WO2021253700A1 - 基于行走无人洗车设备的行走洗车方法及控制系统 - Google Patents

基于行走无人洗车设备的行走洗车方法及控制系统 Download PDF

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Publication number
WO2021253700A1
WO2021253700A1 PCT/CN2020/123415 CN2020123415W WO2021253700A1 WO 2021253700 A1 WO2021253700 A1 WO 2021253700A1 CN 2020123415 W CN2020123415 W CN 2020123415W WO 2021253700 A1 WO2021253700 A1 WO 2021253700A1
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car washing
walking
information
car
washing machine
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PCT/CN2020/123415
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English (en)
French (fr)
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施恒之
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浙江驿公里智能科技有限公司
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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • 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 a walking unmanned car washing equipment.
  • the car washing machine is mainly a machine that uses a computer to control the brush and high-pressure water to automatically clean the car. It is mainly composed of a control system, an electric circuit, an air circuit, a water circuit and a mechanical structure.
  • the car washing machine has the characteristics of simple operation, beautiful appearance, and less damage to the paint. At present, all room-type washing machines appear on the market. This kind of car washing device has a large area and takes a long time to build.
  • the car washing method is single and rigid. Once a component is damaged, it cannot be used, and there is an urgent need for a self-contained car washing machine that can be constructed quickly, flexibly, and can be used to wash the car in cooperation.
  • the purpose of the present invention is to provide a walking car washing method and a control system based on a walking unmanned car washing equipment.
  • the present invention is a walking car washing method based on walking unmanned car washing equipment, including the following steps:
  • the second wireless module and/or the first wireless module in addition to the real-time position information during scrubbing transmitted through the second wireless module and/or the first wireless module, it also includes execution information of the corresponding brush drive mechanism on the car washing machine at the time point in the position.
  • the car washing machine sends status information to other car washing machines in real time, and the status information includes the execution status information of the driving mechanism, the rotation status information of the brush, and the brush advancement status information.
  • the car washing machine sends status information to other car washing machines in real time, and the status information includes the execution status information of the driving mechanism, the rotation status information of the brush, and the brush advancement status information.
  • the car washing machine feeds back the information to the cloud controller and the car washing machine associated at the moment, and disassociates the car washing machine, adding a new car washing machine Replace the car washing machine or re-plan the route through the remaining car washing machine to perform collaborative car washing on the unwashed part.
  • the collaborative car wash includes the following steps:
  • the working status of the brush-driven scrubbing mechanism and the walking mechanism are monitored and uploaded to the cloud controller. If the cleaning machine fails, the cloud controller will re-plan the path according to the number of remaining cleaning machines that are working normally.
  • searching for the identification information through the second wireless module is to find the corresponding car washing machine, upload the search result to the cloud controller and/or perform a separate car washing task separately.
  • the second wireless module on the car washing machine is a Bluetooth module.
  • the walking car washing control system based on walking unmanned car washing equipment includes:
  • the cloud control system collects and analyzes the location information and monitoring information sent by the independent system of the car washing machine, and sends task information to the independent system of the car washing machine;
  • the independent control system of the car washing machine uploads position information to the cloud control system, receives and executes the instructions issued by the cloud control system, and interacts with other independent control systems of the car washing machine.
  • the interactive information includes real-time position information and the position The control information of the command executed by the brush.
  • the car washing machine is connected to the cloud control system through the first wireless module, and the independent control systems of the car washing machines on different car washing machines are connected through the second wireless module.
  • the independent control system of the car washing machine includes:
  • the positioning module is used to locate the location of the car washing machine
  • the vision module is used to determine the spatial position of the vehicle in the car wash area, and to determine the distance between the car washing machine and the vehicle being washed;
  • Execution module includes walking mechanism and scrubbing mechanism
  • the monitoring module is used to monitor the running status of the brush-driven scrubbing mechanism and the walking mechanism.
  • the cloud controller of the present invention issues coordinated tasks for multiple car washing machines to perform coordinated car washing. Compared with a single car washing machine, the speed of car washing is increased, and the car washing path is corrected during the coordinated car washing. At the end of the work, the total car wash time is further shortened. When the car is washed, the execution information of the car washing machine and the washing path are monitored, so as to avoid repeated washing, incomplete washing and incomplete washing caused by a failure of a car washing machine. Simultaneous cleaning by multiple car washing machines makes the car washing method more flexible.
  • Figure 1 is a walking car washing method based on walking unmanned car washing equipment of the present invention
  • Figure 2 is a flowchart of a collaborative car wash method.
  • Fig. 3 is a block diagram of the control system of walking car washing based on walking unmanned car washing equipment.
  • the present invention is a walking car washing method based on walking unmanned car washing equipment:
  • the car washing machine has an independent control system, and the car washing machine has a first wireless module that interacts with the cloud controller, and also has a second car that interacts with other car washing machines.
  • a wireless module specifically a Bluetooth module.
  • the car washing machine has an independent walking mechanism and a brush-driven scrubbing mechanism.
  • the walking mechanism includes a mobile platform.
  • the mobile platform is composed of two driving wheels and universal driven wheels at 4 corners.
  • the two driving wheels consist of two Independent motor control, the other driving wheel is controlled by the independent control system of the car washing machine, which can realize the output at any speed.
  • the robot can move forward and backward, turn at any angle and rotate on the spot.
  • positioning sensors including lidar, binocular structured light 3D vision sensor, ultrasonic radar, lidar and binocular vision sensor can locate the spatial position of the vehicle in the car wash area, help the robot to recognize the target, and make approach through the cloud controller
  • the fusion algorithm will fuse the data of the two types of sensors to avoid the problem of inaccurate positioning caused by the failure of a certain sensor.
  • the installed ultrasonic radar can avoid collisions with obstacles when the robot is moving forward or turning. Ensure safety; after the robot reaches the vicinity of the vehicle, it starts to monitor the distance between itself and the vehicle.
  • the robot can obtain the distance information between itself and the surface of the vehicle body.
  • the robot can control the mobile platform The movement direction is slightly away from the vehicle until the distance meets the required position. Through continuous and precise fine-tuning, the robot can stably maintain a certain distance from the vehicle to be washed and realize the vehicle circumvention.
  • the other robot is equipped with a gyroscope to judge its own walking trajectory and determine its real-time spatial coordinate position. The gyroscope will have errors when the robot walks a long distance. At this time, the binocular vision camera installed on the robot will periodically identify and locate the markers in the field environment to correct the position deviation of the robot.
  • the brush drive mechanism is used to coordinate the lifting of the brush through two 3-stage lifting electric cylinders; through a synchronous pulley mechanism and guide rail, the front and back displacement of the brush is controlled to move it closer to or away from the operation of the vehicle;
  • the lifting assembly includes a lifting plate, a lifting motor and a bearing.
  • the lifting plate is connected to the lifting motor through the bearing, and the rotating assembly connected with the cleaning brush is connected to the lifting plate.
  • the lifting motor drives the lifting plate to be relatively vertical. Do circular motion between the horizontal plane and the horizontal plane, and then drive the position of the brush to change.
  • the lifting assembly drives the bearing to move through the lifting motor to realize the vertical lift of the cleaning brush, and the cleaning brush can be maintained at any angle from -30° to 150°.
  • one side of the lifting plate passes through the bearing
  • the lifting motor is connected, and the output shaft of the lifting motor controls the bearing to make a circular motion between the relative vertical plane and the horizontal plane, and the movement stroke is between -30° and 150°.
  • the brush 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 maintain an inclination angle of about -10° to fit the car window; when the car roof needs to be washed, the brush keeps It is in a horizontal state, and moves up and down adaptively according to the outer contour of the roof.
  • the device also has a tank for containing scrubbing liquid and a power supply for power supply.
  • the specific car washing machine uploads the location information and the positioning information of the vehicle to the cloud controller through the first wireless module.
  • the cloud controller will analyze the number of car washing machines existing in or near the parking space in combination with the uploaded information.
  • two car washing machines are configured for a vehicle to clean the car, and after determination, the cloud controller issues a coordinated car washing task.
  • a car washing machine receives the car washing task issued by the cloud controller and the identification information of other car washing machines in the car washing task, searches for the car washing machine corresponding to the identification information through the second wireless module, if found, establishes a communication link, and displays the search result Upload to the cloud controller and perform collaborative car wash tasks, after the authentication is completed;
  • the cooperative car washing includes the following steps:
  • the two car washing machines obtain cooperative tasks, and the other ones with cooperative tasks can be more than two. According to their real-time position and the obtained walking path to be cleaned, the pre-travel speed is calculated through the set cleaning time; in an ideal state, both At the same time, complete the assigned car wash tasks so that the vehicle scrubbing is completed. In the actual collaborative car washing process, the washing speed of the two car washing machines is affected by the aging of the machines, whether it is necessary to bypass obstacles, and the length of time for precise correction of the distance between the car washing machine and the vehicle.
  • the transmission of the real-time position information during washing through the second wireless module and/or the first wireless module also includes execution information of the corresponding brush drive mechanism on the car washing machine at the time point in the position.
  • the second wireless module and the first wireless module respectively transmit the real-time position information during washing, and also include the execution information of the corresponding brush drive mechanism on the car washing machine in the position at the time point, and send it to the cloud
  • the information transmitted by the controller can be controlled by the cloud controller to ensure that when the vehicle is being washed, the cloud can obtain the real-time information of the vehicle washing, so that the staff can have the opportunity to control in real time.
  • a car washing machine In the actual washing, in order to reduce the time-consuming amount of driving up and down of the brush and adjusting the angle, a car washing machine maintains a position of the brush on the side of the car body (excluding the roof). Quickly move the scrubbing, the corresponding scrubbing route will be recorded, and the car roof will not be scrubbed when the program is executed.
  • the subdivided scrubbing path can record a path that is divided into a roof scrubbing path and a sideways scrubbing path. At this time, you can choose to wash through four car washing machines, or you can choose to still use two car washing machines to repeat the washing route once to wash the roof and the side of the car separately.
  • the cloud controller When using your car washing machine to wash the cars, if the washing machine fails, the cloud controller will re-plan the path according to the number of remaining normal washing machines.
  • the car washing machine sends status information to other car washing machines in real time to monitor each other to avoid the failure of the first wireless module of a car washing machine.
  • Important status information includes drive mechanism execution status information, brush rotation status information, and brush advancement status information .
  • the car washing machine feeds back the information to the cloud controller and the associated car washing machine at the moment, and disassociates the car washing machine.
  • the car washing machine has a system failure, and a new car washing machine is added to replace the car washing machine or re-use the remaining car washing machine. Plan the route to coordinate the car wash for the unwashed part.
  • searching for the identification information through the second wireless module is to find the corresponding car washing machine, upload the search result to the cloud controller and/or perform a separate car washing task separately.
  • This information is uploaded to the cloud controller, and the car wash task is distributed through the cloud controller.
  • the cloud controller can execute one of the car washing machines to perform the independent car washing task.
  • the second wireless module on the car washing machine is a Bluetooth module.
  • the walking car washing control system based on walking unmanned car washing equipment includes:
  • the cloud control system collects, analyzes and processes the location information and monitoring information sent by the independent system of the car washing machine, and sends task information to the independent system of the car washing machine; the task information can be a coordinated car washing task or an independent car washing task.
  • the independent control system of the car washing machine uploads position information to the cloud control system, receives and executes the instructions issued by the cloud control system, and interacts with other independent control systems of the car washing machine.
  • the interactive information includes real-time position information and the position The control information of the command executed by the brush.
  • the car washing machine is connected to the cloud control system through the first wireless module, and the independent control systems of the car washing machines on different car washing machines are connected through the second wireless module.
  • the independent control system of the car washing machine includes:
  • the positioning module is used to locate the location of the car washing machine
  • the vision module is used to determine the spatial position of the vehicle in the car wash area, and to determine the distance between the car washing machine and the vehicle being washed;
  • Execution module includes a walking mechanism and a scrubbing mechanism, wherein the scrubbing mechanism is a brush driving mechanism;
  • the monitoring module is used to monitor the running status of the brush-driven scrubbing mechanism and the walking mechanism.
  • the above modules correspond to the sensors, mechanisms or combinations of mechanisms disclosed in the walking car washing method based on the walking unmanned car washing equipment.

Abstract

一种基于行走无人洗车设备的行走洗车方法及控制系统，涉及洗车机技术领域。控制系统包括：云端控制系统，收集并分析处理洗车机器独立系统中所发送的位置信息和监测信息，并向洗车机器独立系统发送任务信息；洗车机器独立控制系统，上传位置信息至云端控制系统，接收并执行云端控制系统下发的指令，并与其它的洗车机器独立控制系统进行信息交互，交互的信息包括实时位置信息、在该位置上毛刷所执行命令的控制信息，通过以上系统控制洗车机器进行协同洗车。通过云端控制器对多个洗车机器发布协同任务进行协同洗车，提高洗车的速度。

Description

基于行走无人洗车设备的行走洗车方法及控制系统 技术领域
本发明属于洗车机技术领域，特别是涉及基于行走无人洗车设备的行走洗车方法及控制系统。
背景技术
洗车机主要是利用电脑控制毛刷和高压水自动来清洗汽车的一种机器，主要由控制系统、电路、气路、水路和机械结构构成。洗车机有操作简单、美观大方、对车漆损伤小等特点，目前市场上出现均为房式清洗机，而这种洗车装置，占地面积大，建造耗时长，洗车方式单一呆板，并且某一组件损坏便不能使用，现亟需一种建造快捷、灵活且能够协同清洗车辆的独立式洗车机械。
发明内容
本发明的目的在于提供基于行走无人洗车设备的行走洗车方法及控制系统，通过将多台能够独立洗车的洗车机器进行联动从而进行协同洗车，提高洗车的速度，且单一洗车机器也能完成独立洗车。
为解决上述技术问题，本发明是通过以下技术方案实现的：
本发明为基于行走无人洗车设备的行走洗车方法，包括如下步骤：
将所在位置信息及对车辆的定位信息通过第一无线模块上传至云端控制器，接收云端控制器所下发的洗车任务以及该洗车任务中其它洗车机器的标识信息；
通过第二无线模块搜寻标识信息所对应的洗车机器，若搜寻到，建立通讯联系，将搜寻结果上传至云端控制器并执行协同洗车任务；
根据所在的初始位置配置初始洗车路线，与此同时通过第二无线模块将自身位置信息传输至其它洗车机器以及云端控制器，并接收来自其它洗车机器的实时位置信息；
记录实时位置并根据该记录生成已洗刷路线，并根据该已洗刷路线进 调整后续洗刷路线。
优选地，通过第二无线模块和/或第一无线模块传输洗刷时的实时位置信息外还包括该时间点该位置中洗车机器上所对应的毛刷驱动机构的执行信息。
优选地，洗车机器实时分别向其它洗车机器发送状态信息，状态信息包括驱动机构执行状态信息、毛刷转动状态信息、毛刷推进状态信息。
优选地，洗车机器实时分别向其它洗车机器发送状态信息，状态信息包括驱动机构执行状态信息、毛刷转动状态信息、毛刷推进状态信息。
优选地，若状态信息和洗车机器所在位置的预设状态信息不符合，则该洗车机器将该信息反馈至云端控制器以及此刻相关联的洗车机器，并取消关联该洗车机器，增加新洗车机器替代该洗车机器或通过剩余洗车机器重新规划路线对未清洗部分进行协同洗车。
优选地，协同洗车包括如下步骤：
获取协同任务，根据自身实时位置以及获取的待清洗行走路径通过设定的清洗时间计算出预行走速度；
按照一定的时间间隔，上传未清洗行走路径，根据预行走速度再次分配的待清扫路径；
其中，监控毛刷驱动洗刷机构、行走机构工作状态并上传至云端控制器，若清洗机器出现故障，云端控制器将根据剩余正常工作的清洗机器数量对路径进行重新规划。
若通过第二无线模块搜寻标识信息为搜寻到所对应的洗车机器，将搜寻结果上传至云端控制器和/或另行执行独自洗车任务。
优选地，洗车机器上第二无线模块为蓝牙模块。
基于行走无人洗车设备的行走洗车控制系统，包括：
云端控制系统，收集并分析处理洗车机器独立系统中所发送的位置信息和监测信息，并向洗车机器独立系统发送任务信息；
洗车机器独立控制系统，上传位置信息至云端控制系统，接收并执行云端控制系统下发的指令，并与其它的洗车机器独立控制系统进行信息交互，交互的信息包括实时位置信息、在该位置上毛刷所执行命令的控制信息。
优选地，洗车机器通过第一无线模块和云端控制系统连接，不同洗车机器上的洗车机器独立控制系统之间通过第二无线模块连接。
优选地，洗车机器独立控制系统包括：
定位模块，用于对洗车机器所在位置进行定位；
视觉模块，用于确定洗车区域中车辆所处的空间位置、确定洗车机器与被洗车辆之间的间距；
执行模块，执行模块包括行走机构和洗刷机构；
监测模块，用于监测毛刷驱动洗刷机构和行走机构的运行状态。
本发明具有以下有益效果：
本发明云端控制器对多个洗车机器发布协同任务进行协同洗车，相对于单一洗车机提高洗车的速度，在协同洗车时进行洗车路径矫正，使得在车辆清洗完成之前，协同洗车的机器尽可能的工作到最后，进一步的缩短总洗车时长，在洗车时，洗车机器的执行信息、清洗路径都被监控，从而避免重复清洗、清洗不完全以及由于某一洗车机器故障带来的清洗不彻底，可通过多个洗车机器进行同时清洗，使得洗车方式更加的灵活。
当然，实施本发明的任一产品并不一定需要同时达到以上所述的所有优点。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明的基于行走无人洗车设备的行走洗车方法；
图2为协同洗车的方法流程图。
图3基于行走无人洗车设备的行走洗车的控制系统框图。
具体实施方式
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在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请参阅图1、2所示，本发明为基于行走无人洗车设备的行走洗车方法：
在一个洗车位上至少配备两个洗车机器，该洗车机器具有独立的控制系统，并且该洗车机器具备和云端控制器交互的第一无线模块，还具备有第一和其它洗车机器交互的第二无线模块，具体的为蓝牙模块。
相应的该洗车机器具有独立的行走机构、毛刷驱动洗刷机构，其中行走机构包括移动平台，移动平台由2个主动轮和在4个角的万向从动轮构成，两个主动轮由两个独立电机控制，另外的主动轮受控于洗车机器独立控制系统，可实现任意速度的输出，通过对两个主动轮差速控制，实现机器人前进后退，任意角度的转弯以及原地旋转。
具有定位传感器，定位传感器包括激光雷达，双目结构光3D视觉传感器，超声波雷达，激光雷达和双目视觉传感器可定位洗车区域中车辆的空间位置，助机器人识别目标，从而通过云端控制器制定接近车辆的行进路线，融合算法会融合两类传感器的数据，避免在某个传感器失效带来的定位不精确的问题，安装的超声波雷达可避免在机器人在前进或者转弯过程中与障碍物发生碰撞，保证安全；机器人达到车辆附近后，开始监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，机器人可获取自己与车身表面的距离信息，如果距离过近，机器人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，机器人可实现稳定保持距离待洗车辆一定距离，实现车辆绕行，另外的机器人上装有陀螺仪，判断自身的行走轨迹并判断出自己的实时空间坐标位置。陀螺仪在机器人行走较远的距离时会出现误差，这个时候安装在机器人上的双目视觉摄像头会定期的通过对现场环境中的标记物进行识别定位，来修正机器人的位置偏差。
毛刷驱动机构，通过两个3段式的升降电缸协同控制毛刷的升降；通过一个同步带轮机构和导轨，控制毛刷前后的位移，使之靠近或远离车辆的操作；
另外的安装有控制毛刷抬升角度的装置，抬举组件包括抬举板，抬举电机以及轴承，抬举板通过轴承连接抬举电机，连接有清洗刷的旋转组件连接抬举板，抬举电机带动抬举板相对垂直面和水平面之间做弧周运动，进而带动毛刷的位置变动。
抬举组件通过抬举电机带动轴承运动，实现清洗刷在垂直方向上的举平动作，并可把清洗刷姿态保持在-30°到150°任意一个角度上，具体的，抬举板的一侧通过轴承连接抬举电机，抬举电机的输出轴控制轴承做相对垂直面和水平面之间的弧周运动，运动行程为-30°到150°之间。
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°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。
该装置还具有盛放洗刷液的箱体，以及供电的电源。
另外的还需对以上组件的运行状态进行实时监控。
通过对洗车所用到的装置模块化并集成为一个具有独立控制系统的洗车机器人。
具体的洗车机器将所在位置信息以及对车辆的定位信息通过第一无线模块上传至云端控制器，云端控制器将根据在该车位上或该车位附近存在的洗车机器数量结合上传的信息进行分析，优选的对台车辆配置两个洗车机器对该车进行清洗，确定后云端控制器下发协同洗车任务。
一洗车机器接收云端控制器所下发的洗车任务以及该洗车任务中其它洗车机器的标识信息，通过第二无线模块搜寻标识信息所对应的洗车机器，若搜寻到，建立通讯联系，将搜寻结果上传至云端控制器并执行协同洗车任务，认证完成后；
根据所在的初始位置配置初始洗车路线，与此同时通过第二无线模块将自身位置信息传输至其它洗车机器以及云端控制器，通过近距离的信息传输，使得该信息传输的更加的快捷和准确，并接收来自其它洗车机器的实时位置信息，两洗车机器通过信息的相互传输也可进行信息印证，从而避免发生相互碰撞；
记录实时位置并根据该记录生成已洗刷路线，避免重复洗刷，并根据 该已洗刷路线进调整后续洗刷路线，进行优化调整避免其中一洗车机器由于绕障碍或者精准调节的耗时，在另一洗车机器洗刷其需要完成的洗刷任务后停滞，从而使得整个洗刷时间延长。
缩短洗车时长可使得两个洗车机器进行协同配合，协同洗车包括如下步骤：
在两洗车机器获取协同任务，另外的具有协同任务的也可多余两个，根据自身实时位置以及获取的待清洗行走路径通过设定的清洗时间计算出预行走速度；在理想状态下，两者同时完成各自分配的洗车任务使得车辆刷洗完成。其在实际的协同洗车过程中，在两个洗车机器的洗车速度受机器的老化、是否需要绕障、洗车机器和车辆的距离进行精准校正的时长等影响。
因此需要在洗车的过程中进行反复矫正，使得两个洗车机器的完成时间节点相近，按照一定的时间间隔，上传未清洗行走路径，根据预行走速度再次分配的待清扫路径，即分配清扫长度；
其中，至少在预清洗时间过半前，上传未清洗行走路径至云端控制器，再次根据预行走速度对二次分配的待清扫路径长度。
按照上述步骤在洗车时至少矫正1次；
另外的，通过第二无线模块和/或第一无线模块传输洗刷时的实时位置信息外还包括该时间点该位置中洗车机器上所对应的毛刷驱动机构的执行信息。
优选的一种方式，通过第二无线模块和第一无线模块传分别传输洗刷时的实时位置信息外还包括该时间点该位置中洗车机器上所对应的毛刷驱动机构的执行信息，向云端控制器传输该信息可通过云端控制器进行总控，保证在对车辆进行洗刷时，云端能够获取车辆洗刷的实时信息，使得工作人员能够有机会进行实时掌控。
若仅仅通过第二无线模块进行两者之间的信息交互，外界则不容易获知该洗车信息。
其中在实际洗刷时，为了减少毛刷上下驱动以及角度调节的耗时量，即一洗车机器在保持毛刷的一个姿势对车体的一侧具体的位车身侧面部位(不包括车顶)进行快速移动洗刷，相应的该洗刷路线则被记录，而执行程 序时车顶的部位将不被洗刷，此时细分洗刷路径可记录一个即将一个路径分为车顶洗刷路径和车侧身洗刷路径，此时可选择的通过四台洗车机器进行洗刷，也可选择仍然使用两台洗车机器重复洗刷路线一次分别对车顶和车侧身进行分别洗刷。
在使用你洗车机器进行洗刷车俩时，若清洗机器出现故障，云端控制器将根据剩余正常工作的清洗机器数量对路径进行重新规划。
具体的，向洗车机器洗刷车辆的同时还需要监控毛刷驱动洗刷机构、行走机构工作状态并上传至云端控制器。
洗车机器实时分别向其它洗车机器发送状态信息，进行相互监控，避免某一洗车机器的第一无线模块故障，重要的状态信息包括驱动机构执行状态信息、毛刷转动状态信息、毛刷推进状态信息。
如若驱动机构故障后需要移除该故障的洗车机器，此时可选择增加新的洗车机器代替它，也可通过剩下的洗车机器对该洗车机器为完成的清洗路线进行路线在分配，若毛刷转动、毛刷推进造成的清洗不彻底，则从毛刷驱动的故障时之后的洗车路径进行再分配。
若状态信息和洗车机器所在位置的预设状态信息不符合，即在洗车机在洗刷车侧身的位置路径上，而此时洗车机器中的毛刷为平性状态(该状态为洗刷车顶的状态)，则该洗车机器将该信息反馈至云端控制器以及此刻相关联的洗车机器，并取消关联该洗车机器该洗车机器存在系统故障，增加新洗车机器替代该洗车机器或通过剩余洗车机器重新规划路线对未清洗部分进行协同洗车。
若通过第二无线模块搜寻标识信息为搜寻到所对应的洗车机器，将搜寻结果上传至云端控制器和/或另行执行独自洗车任务。
将该信息上传云端控制器，通过云端控制器进行洗车任务在分配。
若执行协同任务的两洗车机多次连接失败，此时云端控制器可执行其中一洗车机器进行独自洗车任务。
优选地，洗车机器上第二无线模块为蓝牙模块。
具体的如图3所示，基于行走无人洗车设备的行走洗车控制系统，包括：
云端控制系统，收集并分析处理洗车机器独立系统中所发送的位置信息和监测信息，并向洗车机器独立系统发送任务信息；该任务信息可为协同洗车任务或者独自洗车任务。
洗车机器独立控制系统，上传位置信息至云端控制系统，接收并执行云端控制系统下发的指令，并与其它的洗车机器独立控制系统进行信息交互，交互的信息包括实时位置信息、在该位置上毛刷所执行命令的控制信息。
优选地，洗车机器通过第一无线模块和云端控制系统连接，不同洗车机器上的洗车机器独立控制系统之间通过第二无线模块连接。
优选地，洗车机器独立控制系统包括：
定位模块，用于对洗车机器所在位置进行定位；
视觉模块，用于确定洗车区域中车辆所处的空间位置、确定洗车机器与被洗车辆之间的间距；
执行模块，执行模块包括行走机构和洗刷机构，其中该洗刷机构为毛刷驱动机构；
监测模块，用于监测毛刷驱动洗刷机构和行走机构的运行状态。
以上模块对应基于行走无人洗车设备的行走洗车方法中所公开的传感器，机构或机构的组合。
值得注意的是，上述系统实施例中，所包括的各个单元只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
另外，本领域普通技术人员可以理解实现上述各实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，相应的程序可以存储于一计算机可读取存储介质中，所述的存储介质，如ROM/RAM、磁盘或光盘等。
以上公开的本发明优选实施例只是用于帮助阐述本发明。优选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本说明书的内容，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本发明的原理和实际应用，从而使所属技 术领域技术人员能很好地理解和利用本发明。本发明仅受权利要求书及其全部范围和等效物的限制。

Claims (10)

  1. 基于行走无人洗车设备的行走洗车方法，其特征在于，包括如下步骤：
    将所在位置信息及对车辆的定位信息通过第一无线模块上传至云端控制器，接收云端控制器所下发的洗车任务以及该洗车任务中其它洗车机器的标识信息；
    通过第二无线模块搜寻标识信息所对应的洗车机器，若搜寻到，建立通讯联系，将搜寻结果上传至云端控制器并执行协同洗车任务；
    根据所在的初始位置配置初始洗车路线，与此同时通过第二无线模块将自身位置信息传输至其它洗车机器以及云端控制器，并接收来自其它洗车机器的实时位置信息；
    记录实时位置并根据该记录生成已洗刷路线，并根据该已洗刷路线进调整后续洗刷路线。
  2. 根据权利要求1所述的基于行走无人洗车设备的行走洗车方法，其特征在于，通过第二无线模块和/或第一无线模块传输洗刷时的实时位置信息外还包括该时间点该位置中洗车机器上所对应的毛刷驱动机构的执行信息。
  3. 根据权利要求1或2所述的基于行走无人洗车设备的行走洗车方法，其特征在于，洗车机器实时分别向其它洗车机器发送状态信息，状态信息包括驱动机构执行状态信息、毛刷转动状态信息、毛刷推进状态信息。
  4. 根据权利要求3所述的基于行走无人洗车设备的行走洗车方法，其特征在于，若状态信息和洗车机器所在位置的预设状态信息不符合，则该洗车机器将该信息反馈至云端控制器以及此刻相关联的洗车机器，并取消关联该洗车机器，增加新洗车机器替代该洗车机器或通过剩余洗车机器重新规划路线对未清洗部分进行协同洗车。
  5. 根据权利要求4所述的基于行走无人洗车设备的行走洗车方法，其特 征在于，协同洗车包括如下步骤：
    获取协同任务，根据自身实时位置以及获取的待清洗行走路径通过设定的清洗时间计算出预行走速度；
    按照一定的时间间隔，上传未清洗行走路径，根据预行走速度再次分配的待清扫路径；
    其中，监控毛刷驱动洗刷机构、行走机构工作状态并上传至云端控制器，若清洗机器出现故障，云端控制器将根据剩余正常工作的清洗机器数量对路径进行重新规划。
  6. 根据权利要求3所述的基于行走无人洗车设备的行走洗车方法，其特征在于，若通过第二无线模块搜寻标识信息为搜寻到所对应的洗车机器，将搜寻结果上传至云端控制器和/或另行执行独自洗车任务。
  7. 根据权利要求1或6所述的基于行走无人洗车设备的行走洗车方法，其特征在于，洗车机器上第二无线模块为蓝牙模块。
  8. 根据权利要求1所述的基于行走无人洗车设备的行走洗车控制系统，其特征在于，包括：
    云端控制系统，收集并分析处理洗车机器独立系统中所发送的位置信息和监测信息，并向洗车机器独立系统发送任务信息；
    洗车机器独立控制系统，上传位置信息至云端控制系统，接收并执行云端控制系统下发的指令，并与其它的洗车机器独立控制系统进行信息交互，交互的信息包括实时位置信息、在该位置上毛刷所执行命令的控制信息。
  9. 根据权利要求7所述的基于行走无人洗车设备的行走洗车控制系统，其特征在于，洗车机器通过第一无线模块和云端控制系统连接，不同洗车机器上的洗车机器独立控制系统之间通过第二无线模块连接。
  10. 根据权利要求7或8所述的基于行走无人洗车设备的行走洗车控制 系统，其特征在于，洗车机器独立控制系统包括：
    定位模块，用于对洗车机器所在位置进行定位；
    视觉模块，用于确定洗车区域中车辆所处的空间位置、确定洗车机器与被洗车辆之间的间距；
    执行模块，执行模块包括行走机构和洗刷机构；
    监测模块，用于监测毛刷驱动洗刷机构和行走机构的运行状态。
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