。当开合门14处于密闭状态时,两侧门体142和前盖片151边边相接,起到遮蔽无人洗车设备的单侧开口的作用。In addition, the sides of the two door bodies 142 away from each other are provided with an arc edge, which can make the door body 142 play a sealing role when the door body 142 is in the closed state. The door body 142 is designed as a trapezoidal structure. The side of the door body 142 close to the top cover 15 is an inclined side, and the inclined side slopes downward. In the structure of the inverted triangle, the inclination of the inclined side of the inverted triangle is the same as the inclination of the inclined side of the door body 142. When the opening and closing door 14 is in a closed state, the door bodies 142 on both sides and the front cover 151 are connected side by side, and play a role of shielding the one-side opening of the unmanned car washing equipment.
在本方案的一优选实施例中,前盖片151可相对于顶盖15旋转,以此方式影响刷体位置控制组件30的运动行程。顶盖15和升降组件20连接,平移组件33的控制电机同时控制前盖片151,当升降组件20向上升降时带动顶盖15向上移动,平移组件33的移动带动前盖片151变动。In a preferred embodiment of this solution, the front cover 151 can rotate relative to the top cover 15 to affect the movement stroke of the brush position control assembly 30 in this way. The top cover 15 is connected to the lifting assembly 20. The control motor of the translation assembly 33 simultaneously controls the front cover 151. When the lifting assembly 20 lifts up and down, the top cover 15 is driven to move upward, and the movement of the translation assembly 33 drives the front cover 151 to change.
总结而言,本方案提供的行走式无人洗车设备在非使用状态和使用状态之间变化状态,当行走式无人洗车设备处于非使用状态时,清洗刷40容置在容置腔室12内,两侧的门体15位于设备壳体10的前端侧闭合该设备壳体10,而当该行走式无人洗车设备从非使用状态转换为使用状态时,旋转电机144旋转门体142以将门体142从设备壳体10的前端侧旋转到侧端侧,当门体142被旋转到门体142的侧端侧后,移动电机带动同步带轮机构往后拉动门体142,以使得门体142最终位于侧壁体13的侧端侧,随后行走无人洗车设备内的升降组件20以及刷体位置控制组件30被调节以调节清洗刷40的位置。In summary, the walking type unmanned car washing equipment provided by this solution changes state between the non-use state and the use state. When the walking type unmanned car washing device is in the non-use state, the cleaning brush 40 is accommodated in the accommodating chamber 12 Inside, the doors 15 on both sides are located at the front end of the equipment housing 10 to close the equipment housing 10. When the walking unmanned car washing equipment is converted from the non-use state to the use state, the rotating motor 144 rotates the door 142 to Rotate the door body 142 from the front end side of the equipment housing 10 to the side end side. When the door body 142 is rotated to the side end side of the door body 142, the moving motor drives the synchronous pulley mechanism to pull the door body 142 backwards to make the door The body 142 is finally located on the side end side of the side wall body 13, and then the lifting assembly 20 and the brush position control assembly 30 in the walking unmanned car washing equipment are adjusted to adjust the position of the cleaning brush 40.
在一些优选的实施例中,该行走式无人洗车设备内置加热装置,行走式无人洗车设备上设有温度传感器,温度传感器联通加热装置,温度传感器 用于检测环境温度,当环境温度小于设定阈值后触发加热装置加热,以使得该行走式无人洗车设备可以用较少的用电量保证毛刷不结冰,让其能够在一些严寒地区户外也能用较小的成本提供洗车服务。In some preferred embodiments, the walking-type unmanned car washing equipment has a built-in heating device, and the walking-type unmanned car washing equipment is provided with a temperature sensor. The temperature sensor communicates with the heating device. The temperature sensor is used to detect the ambient temperature. After the threshold is set, the heating device is triggered to heat, so that the walking unmanned car washing equipment can use less electricity to ensure that the brush does not freeze, so that it can provide car washing services outdoors in some severe cold areas and at a lower cost. .
另,本方案的底座11内设有废水腔,底座11上表面设有透水孔,刷毛42上的水分自落落入底座11内。In addition, the base 11 of the present solution is provided with a waste water chamber, and the upper surface of the base 11 is provided with water permeable holes, and the water on the bristles 42 falls into the base 11 by itself.
本发明不局限于上述最佳实施方式,任何人在本发明的启示下都可得出其他各种形式的产品,但不论在其形状或结构上作任何变化,凡是具有与本申请相同或相近似的技术方案,均落在本发明的保护范围之内。The present invention is not limited to the above-mentioned best embodiments. Anyone can derive other products in various forms under the enlightenment of the present invention, but regardless of any changes in its shape or structure, any products that are the same or similar to those of the present application Approximate technical solutions fall within the protection scope of the present invention.

Claims (10)

  1. 一种行走式无人洗车设备,其特征在于,包括;A walking type unmanned car washing equipment, which is characterized in that it includes;
    设备壳体(10)控制板被控制板连接控制的升降组件(20)刷体位置控制组件(30)清洗刷(40)以及移动组件(60);The lifting assembly (20), the brush position control assembly (30), the cleaning brush (40) and the moving assembly (60) whose control board of the equipment housing (10) is connected and controlled by the control board;
    移动组件(60)置于设备壳体(10)的底部升降组件(20)刷体位置控制组件(30)以及清洗刷(40)依次连接且置于设备壳体(10)内,升降组件(20)至少包括设置在设备壳体(10)高度方向上的升降电缸(22),刷体位置控制组件(30)至少包括依次连接的平移组件(33)抬举组件(32)以及旋转组件(31),其中平移组件(33)平行水平面设置,抬举组件(32)相对垂直面和水平面之间做弧周运动,旋转组件(31)连接控制清洗刷(40)。The moving component (60) is placed in the bottom lifting component (20) of the equipment housing (10), the brush body position control component (30) and the cleaning brush (40) are connected in turn and placed in the equipment housing (10), the lifting component ( 20) It includes at least a lifting electric cylinder (22) arranged in the height direction of the equipment housing (10), and the brush position control assembly (30) includes at least a translation assembly (33), a lifting assembly (32) and a rotating assembly ( 31), wherein the translation component (33) is arranged parallel to the horizontal plane, the lifting component (32) moves in an arc relative to the vertical plane and the horizontal plane, and the rotating component (31) is connected to the control cleaning brush (40).
  2. 根据权利要求1所述的行走式无人洗车设备,其特征在于,包括定位传感组件(50),定位传感组件(50)和控制板连接,其中定位传感组件(50)至少包括激光雷达,视觉传感器以及超声波雷达。The walking type unmanned car washing equipment according to claim 1, characterized by comprising a positioning sensor component (50), which is connected to a control board, wherein the positioning sensor component (50) at least includes a laser Radar, vision sensor and ultrasonic radar.
  3. 根据权利要求2所述的行走式无人洗车设备,其特征在于,激光雷达和视觉传感器获取到车辆空间信息传输给控制板转换得到行车路径信息,超声波传感器获取到障碍物信息传输给控制板更新行车路径,行车路径信息传输给移动组件(60)。The walking-type unmanned car washing equipment according to claim 2, wherein the space information of the vehicle obtained by the lidar and the vision sensor is transmitted to the control board to obtain the driving path information, and the obstacle information obtained by the ultrasonic sensor is transmitted to the control board for updating The driving path, the driving path information is transmitted to the mobile component (60).
  4. 根据权利要求1所述的行走式无人洗车设备,其特征在于,移动组件(60)包括从动轮(61)和至少两主动轮(62),至少两主动轮(62)由独立电机控制。The walking type unmanned car washing equipment according to claim 1, wherein the moving assembly (60) comprises a driven wheel (61) and at least two driving wheels (62), and the at least two driving wheels (62) are controlled by independent motors.
  5. 根据权利要求1所述的行走式无人洗车设备,其特征在于,设备壳体(10)包括底座(11),侧壁体(13),开合门(14)以及顶盖(15),其中侧壁体(13)置于底座(11)上形成至少设有单侧开口的容置腔室(12),开合门(14)活动连接侧壁体(13)以在门关合状态和门开启状态之间变化位置, 当开合门(14)处于门关合状态时,升降组件(20),刷体位置控制组件(30)以及清洗刷(40)收纳置于容置腔室(12)内。The walking type unmanned car washing equipment according to claim 1, characterized in that the equipment housing (10) comprises a base (11), a side wall (13), an opening and closing door (14) and a top cover (15), The side wall body (13) is placed on the base (11) to form an accommodating chamber (12) with at least one side opening, and the opening and closing door (14) is movably connected to the side wall body (13) to be in the closed state of the door When the opening and closing door (14) is in the closed state, the lifting assembly (20), the brush position control assembly (30) and the cleaning brush (40) are housed in the accommodating chamber. (12) Within.
  6. 根据权利要求5所述的行走式无人洗车设备,其特征在于,位于设备壳体(10)两侧的侧壁体(13)形成滑动轨(131),开合门(14)包括滑动件(141),门体(142),门连接件(143),旋转电机(144)以及移动电机,其中滑动件(141)连接移动电机置于滑动轨(131)内,旋转电机(144)置于滑动件(141)上侧,门连接件(143)的两端侧分别连接旋转电机(144)和门体(142)。The walking unmanned car washing equipment according to claim 5, characterized in that the side walls (13) located on both sides of the equipment housing (10) form a sliding rail (131), and the opening and closing door (14) includes a sliding part (141), the door body (142), the door connecting piece (143), the rotating motor (144) and the moving motor, wherein the sliding piece (141) is connected to the moving motor and placed in the sliding rail (131), and the rotating motor (144) is placed On the upper side of the sliding member (141), the two end sides of the door connecting member (143) are respectively connected with the rotating motor (144) and the door body (142).
  7. 根据权利要求5所述的行走式无人洗车设备,其特征在于,顶盖(15)形成前盖片(151),门体(142)为梯形结构,门体(142)靠近顶盖(15)的侧边为倾斜边,前盖片(151)为倒三角的结构,倒三角的倾斜三角边的倾斜度同于门体(142)倾斜边的倾斜度。The walking type unmanned car washing equipment according to claim 5, characterized in that the top cover (15) forms a front cover sheet (151), the door body (142) has a trapezoidal structure, and the door body (142) is close to the top cover (15). The side of) is an inclined side, the front cover sheet (151) has an inverted triangle structure, and the inclination of the inclined triangle side of the inverted triangle is the same as the inclination of the inclined side of the door body (142).
  8. 根据权利要求1所述的行走式无人洗车设备,其特征在于,升降组件(20)为多段式电缸设计,平移组件(33)以同步带轮方式平移传动。The walking type unmanned car washing equipment according to claim 1, characterized in that the lifting assembly (20) is a multi-segment electric cylinder design, and the translation assembly (33) is driven by a synchronous pulley.
  9. 根据权利要求1所述的行走式无人洗车设备,其特征在于,包括水洗组件和供能组件,水洗组件至少包括供水箱和供水管,供水箱内设有和控制板联通的水位传感器,供能组件与控制板联通。The walking type unmanned car washing equipment according to claim 1, characterized in that it comprises a water washing component and an energy supply component. The water washing component at least includes a water supply tank and a water supply pipe. The water supply tank is provided with a water level sensor connected to the control board for supply The component can communicate with the control board.
  10. 根据权利要求1所述的行走式无人洗车设备,其特征在于,包括加热装置和检测环境温度的温度传感器。The walking type unmanned car washing equipment according to claim 1, characterized by comprising a heating device and a temperature sensor for detecting the ambient temperature.
PCT/CN2020/123414 2020-06-16 2020-10-23 Mobile automatic car wash apparatus WO2021253699A1 (en)

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CN202010546778.8A CN111547015A (en) 2020-06-16 2020-06-16 Walking unmanned car washing equipment

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Publication number Priority date Publication date Assignee Title
CN111547015A (en) * 2020-06-16 2020-08-18 浙江驿公里智能科技有限公司 Walking unmanned car washing equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10203323A (en) * 1997-01-27 1998-08-04 Hiroki Watase Car washer
US20090205148A1 (en) * 2008-02-19 2009-08-20 Wentworth Robert J Counter-balanced top wheel for a vehicle wash system
JP2009202845A (en) * 2008-02-29 2009-09-10 Hiramatsu:Kk Self-traveling type car-washing machine, and travel control method of the same
CN208278023U (en) * 2018-03-23 2018-12-25 北京同为科创科技有限公司 Train cleaning device and train cleaning equipment
CN208947287U (en) * 2018-10-11 2019-06-07 常州摩本智能科技有限公司 Cleaning robot
CN111547015A (en) * 2020-06-16 2020-08-18 浙江驿公里智能科技有限公司 Walking unmanned car washing equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10203323A (en) * 1997-01-27 1998-08-04 Hiroki Watase Car washer
US20090205148A1 (en) * 2008-02-19 2009-08-20 Wentworth Robert J Counter-balanced top wheel for a vehicle wash system
JP2009202845A (en) * 2008-02-29 2009-09-10 Hiramatsu:Kk Self-traveling type car-washing machine, and travel control method of the same
CN208278023U (en) * 2018-03-23 2018-12-25 北京同为科创科技有限公司 Train cleaning device and train cleaning equipment
CN208947287U (en) * 2018-10-11 2019-06-07 常州摩本智能科技有限公司 Cleaning robot
CN111547015A (en) * 2020-06-16 2020-08-18 浙江驿公里智能科技有限公司 Walking unmanned car washing equipment

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