Adaptive roof contour car washing method, system and device

Abstract

The invention belongs to the technical field of car washing robots, and specifically relates to a car washing method, system and device for adaptive car roof contours, aiming at the existing contact automatic car washing devices that cannot automatically adjust the moving path of the rolling brush according to different car models, resulting in poor cleaning effect question. The method includes collecting the contour data of the roof surface of the vehicle to be washed when it is detected that the vehicle has entered the car washing area and the car washing device is normally powered on, as input data; converting the input data to the vehicle coordinate system, and using the point cloud clustering algorithm Perform filtering and denoising processing; project the contour data after denoising processing to the motion plane of the roller brush of the car washing device as contour projection data; based on the contour projection data, generate the roller brush movement path through the preset roller brush movement path planning algorithm, And move the rolling brush according to the path to clean the vehicle to be washed. The invention can automatically adjust the moving path of the rolling brush according to different vehicle models, thereby improving the cleaning effect.

Description

technical field [0001] The invention belongs to the technical field of car washing robots, and in particular relates to a car washing method, system and device for adaptive car roof contours. Background technique [0002] The automatic car washes currently in use on the market are usually divided into two types: contact automatic car washes and non-contact automatic car washes. Car washes generally use a roller brush to remove dirt on the surface of the car body. The two automatic car washing methods have their own advantages and disadvantages. Among them, the contact automatic car washing room is equipped with moving roller brushes on the upper part and on the left and right sides. After the vehicle stops in the car washing area, the starting roller brush rolls across the body from front to back to complete the car washing process. A certain length of soft brush strip is attached to the body of the roller brush, and the moving path is fixed. Since the brush strip has a cer...

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