CN111873949A - Intelligent car washing method and system - Google Patents
Intelligent car washing method and systemDownload PDFInfo
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- CN111873949A CN111873949ACN202010796567.XACN202010796567ACN111873949ACN 111873949 ACN111873949 ACN 111873949ACN 202010796567 ACN202010796567 ACN 202010796567ACN 111873949 ACN111873949 ACN 111873949A
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- 238000005406washingMethods0.000titleclaimsabstractdescription134
- 238000000034methodMethods0.000titleclaimsabstractdescription39
- 238000004140cleaningMethods0.000claimsabstractdescription99
- 238000001035dryingMethods0.000claimsdescription27
- 238000005507sprayingMethods0.000claimsdescription26
- 238000005201scrubbingMethods0.000claimsdescription16
- 239000007921spraySubstances0.000claimsdescription15
- XLYOFNOQVPJJNP-UHFFFAOYSA-NwaterSubstancesOXLYOFNOQVPJJNP-UHFFFAOYSA-N0.000claimsdescription10
- 238000001514detection methodMethods0.000claimsdescription7
- 239000007788liquidSubstances0.000claimsdescription6
- 238000007664blowingMethods0.000claimsdescription3
- 238000011010flushing procedureMethods0.000abstractdescription4
- 230000004069differentiationEffects0.000abstractdescription3
- 238000010586diagramMethods0.000description2
- 238000012986modificationMethods0.000description2
- 230000004048modificationEffects0.000description2
- 239000003973paintSubstances0.000description2
- 230000003749cleanlinessEffects0.000description1
- 230000000694effectsEffects0.000description1
- 230000007613environmental effectEffects0.000description1
- 239000010419fine particleSubstances0.000description1
- 238000005187foamingMethods0.000description1
- 230000007774longtermEffects0.000description1
- 230000000750progressive effectEffects0.000description1
- 238000004064recyclingMethods0.000description1
- 238000011179visual inspectionMethods0.000description1
- 238000004065wastewater treatmentMethods0.000description1
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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
- 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
- B60S3/002—Vehicle drying apparatus
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及智能洗车技术领域，更具体地说，涉及一种智能洗车的方法。此外，本发明还提供了一种智能洗车的系统。The invention relates to the technical field of intelligent car washing, and more particularly, to a method for intelligent car washing. In addition, the present invention also provides an intelligent car washing system.
背景技术Background technique
自动洗车是区别于人工洗车的自动清洗车辆的方式，自动洗车利用自动控制的清洗装置，对车辆依次进行喷水、打泡沫、擦车、吹干等工序，自动洗车的清洗速度快，能够避免人工操作不当对车辆造成的伤害，且不依赖工人的技能和态度，可利用循环水废水处理技术实现环保节约用水等优点。Automatic car washing is a method of automatic car washing that is different from manual car washing. Automatic car washing uses an automatically controlled cleaning device to sequentially perform processes such as spraying water, foaming, wiping, and drying the vehicle. The cleaning speed of automatic car washing is fast, which can avoid The damage to vehicles caused by improper manual operation does not depend on the skills and attitudes of workers. The recycling water wastewater treatment technology can be used to achieve environmental protection and water conservation.
但是，针对不同的家用车辆的洗车过程中，现有自动洗车装置都是采用固定的洗车程序进行无差别清洗处理，车身很多缝隙、边角等死点位置清洗不到等，导致清洗不全面、不彻底的问题，影响客户的洗车体验。However, in the car washing process for different household vehicles, the existing automatic car washing devices use a fixed car washing program to perform indiscriminate cleaning treatment, and many gaps, corners and other dead points of the body cannot be cleaned, etc., resulting in incomplete cleaning. Incomplete problems affect the customer's car wash experience.
因此，如何针对不同车辆采用有差别的清洗方案，是目前本领域技术人员亟待解决的问题。Therefore, how to adopt different cleaning solutions for different vehicles is an urgent problem to be solved by those skilled in the art.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明的目的是提供一种智能洗车的方法，依据待洗车辆的不同款型，采用更符合待洗车辆特征的洗车流程进行差异化清洗处理，以实现更加全面、彻底的自动清洗。In view of this, the purpose of the present invention is to provide a method for intelligent car washing. According to different models of vehicles to be washed, a car washing process that is more in line with the characteristics of the vehicles to be washed is used to carry out differential cleaning processing, so as to achieve a more comprehensive and thorough automatic cleaning process. cleaning.
本发明的另一目的是提供一种智能洗车的系统。Another object of the present invention is to provide an intelligent car washing system.
为了实现上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
一种智能洗车的方法，包括：A method of intelligent car washing, comprising:
获取待洗车辆的特征，以得到所述待洗车辆的清洗模型；Acquire the characteristics of the vehicle to be washed to obtain a cleaning model of the vehicle to be washed;
依据所述清洗模型得到所述待洗车辆的洗车流程；obtaining the car washing process of the vehicle to be washed according to the washing model;
依据所述洗车流程对所述待洗车辆进行清洗。The vehicle to be washed is washed according to the car washing process.
优选的，所述获取待洗车辆的特征，以得到所述待洗车辆的清洗模型，包括：Preferably, the acquiring the characteristics of the vehicle to be washed to obtain the cleaning model of the vehicle to be washed includes:
获取所述待洗车辆的车辆位置与车辆型号；Obtain the vehicle location and vehicle model of the vehicle to be washed;
依据所述车辆型号从预存数据中调取与所述车辆型号对应的车辆模型；fetching a vehicle model corresponding to the vehicle model from the pre-stored data according to the vehicle model;
依据所述车辆位置与所述车辆模型得到所述清洗模型。The cleaning model is obtained according to the vehicle position and the vehicle model.
优选的，依据所述清洗模型得到所述待洗车辆的洗车流程，包括：Preferably, the car washing process of the vehicle to be washed is obtained according to the washing model, including:
依据所述清洗模型得到喷洒轨迹、擦拭轨迹、烘干范围中的一者或多者；Obtaining one or more of a spraying trajectory, a wiping trajectory, and a drying range according to the cleaning model;
依据所述洗车流程对所述待洗车辆进行清洗，包括：Washing the vehicle to be washed according to the car washing process, including:
依据所述喷洒轨迹、擦拭轨迹、烘干范围中的一者或多者对所述待洗车辆进行处理。The vehicle to be washed is processed according to one or more of the spraying trajectory, the wiping trajectory, and the drying range.
优选的，依据所述清洗模型得到擦拭轨迹，并依据所述擦拭轨迹对所述待洗车辆进行处理，包括：Preferably, the wiping trajectory is obtained according to the cleaning model, and the vehicle to be washed is processed according to the wiping trajectory, including:
沿所述擦拭轨迹对所述待处理车辆进行擦洗或擦干，且每隔预设时间后，更换用于擦洗或擦干的擦拭工具。The vehicle to be treated is scrubbed or dried along the wiping track, and the wiping tool used for scrubbing or drying is replaced after every preset time.
优选的，依据所述清洗模型得到所述待洗车辆的洗车流程之前，还包括：Preferably, before obtaining the washing process of the vehicle to be washed according to the washing model, the method further includes:
获取所述待洗车辆的洗车需求；Obtain the car wash requirements of the vehicle to be washed;
依据所述清洗模型得到所述待洗车辆的洗车流程，包括：The car washing process of the vehicle to be washed is obtained according to the washing model, including:
依据所述清洗模型与所述洗车需求得到所述待洗车辆的洗车流程。The car washing process of the vehicle to be washed is obtained according to the washing model and the car washing requirement.
优选的，获取所述待洗车辆的洗车需求，包括：获取所述待洗车辆的重点清洗区域；Preferably, acquiring the car wash requirements of the vehicle to be washed includes: acquiring key cleaning areas of the vehicle to be washed;
依据所述清洗模型与所述洗车需求得到所述待洗车辆的洗车流程，包括：多次擦洗所述重点清洗区域。Obtaining the car washing process of the vehicle to be washed according to the cleaning model and the car washing requirement includes: scrubbing the key cleaning area multiple times.
一种智能洗车的系统，包括：An intelligent car washing system, comprising:
获取单元，用于获取待洗车辆的特征；an acquisition unit for acquiring the characteristics of the vehicle to be washed;
处理单元，连接于所述获取单元，并依据所述特征得到所述待洗车辆的清洗模型、依据所述清洗模型得到所述待洗车辆的洗车流程；a processing unit, connected to the acquisition unit, and obtains a cleaning model of the vehicle to be washed according to the feature, and obtains a car washing process of the vehicle to be washed according to the cleaning model;
清洗装置，连接于所述处理单元，并依据洗车流程对所述待洗车辆进行清洗。The cleaning device is connected to the processing unit, and cleans the vehicle to be washed according to the car washing process.
优选的，所述获取单元包括检测装置与型号输入装置，所述检测装置用于检测所述待洗车辆的轮胎的位置，所述型号输入装置用于获取车辆型号；Preferably, the obtaining unit includes a detection device and a model input device, the detection device is used to detect the position of the tire of the vehicle to be washed, and the model input device is used to obtain the model of the vehicle;
还包括连接于所述处理单元的存储单元，所述存储单元用于存储与所述车辆模型一一对应车辆型号；Also includes a storage unit connected to the processing unit, the storage unit is used to store the vehicle model corresponding to the vehicle model one-to-one;
所述处理单元用于依据所述车辆型号从所述存储单元获取对应所述车辆型号的所述车辆模型，并依据所述车辆模型与所述轮胎位置得到所述清洗模型。The processing unit is configured to obtain the vehicle model corresponding to the vehicle model from the storage unit according to the vehicle model, and obtain the cleaning model according to the vehicle model and the tire position.
优选的，所述清洗装置包括连接于所述处理单元的喷洒组件、擦拭组件以及烘干组件；Preferably, the cleaning device includes a spraying component, a wiping component and a drying component connected to the processing unit;
所述喷洒组件包括用于喷洒洗车液的洗车液喷头和用于喷洒水的水喷头；The spray assembly includes a car wash liquid spray head for spraying car wash liquid and a water spray head for spraying water;
所述擦拭组件包括六轴机械臂以及连接于所述六轴机械臂的夹具，所述夹具用于可选择的夹取擦洗车辆的擦洗工具或擦干车辆的擦干工具；The wiping assembly includes a six-axis robotic arm and a clamp connected to the six-axis robotic arm, and the clamp is used for selectively gripping a scrubbing tool for scrubbing a vehicle or a drying tool for drying the vehicle;
所述烘干组件包括吹热风的吹风机。The drying assembly includes a blower blowing hot air.
优选的，还包括连接于所述处理单元的需求输入单元，所述输入单元用于输入所述待洗车辆的洗车需求，所述处理单元还用于依据所述清洗模型与所述洗车需求得到所述待洗车辆的洗车流程。Preferably, it also includes a demand input unit connected to the processing unit, the input unit is used for inputting the car washing demand of the vehicle to be washed, and the processing unit is further used for obtaining the washing demand according to the washing model and the car washing demand. The car washing process of the vehicle to be washed.
本发明所提供智能洗车的方法，通过获取待洗车辆的特征得到待洗车辆的清洗模型，以利用该待洗车辆的清洗模型得到针对该待洗车辆的洗车流程，例如，可利用清洗模型设计出更加贴合车辆外形轮廓的冲洗轨迹，以保证清洗的均匀性，还可根据不同车辆上的死角位置进行针对性清洗处理，以提高清洗的全面性。最后利用针对该待洗车辆所形成的洗车流程对对其针对性清洗。从而实现清洗的差异化，提高清洗的全面性与彻底性。The method for intelligent car washing provided by the present invention obtains the washing model of the vehicle to be washed by acquiring the characteristics of the vehicle to be washed, and uses the washing model of the vehicle to be washed to obtain the car washing process for the vehicle to be washed. For example, the washing model can be used to design It can create a flushing trajectory that better fits the contour of the vehicle to ensure the uniformity of cleaning, and can also carry out targeted cleaning treatment according to the dead angle positions on different vehicles to improve the comprehensiveness of cleaning. Finally, use the car washing process formed for the vehicle to be washed to clean it in a targeted manner. Thereby realizing the differentiation of cleaning and improving the comprehensiveness and thoroughness of cleaning.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中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，还可以依据提供的附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on the provided drawings without any creative effort.
图1为本发明所提供智能洗车的方法具体实施例的流程图；Fig. 1 is the flow chart of the specific embodiment of the method for intelligent car washing provided by the present invention;
图2为本发明所提供智能洗车的系统具体实施例的示意图。FIG. 2 is a schematic diagram of a specific embodiment of a system for intelligent car washing provided by the present invention.
其中，1-支架、2-待洗车辆、3-车身喷洒组件、4-六轴机械臂、5-耗材更换台、6-底盘喷洒组件。Among them, 1-stand, 2-vehicle to be washed, 3-body spraying component, 4-six-axis robotic arm, 5-consumables replacement table, 6-chassis spraying component.
具体实施方式Detailed ways
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做出创造性劳动前提下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 with reference to 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, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本发明的核心是提供一种智能洗车的方法，依据待洗车辆的不同款型，采用更符合待洗车辆特征的洗车流程进行差异化清洗处理，以实现更加全面、彻底的自动清洗。The core of the present invention is to provide an intelligent car washing method. According to different models of the vehicles to be washed, a car washing process more in line with the characteristics of the vehicles to be washed is used to carry out differentiated cleaning treatment, so as to achieve more comprehensive and thorough automatic cleaning.
本发明的另一核心是提供一种智能洗车的系统。Another core of the present invention is to provide an intelligent car washing system.
请参考图1至图2，图1为本发明所提供智能洗车的方法具体实施例的流程图；图2为本发明所提供智能洗车的系统具体实施例的示意图。Please refer to FIG. 1 to FIG. 2 , FIG. 1 is a flowchart of a specific embodiment of a method for intelligent car washing provided by the present invention; FIG. 2 is a schematic diagram of a specific embodiment of a system for intelligent car washing provided by the present invention.
本发明所提供了一种智能洗车的方法，该方法包括以下步骤：The present invention provides a method for intelligent car washing, which comprises the following steps:
步骤S1、获取待洗车辆的特征，以得到待洗车辆的清洗模型；Step S1, acquiring the characteristics of the vehicle to be washed to obtain a cleaning model of the vehicle to be washed;
步骤S2、依据清洗模型得到待洗车辆的洗车流程；Step S2, obtaining the car washing process of the vehicle to be washed according to the washing model;
步骤S3、依据洗车流程对待洗车辆进行清洗。Step S3, washing the vehicle to be washed according to the car washing process.
其中，步骤S1的特征指的是车辆具有的类型的特征，例如车型、车辆的牌子、车辆的尺寸等，可以为其中一者或者为多者。Wherein, the feature of step S1 refers to the feature of the type of the vehicle, such as the model, the brand of the vehicle, the size of the vehicle, etc., which may be one or more of them.
本发明通过获取待洗车辆的特征，以得到待洗车辆的清洗模型，该清洗模型可为与待洗车辆的外观模型相似或相同的模型，然后利用清洗模型设置符合该待洗车辆的洗车流程，例如，通过清洗模型可以设置更加贴和车辆外形轮廓的冲洗轨迹，以保证清洗的均匀性，还可根据不同车辆上的死角位置进行针对的清洗处理，以提高清洗的全面性。The present invention obtains the washing model of the vehicle to be washed by acquiring the characteristics of the vehicle to be washed, and the washing model can be a model similar to or the same as the appearance model of the vehicle to be washed, and then uses the washing model to set the washing process conforming to the vehicle to be washed. For example, the cleaning model can be used to set a flushing trajectory that is more closely aligned with the outline of the vehicle to ensure the uniformity of cleaning, and can also perform targeted cleaning treatment according to the dead angle positions on different vehicles to improve the comprehensiveness of cleaning.
本发明所提供智能洗车的方法，通过获取待洗车辆的特征得到待洗车辆的清洗模型，以利用该待洗车辆的清洗模型得到针对该待洗车辆的洗车流程，例如，可利用清洗模型设计出更加贴合车辆外形轮廓的冲洗轨迹，以保证清洗的均匀性，还可根据不同车辆上的死角位置进行针对的清洗处理，以提高清洗的全面性。最后利用针对该待洗车辆所形成的洗车流程对对其针对性清洗。从而实现清洗的差异化，提高清洗的全面性与彻底性。The method for intelligent car washing provided by the present invention obtains the washing model of the vehicle to be washed by acquiring the characteristics of the vehicle to be washed, and uses the washing model of the vehicle to be washed to obtain the car washing process for the vehicle to be washed. For example, the washing model can be used to design It can create a flushing trajectory that better fits the contour of the vehicle to ensure the uniformity of cleaning, and can also carry out targeted cleaning treatment according to the dead angle positions on different vehicles to improve the comprehensiveness of cleaning. Finally, use the car washing process formed for the vehicle to be washed to clean it in a targeted manner. Thereby realizing the differentiation of cleaning and improving the comprehensiveness and thoroughness of cleaning.
在上述实施例的基础之上，考虑到得到清洗模型的具体方式，作为一种优选，获取待洗车辆的特征，以得到待洗车辆的清洗模型，包括：获取待洗车辆的车辆位置与车辆型号；依据车辆型号从预存数据中调取与车辆型号对应的车辆模型；依据车辆位置与车辆模型得到清洗模型。On the basis of the above-mentioned embodiment, considering the specific method of obtaining the cleaning model, as an option, obtaining the characteristics of the vehicle to be washed to obtain the cleaning model of the vehicle to be washed includes: obtaining the vehicle position and the vehicle position of the vehicle to be washed. model; retrieve the vehicle model corresponding to the vehicle model from the pre-stored data according to the vehicle model; obtain the cleaning model according to the vehicle location and the vehicle model.
即本实施例中，考虑到一般情况下，车辆型号与车辆款型是对应的，因此，可预存市场上大部分的车辆模型的方式来快速获取清洗模型，即在清洗前，只需要获取待洗车辆的车辆型号，便可从预存数据中调取与其对应的车辆模型，再将车辆模型与待洗车辆的车辆位置相对应，便可快速得到待洗车辆的清洗模型。当然，还可通过扫描或视觉检测的方式获取车辆模型。That is, in this embodiment, considering that in general, the vehicle model corresponds to the vehicle model, therefore, most of the vehicle models on the market can be pre-stored to quickly obtain the cleaning model, that is, before cleaning, only the The vehicle model of the vehicle to be washed can be retrieved from the pre-stored data, and the corresponding vehicle model can be retrieved, and then the vehicle model can be corresponding to the vehicle position of the vehicle to be washed, and the washing model of the vehicle to be washed can be quickly obtained. Of course, the vehicle model can also be obtained by scanning or visual inspection.
在上述实施例的基础之上，依据清洗模型得到待洗车辆的洗车流程，包括：依据清洗模型得到喷洒轨迹、擦拭轨迹、烘干范围中的一者或多者；依据洗车流程对待洗车辆进行清洗，包括：依据喷洒轨迹、擦拭轨迹、烘干范围中的一者或多者对待洗车辆进行处理。On the basis of the above embodiment, obtaining the car washing process of the vehicle to be washed according to the cleaning model includes: obtaining one or more of the spraying trajectory, the wiping trajectory and the drying range according to the cleaning model; Cleaning includes: processing the vehicle to be washed according to one or more of the spraying track, the wiping track, and the drying range.
即本实施例中，根据待洗车辆的清洗模型生成符合其外形轮廓的喷洒轨迹和擦拭轨迹，以保证清洗的彻底性，其中，擦洗和擦干两个流程均可沿擦拭轨迹的路线进行清洗或擦干，确定待洗车辆的烘干范围可减少不必要的损耗。That is, in this embodiment, according to the cleaning model of the vehicle to be washed, the spraying trajectory and the wiping trajectory that conform to the contour of the vehicle are generated to ensure the thoroughness of the cleaning. The two processes of scrubbing and wiping can be cleaned along the route of the wiping trajectory. Or dry it, and determine the drying range of the vehicle to be washed to reduce unnecessary wear and tear.
在上述实施例的基础之上，依据清洗模型得到擦拭轨迹，并依据擦拭轨迹对待洗车辆进行处理，包括：沿擦拭轨迹对待处理车辆进行擦洗或擦干，且每隔预设时间后，更换用于擦洗或擦干的擦拭工具。On the basis of the above embodiment, the wiping trajectory is obtained according to the cleaning model, and the vehicle to be washed is processed according to the wiping trajectory, including: scrubbing or drying the vehicle to be treated along the wiping trajectory, and replacing the Wipes for scrubbing or drying.
本实施例中，考虑到现有自动洗车过程中，由于擦洗或擦干的清洁毛刷不能更换，重复使用，清洗时毛刷里可能会有砂砾等细小杂物，及毛刷硬化，可能会对车漆造成损伤。因此，在擦拭或擦干的过程中，可定时更换用于擦洗或擦干的擦拭工具，以免擦拭工具损伤车辆，进一步提高清洗的洁净性，换下来的擦拭工具可在清理后重复使用。In this embodiment, considering that in the existing automatic car washing process, since the scrubbing or drying cleaning brush cannot be replaced and is reused, there may be fine debris such as grit in the brush during cleaning, and the brush may be hardened. Damage to car paint. Therefore, in the process of wiping or drying, the wiping tools used for scrubbing or drying can be replaced regularly to prevent the wiping tools from damaging the vehicle and further improve the cleanliness of cleaning. The replaced wiping tools can be reused after cleaning.
在上述任意实施例的基础之上，依据清洗模型得到待洗车辆的洗车流程之前，还包括：获取待洗车辆的洗车需求；依据清洗模型得到待洗车辆的洗车流程，包括：依据清洗模型与洗车需求得到待洗车辆的洗车流程。On the basis of any of the above embodiments, before obtaining the car washing process of the vehicle to be washed according to the cleaning model, the method further includes: obtaining the car washing requirements of the vehicle to be washed; obtaining the car washing process of the vehicle to be washed according to the cleaning model, including: according to the cleaning model and The car wash request gets the car wash process of the vehicle to be washed.
本实施例中，考虑到待洗车辆上可能存在过脏或者客户需要着重清洗的地方，因此，在清洗之前可根据客户需求，获取待洗车辆的清洗需求，然后结合清洗需求与洗车模型得到能够满足客户需求的洗车流程，或者能够对过脏的地方进行重点清洗的洗车流程。In this embodiment, considering that there may be places on the vehicle to be washed that are too dirty or the customer needs to focus on cleaning, before cleaning, the cleaning requirements of the vehicle to be washed can be obtained according to the customer's needs, and then the cleaning requirements and the car washing model can be combined to obtain the cleaning requirements. A car wash process that meets customer needs, or a car wash process that focuses on cleaning the dirty areas.
获取待洗车辆的洗车需求，包括：获取待洗车辆的重点清洗区域；依据清洗模型与洗车需求得到待洗车辆的洗车流程，包括：多次擦洗重点清洗区域。例如，前挡风玻璃过脏需要重点清洗，则需要重点清洗的区域为前挡风玻璃，则可对前挡风玻璃进行多次擦拭，以解决车身上过脏的地方不能得到反复的清洗的问题，实现全面、彻底清洗的同时，还可实现重点清洗的效果。Obtain the car wash requirements of the vehicle to be washed, including: obtaining the key cleaning areas of the vehicle to be washed; obtaining the car wash process of the vehicle to be washed according to the cleaning model and car wash requirements, including: scrubbing the key cleaning areas multiple times. For example, if the front windshield is too dirty and needs to be cleaned, then the area that needs to be cleaned is the front windshield, and the front windshield can be wiped several times to solve the problem that the dirty places on the body cannot be cleaned repeatedly. To solve the problem, while achieving comprehensive and thorough cleaning, it can also achieve the effect of key cleaning.
此外，本发明还提供了一种智能洗车的系统，用于实施上述智能洗车的方法。智能洗车的系统包括：获取单元，用于获取待洗车辆2的特征；处理单元，连接于获取单元，并依据特征得到待洗车辆2的清洗模型、依据清洗模型得到待洗车辆2的洗车流程；清洗装置，连接于处理单元，并依据洗车流程对待洗车辆2进行清洗。In addition, the present invention also provides an intelligent car washing system for implementing the above-mentioned intelligent car washing method. The system for intelligent car washing includes: an acquisition unit for acquiring the characteristics of the vehicle to be washed 2; a processing unit, connected to the acquisition unit, and obtains a cleaning model of the vehicle to be washed 2 according to the characteristics, and obtains a car washing process of the vehicle to be washed 2 according to the cleaning model ; The cleaning device is connected to the processing unit and cleans the
可以知道上述获取单元、处理单元和清洗装置用于完成上述方法S1-S3。因此，上述智能洗车的系统能够实现。It can be known that the above-mentioned acquisition unit, processing unit and cleaning device are used to complete the above-mentioned methods S1-S3. Therefore, the above-mentioned intelligent car washing system can be realized.
上述实施例的基础之上，作为一种优选，获取单元包括检测装置与型号输入装置，检测装置用于检测待洗车辆2的轮胎的位置，型号输入装置用于获取车辆型号；还包括连接于处理单元的存储单元，存储单元用于存储与车辆模型一一对应车辆型号；处理单元用于依据车辆型号从存储单元获取对应车辆型号的车辆模型，并依据车辆模型与轮胎位置得到清洗模型。On the basis of the above embodiment, as a preference, the acquisition unit includes a detection device and a model input device, the detection device is used to detect the position of the tires of the
在上述实施例的基础之上，作为一种优选，清洗装置包括连接于处理单元的喷洒组件、擦拭组件以及烘干组件；喷洒组件包括用于喷洒洗车液的洗车液喷头和用于喷洒水的水喷头；擦拭组件包括六轴机械臂4以及连接于六轴机械臂4的夹具，夹具用于可选择的夹取擦洗车辆的擦洗工具或擦干车辆的擦干工具；烘干组件包括吹热风的吹风机。On the basis of the above embodiments, as a preferred option, the cleaning device includes a spraying component, a wiping component, and a drying component connected to the processing unit; a water spray head; the wiping assembly includes a six-axis mechanical arm 4 and a clamp connected to the six-axis mechanical arm 4, and the clamp is used to selectively grip a scrubbing tool for scrubbing the vehicle or a drying tool for drying the vehicle; the drying assembly includes blowing hot air hair dryer.
在上述实施例的基础之上，作为一种优选，还包括连接于处理单元的需求输入单元，输入单元用于输入待洗车辆2的洗车需求，处理单元还用于依据清洗模型与洗车需求得到待洗车辆2的洗车流程。On the basis of the above embodiment, as an option, it further includes a demand input unit connected to the processing unit, the input unit is used for inputting the washing demand of the
即本发明所提供的智能洗车的系统，可通过检测单元获取待洗车辆2的车轮位置并传送给处理单元，通过型号输入单元获取车辆型号并传送给处理单元，然后通过处理单元从存储单元中调取与车辆型号对应的车辆模型，利用车辆模型与车辆位置，得到相对位置与清洗装置确定的清洗模型。That is, the intelligent car washing system provided by the present invention can obtain the wheel position of the vehicle to be washed 2 through the detection unit and transmit it to the processing unit, obtain the vehicle model through the model input unit and transmit it to the processing unit, and then through the processing unit from the storage unit The vehicle model corresponding to the vehicle model is retrieved, and the cleaning model determined by the relative position and the cleaning device is obtained by using the vehicle model and the vehicle position.
利用清洗模型得到针对该待洗车辆2的清洗流程，其中，每个清洗流程也可与车辆模型一一对应，并通过存储单元存储，以便当处理单元获取得到车辆型号后，便可直接调取与该车辆型号一一对应的车辆模型以及清洗模型，处理单元再结合车辆位置确定清洗模型与清洗装置的相对位置即可。The cleaning process for the vehicle to be washed 2 is obtained by using the cleaning model, wherein each cleaning process can also be in one-to-one correspondence with the vehicle model and stored in the storage unit, so that when the processing unit obtains the vehicle model, it can be directly retrieved The vehicle model and the cleaning model corresponding to the vehicle model one-to-one, and the processing unit can determine the relative position of the cleaning model and the cleaning device in combination with the vehicle position.
喷洒组件包括用于喷洒水的水喷头和用于喷洒洗车液的洗车液喷头，其中，喷洒组件可包括用于向车身喷洒的车身喷洒组件3以及向底板喷洒的底盘喷洒组件6，车身喷洒组件3可设置在支架1上方的移动机架上，以便在处理单元的控制下按照喷洒轨迹有序向车身喷洒。处理单元应当控制喷洒组件的开闭，例如，控制器控制喷洒组件移动至车头时开始喷洒，并向后移动至车尾时停止喷洒。The spray assembly includes a water spray head for spraying water and a car wash liquid spray head for spraying car wash liquid, wherein the spray assembly may include a
擦拭组件包括六轴机械臂4，以保证擦拭组件能够擦洗到车身的任意位置，从而保证清洗的全面性。六轴机械臂4设有夹具，夹具用于可选择的夹具擦洗工具或擦干车辆，且可在需要更换新的擦拭工具，以避免清洗时，擦拭工具由于长时间擦拭而夹杂有砂砾等细小杂物或者硬化，导致对车漆造成损伤的风险。具体的清洁工具可为海绵垫或抹布等柔软的擦拭工具。The wiping assembly includes a six-axis robotic arm 4 to ensure that the wiping assembly can be wiped to any position of the vehicle body, thereby ensuring the comprehensiveness of cleaning. The six-axis robotic arm 4 is provided with a clamp, the clamp is used for the optional clamp to scrub the tool or dry the vehicle, and can be replaced with a new wiper tool when cleaning, so as to avoid the wiping tool being mixed with fine particles such as grit due to long-term wiping debris or hardening, resulting in a risk of damage to the paint. A specific cleaning tool may be a soft wiping tool such as a sponge pad or a rag.
六轴机械臂4的数量可为三个，以便分别从待洗车辆2的两侧以及顶部进行清洁，提高清洁的高效性。还增加用于放置擦拭工具的耗材更换台5，以便于实现自动更换。The number of the six-axis robotic arms 4 can be three, so as to clean from the two sides and the top of the
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.
以上对本发明所提供智能洗车的方法和系统进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。The method and system for intelligent car washing provided by the present invention have been described in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
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