Intelligent control system and method for continuous cleaning of buses

Abstract

The present invention discloses an intelligent control system and method for continuous cleaning of buses. The present invention plans a driving route for cleaning the target buses with mobile cleaning equipment by acquiring position information of the target buses to be cleaned in the parking lot of a passenger station, further acquires each cleaning stop point in the cleaning route of the mobile cleaning equipment, acquires action parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm in the mobile cleaning equipment at each cleaning stop point, and sends the action parameters to an execution terminal of the mobile cleaning equipment, and simultaneously acquires the water pressure and moving speed of the water outlet corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, analyzes and acquires the cleaning matching degree corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and performs corresponding processing, so as to perform intelligent and automatic cleaning on the buses in the parking lot through the mobile cleaning equipment, reduce manpower and time costs, and improve cleaning efficiency.

Description

Technical Field

[0001] The invention relates to the field of intelligent control of bus washing, and in particular to an intelligent control system and method for continuous washing of a bus. Background Art

[0002] After running for a period of time, the bus will become dirty and need to be cleaned in time, but it is troublesome to clean the bus. The existing bus cleaning method has some disadvantages: on the one hand, the bus driver needs to drive the bus to a car wash or a designated location for cleaning, which is inefficient and wastes a lot of time driving back and forth. On the other hand, the existing bus cleaning mainly adopts manual or semi-manual methods, which is too costly. On the other hand, when the car washing equipment is cleaning the bus, the water pressure of the water pipe is a fixed value and cannot be intelligently adjusted according to the degree of dirtiness of the bus. When the water pressure is too low, the stains cannot be rinsed clean. When the water pressure is too high, it will cause a waste of water resources. Summary of the invention

[0003] In view of the above problems, the present invention proposes an intelligent control system and method for continuous cleaning of a bus, which realizes the function of intelligent control of bus cleaning.

[0004] The technical solution adopted by the present invention to solve the technical problem is:

[0005] The present invention provides an intelligent control system for continuous cleaning of a bus, comprising:

[0006] Target bus location information acquisition module: used to obtain the location information of the target bus to be cleaned in the passenger station parking lot, and send the location information of the target bus to the mobile cleaning equipment route planning module;

[0007] Mobile cleaning equipment route planning module: used to receive the location information of the target bus, plan the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, record the driving route of the mobile cleaning equipment for cleaning the target bus as the cleaning route of the mobile cleaning equipment, and arrange various cleaning stop points in the cleaning route of the mobile cleaning equipment;

[0008] The vehicle side washing mechanical arm action parameter acquisition module is used to obtain the action parameters corresponding to the vehicle side washing mechanical arm at each washing stop point in the mobile washing device, and send the action parameters corresponding to the vehicle side washing mechanical arm at each washing stop point in the mobile washing device to the mobile washing device execution terminal;

[0009] Roof cleaning robot action parameter acquisition module: used to obtain the action parameters corresponding to the roof cleaning robot in the mobile cleaning device at each cleaning stop point, and send the action parameters corresponding to the roof cleaning robot in the mobile cleaning device at each cleaning stop point to the mobile cleaning device execution terminal;

[0010] Mobile cleaning equipment execution terminal: used to receive the action parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning equipment, and control the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm to perform corresponding actions;

[0011] Mobile cleaning equipment cleaning parameter acquisition module: used to obtain the cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush at each cleaning stop point in the mobile cleaning equipment, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed;

[0012] Cleaning database: used to store the standard water pressure of the cleaning brush outlet and the standard moving speed of the cleaning brush corresponding to different dust concentration ranges of the target bus;

[0013] Mobile cleaning equipment cleaning parameter processing module: used to analyze the cleaning parameters corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

[0014] On the basis of the above embodiment, the target bus position information acquisition module acquires the position information of the target bus to be cleaned in the passenger station parking lot, and the specific process is as follows:

[0015] The high-definition camera carried on the mobile cleaning equipment is used to perform surround shooting of the ground area where the target bus to be cleaned in the bus station parking lot is located, and images of the ground area where the target bus is located at various angles are obtained. The images of the ground area where the target bus is located at various angles are spliced ​​and integrated to obtain a complete image of the ground area where the target bus is located, and then the edge line area of ​​the ground channel where the target bus is located is obtained.

[0016] Based on the above embodiment, the specific analysis process of the mobile cleaning equipment route planning module is as follows:

[0017] According to the ground channel edge line area where the target bus is located, the ground channel area where the target bus is located is obtained, and it is recorded as the driving area for the mobile cleaning equipment to clean the target bus. The starting point and the end point are set according to the preset principle in the driving area for the mobile cleaning equipment to clean the target bus, and then the driving route for the mobile cleaning equipment to clean the target bus is obtained, which is recorded as the cleaning route of the mobile cleaning equipment. The cleaning route of the mobile cleaning equipment is divided according to the preset equal distance division principle to obtain each cleaning route section of the mobile cleaning equipment, and corresponding cleaning stop points are respectively arranged in each cleaning route section of the mobile cleaning equipment to obtain each cleaning stop point in the cleaning route of the mobile cleaning equipment.

[0018] On the basis of the above embodiment, the vehicle side washing mechanical arm motion parameter acquisition module acquires the motion parameters corresponding to the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, and the specific method is:

[0019] The horizontal distance from the first support rod in the mobile cleaning device to the side of the target bus at each cleaning stop point is obtained by the laser rangefinder carried on the first support rod in the mobile cleaning device, and is recorded as i represents the number of the cleaning stop point in the cleaning route of the mobile cleaning equipment, i=1,2,...,n, and the horizontal distance from the first support rod of the mobile cleaning equipment at each cleaning stop point to the side of the target bus is substituted into the formula Get the moving distance of the side cleaning robot arm of the mobile cleaning equipment at each cleaning stop point horizontally close to the side direction of the target bus It is recorded as the horizontal movement distance of the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, wherein Δl1 represents the operation distance of the vehicle side washing brush in the preset mobile washing device, Δh1 represents the error of the horizontal movement distance of the vehicle side washing mechanical arm in the preset mobile washing device, and β represents the horizontal movement distance correction factor of the vehicle side washing mechanical arm in the preset mobile washing device;

[0020] Through the high-definition camera carried on the first support rod in the mobile cleaning device, the side image of the target bus body corresponding to each cleaning stop point is obtained. According to the side image of the target bus body corresponding to each cleaning stop point, the side contour of the target bus body corresponding to each cleaning stop point is obtained, and the side width of the target bus body corresponding to each cleaning stop point is further obtained, which is recorded as the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point, and the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point is recorded as Y1 i .

[0021] On the basis of the above embodiment, the roof cleaning robot arm motion parameter acquisition module acquires the motion parameters corresponding to the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point, and the specific method is:

[0022] The laser rangefinder carried on the second support rod in the mobile cleaning device is used to obtain the horizontal distance from the second support rod in the mobile cleaning device to the roof of the target bus at each cleaning stop point, and then the horizontal movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as

[0023] The high-definition camera carried on the second support rod in the mobile cleaning device is used to obtain the target bus roof image corresponding to each cleaning stop point. According to the target bus roof image corresponding to each cleaning stop point, the vertical movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as

[0024] On the basis of the above embodiment, the specific method of the cleaning parameter acquisition module of the mobile cleaning equipment is:

[0025] The first water pressure sensor and the first speed sensor built into the vehicle side cleaning mechanical arm of the mobile cleaning device are used to measure the water pressure and the moving speed of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning device, and they are respectively recorded as f1 i and

[0026] The water pressure and moving speed of the water outlet corresponding to each cleaning stop point of the roof cleaning brush in the mobile cleaning device are measured by the second water pressure sensor and the second speed sensor built into the roof cleaning robot arm in the mobile cleaning device, and are recorded as and

[0027] Based on the above embodiment, the specific process of the cleaning parameter processing module of the mobile cleaning equipment is as follows:

[0028] The dust detector carried by the vehicle side cleaning brush in the mobile cleaning device is used to obtain the target bus side dust concentration corresponding to each cleaning stop point, and the dust detector carried by the vehicle roof cleaning brush in the mobile cleaning device is used to obtain the target bus roof dust concentration corresponding to each cleaning stop point;

[0029] The standard water pressure of the washing brush outlet and the standard moving speed of the washing brush corresponding to different dust concentration ranges of the target bus stored in the cleaning database are extracted. According to the dust concentration on the side of the target bus and the dust concentration on the roof of the target bus corresponding to each cleaning stop point, the standard water pressure of the washing brush outlet on the side of the target bus, the standard moving speed of the washing brush on the side of the target bus, the standard water pressure of the washing brush outlet on the roof of the target bus and the standard moving speed of the washing brush on the roof of the target bus corresponding to each cleaning stop point are screened and obtained, and they are respectively recorded as f 1标 、v 1标 、f 2标 、v 2标 ;

[0030] The water pressure f1 of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment i and movement speed Substitute into the formula Get the cleaning matching degree corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment Wherein σ1 and σ2 represent the weight factors of the water pressure and the moving speed of the water outlet of the vehicle side washing brush in the preset mobile washing device, respectively, and e represents a natural constant. Similarly, according to the cleaning matching degree analysis method corresponding to each cleaning stop point of the vehicle side washing brush in the mobile washing device, the cleaning matching degree corresponding to each cleaning stop point of the roof washing brush in the mobile washing device is obtained, which is recorded as ξ2i;

[0031] The cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at each washing stop point are compared with the preset cleaning matching degree threshold of the washing brushes of the mobile washing device. If the cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at a certain washing stop point are greater than or equal to the cleaning matching degree threshold, no processing is performed; otherwise, the results are sent to the mobile washing device control center to make corresponding adjustments.

[0032] The present invention provides an intelligent control method for continuous cleaning of a bus, comprising the following steps:

[0033] Step 1: Obtaining the location information of the target bus: Obtaining the location information of the target bus to be cleaned in the bus station parking lot, and sending the location information of the target bus to the mobile cleaning equipment route planning module;

[0034] Step 2: Mobile cleaning equipment route planning: receiving the location information of the target bus, planning the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, recording the driving route of the mobile cleaning equipment for cleaning the target bus as the mobile cleaning equipment cleaning route, and arranging various cleaning stop points in the mobile cleaning equipment cleaning route;

[0035] Step 3: Acquiring the action parameters of the vehicle side cleaning mechanical arm: acquiring the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal;

[0036] Step 4: Acquiring the action parameters of the roof cleaning robot arm: acquiring the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal;

[0037] Step 5: The mobile cleaning device performs processing: receiving the motion parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and controlling the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm to perform corresponding motions;

[0038] Step 6: Acquisition of cleaning parameters of the mobile cleaning device: Acquisition of cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush at each cleaning stop point in the mobile cleaning device, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed;

[0039] Step 7: Cleaning data storage: storing the standard water pressure of the cleaning brush outlet and the standard moving speed of the cleaning brush corresponding to different dust concentration ranges of the target bus;

[0040] Step 8. Processing of cleaning parameters of mobile cleaning equipment: Analyze the cleaning parameters corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

[0041] Compared with the prior art, the intelligent control system and method for continuous cleaning of buses described in the present invention have the following beneficial effects:

[0042] The present invention provides an intelligent control system and method for continuous cleaning of buses. By acquiring the position information of a target bus to be cleaned in a parking lot of a passenger station, a driving route for a mobile cleaning device to clean the target bus is planned according to the position information of the target bus. The driving route for the mobile cleaning device to clean the target bus is recorded as a cleaning route of the mobile cleaning device, and various cleaning stop points are arranged in the cleaning route of the mobile cleaning device. Bus drivers do not need to drive the bus to a car wash or a designated location for cleaning. Buses in the parking lot can be cleaned centrally by mobile cleaning devices, thereby improving efficiency and saving time.

[0043] The present invention provides an intelligent control system and method for continuous cleaning of buses. By acquiring the action parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning equipment, and sending the action parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning equipment to the mobile cleaning equipment execution terminal, the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm are controlled to perform corresponding actions. The mobile cleaning equipment is used to perform full-automatic cleaning of the bus, which greatly saves costs.

[0044] The present invention provides an intelligent control system and method for continuous cleaning of a bus. By acquiring the water pressure and moving speed of the water outlets corresponding to the side cleaning brush and the roof cleaning brush at each cleaning stop point in the mobile cleaning equipment, the cleaning matching degree corresponding to the side cleaning brush and the roof cleaning brush at each cleaning stop point in the mobile cleaning equipment is analyzed and processed accordingly. The water pressure of the water outlets and the moving speed of the cleaning brush can be intelligently adjusted according to the degree of dirtiness of the bus, which can ensure the cleaning effect of the bus and avoid the waste of water resources at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0046] Figure 1 This is a system module connection diagram of the present invention.

[0047] Figure 2 It is a schematic diagram of the method flow of the present invention.

[0048] Figure 3 It is a structural diagram of the mobile cleaning equipment of the present invention.

[0049] Figure 4 It is a schematic diagram of a passenger parking lot of the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See also Figure 1 As shown, the present invention provides an intelligent control system for continuous cleaning of buses, including a target bus position information acquisition module, a mobile cleaning equipment route planning module, a vehicle side cleaning mechanical arm motion parameter acquisition module, a roof cleaning mechanical arm motion parameter acquisition module, a mobile cleaning equipment execution terminal, a mobile cleaning equipment cleaning parameter acquisition module, a cleaning database and a mobile cleaning equipment cleaning parameter processing module.

[0052] The mobile cleaning equipment route planning module is respectively connected to the target bus position information acquisition module, the vehicle side cleaning mechanical arm motion parameter acquisition module, the roof cleaning mechanical arm motion parameter acquisition module and the mobile cleaning equipment cleaning parameter acquisition module; the mobile cleaning equipment execution terminal is respectively connected to the vehicle side cleaning mechanical arm motion parameter acquisition module and the roof cleaning mechanical arm motion parameter acquisition module; the mobile cleaning equipment cleaning parameter processing module is respectively connected to the mobile cleaning equipment cleaning parameter acquisition module and the cleaning database.

[0053] The target bus position information acquisition module is used to acquire the position information of the target bus to be cleaned in the passenger station parking lot, and send the position information of the target bus to the mobile cleaning equipment route planning module.

[0054] Furthermore, the target bus position information acquisition module acquires the position information of the target bus to be cleaned in the bus station parking lot, and the specific process is as follows:

[0055] The high-definition camera carried on the mobile cleaning equipment is used to perform surround shooting of the ground area where the target bus to be cleaned in the bus station parking lot is located, and images of the ground area where the target bus is located at various angles are obtained. The images of the ground area where the target bus is located at various angles are spliced ​​and integrated to obtain a complete image of the ground area where the target bus is located, and then the edge line area of ​​the ground channel where the target bus is located is obtained.

[0056] As a preferred solution, the method for obtaining the edge line area of ​​the ground channel where the target bus is located is:

[0057] By using image processing technology, the grayscale values ​​of the complete image of the ground area where the target bus is located are obtained, and the grayscale values ​​of the complete image of the ground area where the target bus is located are compared with the grayscale value range of the preset passenger station parking lot passage edge line image. If a certain grayscale value of the complete image of the ground area where the target bus is located is within the grayscale value range of the preset passenger station parking lot passage edge line image, then the grayscale value of the complete image of the ground area where the target bus is located is recorded as the marked grayscale value, and the marked grayscale values ​​of the complete image of the ground area where the target bus is located are counted, and the area corresponding to each marked grayscale value of the complete image of the ground area where the target bus is located is further obtained, and it is recorded as the ground passage edge line area where the target bus is located.

[0058] The mobile cleaning equipment route planning module is used to receive the location information of the target bus, plan the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, record the driving route of the mobile cleaning equipment for cleaning the target bus as the mobile cleaning equipment cleaning route, and arrange various cleaning stop points in the mobile cleaning equipment cleaning route.

[0059] Furthermore, the specific analysis process of the mobile cleaning equipment route planning module is as follows:

[0060] According to the ground channel edge line area where the target bus is located, the ground channel area where the target bus is located is obtained, and it is recorded as the driving area for the mobile cleaning equipment to clean the target bus. The starting point and the end point are set according to the preset principle in the driving area for the mobile cleaning equipment to clean the target bus, and then the driving route for the mobile cleaning equipment to clean the target bus is obtained, which is recorded as the cleaning route of the mobile cleaning equipment. The cleaning route of the mobile cleaning equipment is divided according to the preset equal distance division principle to obtain each cleaning route section of the mobile cleaning equipment, and corresponding cleaning stop points are respectively arranged in each cleaning route section of the mobile cleaning equipment to obtain each cleaning stop point in the cleaning route of the mobile cleaning equipment.

[0061] As a preferred solution, the cleaning stop point refers to a position point corresponding to where the mobile cleaning equipment stops and cleans the target bus.

[0062] It should be noted that the present invention obtains the position information of the target bus to be cleaned in the parking lot of the passenger station, and plans the driving route of the mobile cleaning equipment to clean the target bus according to the position information of the target bus, records the driving route of the mobile cleaning equipment to clean the target bus as the cleaning route of the mobile cleaning equipment, and arranges various cleaning stop points in the cleaning route of the mobile cleaning equipment. There is no need for the bus driver to drive the bus to the car wash or designated location for cleaning. The buses in the parking lot can be cleaned centrally by the mobile cleaning equipment, which improves efficiency and saves time.

[0063] The vehicle side washing mechanical arm action parameter acquisition module is used to obtain the action parameters corresponding to the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, and send the action parameters corresponding to the vehicle side washing mechanical arm in the mobile washing device at each washing stop point to the mobile washing device execution terminal.

[0064] Furthermore, the vehicle side washing mechanical arm motion parameter acquisition module acquires the motion parameters corresponding to the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, and the specific method is:

[0065] The horizontal distance from the first support rod in the mobile cleaning device to the side of the target bus at each cleaning stop point is obtained by the laser rangefinder carried on the first support rod in the mobile cleaning device, and is recorded as i represents the number of the cleaning stop point in the cleaning route of the mobile cleaning equipment, i=1,2,...,n, and the horizontal distance from the first support rod of the mobile cleaning equipment at each cleaning stop point to the side of the target bus is substituted into the formula Get the moving distance of the side cleaning robot arm of the mobile cleaning equipment at each cleaning stop point horizontally close to the side direction of the target bus It is recorded as the horizontal movement distance of the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, wherein Δl1 represents the operation distance of the vehicle side washing brush in the preset mobile washing device, Δh1 represents the error of the horizontal movement distance of the vehicle side washing mechanical arm in the preset mobile washing device, and β represents the horizontal movement distance correction factor of the vehicle side washing mechanical arm in the preset mobile washing device;

[0066] Through the high-definition camera carried on the first support rod in the mobile cleaning device, the side image of the target bus body corresponding to each cleaning stop point is obtained. According to the side image of the target bus body corresponding to each cleaning stop point, the side contour of the target bus body corresponding to each cleaning stop point is obtained, and the side width of the target bus body corresponding to each cleaning stop point is further obtained, which is recorded as the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point, and the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point is recorded as Y1 i .

[0067] As a preferred solution, the motion parameters corresponding to the vehicle side cleaning robot arm in the mobile cleaning device at each cleaning stop point refer to the horizontal motion distance and vertical motion distance of the vehicle side cleaning robot arm in the mobile cleaning device at each cleaning stop point.

[0068] As a preferred solution, the target bus body side width corresponding to each cleaning stop point is obtained by:

[0069] According to the side profile of the target bus body corresponding to each cleaning stop point, the distance from the highest point to the ground and the distance from the lowest point to the ground in the side profile of the target bus body corresponding to each cleaning stop point are obtained, and the difference between the distance from the highest point to the ground and the distance from the lowest point to the ground in the side profile of the target bus body corresponding to each cleaning stop point is further obtained, and it is recorded as the side width of the target bus body corresponding to each cleaning stop point.

[0070] The roof cleaning robot arm action parameter acquisition module is used to obtain the action parameters corresponding to the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point, and send the action parameters corresponding to the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point to the mobile cleaning device execution terminal.

[0071] Furthermore, the roof cleaning robot arm motion parameter acquisition module acquires the motion parameters corresponding to the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point, and the specific method is:

[0072] The laser rangefinder carried on the second support rod in the mobile cleaning device is used to obtain the horizontal distance from the second support rod in the mobile cleaning device to the roof of the target bus at each cleaning stop point, and then the horizontal movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as

[0073] The high-definition camera carried on the second support rod in the mobile cleaning device is used to obtain the target bus roof image corresponding to each cleaning stop point. According to the target bus roof image corresponding to each cleaning stop point, the vertical movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as

[0074] As a preferred solution, the horizontal movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is specifically obtained by:

[0075] Substitute the horizontal distance from the second support pole of the mobile cleaning equipment at each cleaning stop point to the roof of the target bus into the formula Get the movement distance of the roof cleaning robot arm in the mobile cleaning equipment at each cleaning stop point in the horizontal direction close to the roof of the target bus It is recorded as the horizontal movement distance of the roof cleaning robot arm in the mobile cleaning equipment at each cleaning stop point, where represents the horizontal distance from the second support rod in the mobile cleaning device at the i-th cleaning stop point to the roof of the target bus, Δl2 represents the operating distance of the roof cleaning brush in the preset mobile cleaning device, Δh2 represents the error of the horizontal movement distance of the roof cleaning mechanical arm in the preset mobile cleaning device, and χ represents the horizontal movement distance correction factor of the roof cleaning mechanical arm in the preset mobile cleaning device.

[0076] As a preferred solution, the vertical movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is specifically obtained as follows:

[0077] According to the target bus roof image corresponding to each cleaning stop point, the target bus roof contour corresponding to each cleaning stop point is obtained, and the target bus roof width corresponding to each cleaning stop point is further obtained, which is recorded as the vertical movement distance of the roof cleaning robot arm in the mobile cleaning equipment at each cleaning stop point.

[0078] The mobile cleaning equipment execution terminal is used to receive the action parameters corresponding to the vehicle side cleaning mechanical arm and the roof cleaning mechanical arm in the mobile cleaning equipment at each cleaning stop point, and control the vehicle side cleaning mechanical arm and the roof cleaning mechanical arm to perform corresponding actions.

[0079] It should be noted that the present invention obtains the action parameters corresponding to the side cleaning robot arm and the roof cleaning robot arm in the mobile cleaning equipment at each cleaning stop point, and sends the action parameters corresponding to the side cleaning robot arm and the roof cleaning robot arm in the mobile cleaning equipment at each cleaning stop point to the mobile cleaning equipment execution terminal, so as to control the side cleaning robot arm and the roof cleaning robot arm to perform corresponding actions, and the bus is fully automatically cleaned by the mobile cleaning equipment, which greatly saves costs.

[0080] The mobile cleaning device cleaning parameter acquisition module is used to obtain the cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush in the mobile cleaning device at each cleaning stop point, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed.

[0081] Furthermore, the specific method of the cleaning parameter acquisition module of the mobile cleaning equipment is:

[0082] The first water pressure sensor and the first speed sensor built into the vehicle side cleaning mechanical arm of the mobile cleaning device are used to measure the water pressure and the moving speed of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning device, and they are respectively recorded as f1 i and

[0083] The water pressure and moving speed of the water outlet corresponding to each cleaning stop point of the roof cleaning brush in the mobile cleaning device are measured by the second water pressure sensor and the second speed sensor built into the roof cleaning robot arm in the mobile cleaning device, and are recorded as and

[0084] The cleaning database is used to store standard water outlet water pressures of the cleaning brush and standard moving speeds of the cleaning brush corresponding to different dust concentration ranges of the target bus.

[0085] The mobile cleaning equipment cleaning parameter processing module is used to analyze the cleaning parameters corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

[0086] Furthermore, the specific process of the cleaning parameter processing module of the mobile cleaning equipment is:

[0087] The dust detector carried by the vehicle side cleaning brush in the mobile cleaning device is used to obtain the target bus side dust concentration corresponding to each cleaning stop point, and the dust detector carried by the vehicle roof cleaning brush in the mobile cleaning device is used to obtain the target bus roof dust concentration corresponding to each cleaning stop point;

[0088] The standard water pressure of the washing brush outlet and the standard moving speed of the washing brush corresponding to different dust concentration ranges of the target bus stored in the cleaning database are extracted. According to the dust concentration on the side of the target bus and the dust concentration on the roof of the target bus corresponding to each cleaning stop point, the standard water pressure of the washing brush outlet on the side of the target bus, the standard moving speed of the washing brush on the side of the target bus, the standard water pressure of the washing brush outlet on the roof of the target bus and the standard moving speed of the washing brush on the roof of the target bus corresponding to each cleaning stop point are screened and obtained, and they are respectively recorded as f 1标 、v 1标、f 2标 、v 2标 ;

[0089] The water pressure f1 of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment i and movement speed Substitute into the formula Get the cleaning matching degree corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment Where σ1 and σ2 represent the weight factors of the water pressure and moving speed of the water outlet of the vehicle side washing brush in the preset mobile washing device, respectively, and e represents a natural constant. Similarly, according to the cleaning matching degree analysis method corresponding to each cleaning stop point of the vehicle side washing brush in the mobile washing device, the cleaning matching degree corresponding to each cleaning stop point of the roof washing brush in the mobile washing device is obtained, which is recorded as

[0090] The cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at each washing stop point are compared with the preset cleaning matching degree threshold of the washing brushes of the mobile washing device. If the cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at a certain washing stop point are greater than or equal to the cleaning matching degree threshold, no processing is performed; otherwise, the results are sent to the mobile washing device control center to make corresponding adjustments.

[0091] It should be noted that the present invention obtains the water pressure and moving speed of the water outlets corresponding to the side washing brush and the roof washing brush at each cleaning stop point in the mobile washing equipment, analyzes the cleaning matching degree corresponding to the side washing brush and the roof washing brush at each cleaning stop point in the mobile washing equipment, and performs corresponding processing. The water pressure of the water outlet and the moving speed of the washing brush can be intelligently adjusted according to the degree of dirtiness of the bus, which can not only ensure the cleaning effect of the bus, but also avoid the waste of water resources.

[0092] See also Figure 2 As shown, the present invention provides an intelligent control method for continuous cleaning of a bus, comprising the following steps:

[0093] Step 1: Obtaining the location information of the target bus: Obtaining the location information of the target bus to be cleaned in the bus station parking lot, and sending the location information of the target bus to the mobile cleaning equipment route planning module;

[0094] Step 2: Mobile cleaning equipment route planning: receiving the location information of the target bus, planning the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, recording the driving route of the mobile cleaning equipment for cleaning the target bus as the mobile cleaning equipment cleaning route, and arranging various cleaning stop points in the mobile cleaning equipment cleaning route;

[0095] Step 3: Acquiring the action parameters of the vehicle side cleaning mechanical arm: acquiring the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal;

[0096] Step 4: Acquiring the action parameters of the roof cleaning robot arm: acquiring the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal;

[0097] Step 5: The mobile cleaning device performs processing: receiving the motion parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and controlling the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm to perform corresponding motions;

[0098] Step 6: Acquisition of cleaning parameters of the mobile cleaning device: Acquisition of cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush at each cleaning stop point in the mobile cleaning device, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed;

[0099] Step 7: Cleaning data storage: storing the standard water pressure of the cleaning brush outlet and the standard moving speed of the cleaning brush corresponding to different dust concentration ranges of the target bus;

[0100] Step 8. Processing of cleaning parameters of mobile cleaning equipment: Analyze the cleaning parameters corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

[0101] The above contents are merely examples and explanations of the concept of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent control system for continuous cleaning of buses, characterized in that: include: Target bus location information acquisition module: used to obtain the location information of the target bus to be cleaned in the passenger station parking lot, and send the location information of the target bus to the mobile cleaning equipment route planning module; Mobile cleaning equipment route planning module: used to receive the location information of the target bus, plan the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, record the driving route of the mobile cleaning equipment for cleaning the target bus as the cleaning route of the mobile cleaning equipment, and arrange various cleaning stop points in the cleaning route of the mobile cleaning equipment; The vehicle side washing mechanical arm action parameter acquisition module is used to obtain the action parameters corresponding to the vehicle side washing mechanical arm at each washing stop point in the mobile washing device, and send the action parameters corresponding to the vehicle side washing mechanical arm at each washing stop point in the mobile washing device to the mobile washing device execution terminal; Roof cleaning robot action parameter acquisition module: used to obtain the action parameters corresponding to the roof cleaning robot in the mobile cleaning device at each cleaning stop point, and send the action parameters corresponding to the roof cleaning robot in the mobile cleaning device at each cleaning stop point to the mobile cleaning device execution terminal; Mobile cleaning equipment execution terminal: used to receive the action parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning equipment, and control the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm to perform corresponding actions; Mobile cleaning equipment cleaning parameter acquisition module: used to obtain the cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush at each cleaning stop point in the mobile cleaning equipment, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed; Cleaning database: used to store the standard water pressure of the cleaning brush outlet and the standard moving speed of the cleaning brush corresponding to different dust concentration ranges of the target bus; Mobile cleaning equipment cleaning parameter processing module: used to analyze the cleaning parameters corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the vehicle side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

2. According to claim 1, a bus continuous cleaning intelligent control system is characterized by: The target bus position information acquisition module acquires the position information of the target bus to be cleaned in the passenger station parking lot. The specific process is as follows: The high-definition camera carried on the mobile cleaning equipment is used to perform surround shooting of the ground area where the target bus to be cleaned in the bus station parking lot is located, and images of the ground area where the target bus is located at various angles are obtained. The images of the ground area where the target bus is located at various angles are spliced ​​and integrated to obtain a complete image of the ground area where the target bus is located, and then the edge line area of ​​the ground channel where the target bus is located is obtained.

3. The intelligent control system for continuous cleaning of a bus according to claim 2 is characterized by: The specific analysis process of the mobile cleaning equipment route planning module is as follows: According to the ground channel edge line area where the target bus is located, the ground channel area where the target bus is located is obtained, and it is recorded as the driving area for the mobile cleaning equipment to clean the target bus. The starting point and the end point are set according to the preset principle in the driving area for the mobile cleaning equipment to clean the target bus, and then the driving route for the mobile cleaning equipment to clean the target bus is obtained, which is recorded as the cleaning route of the mobile cleaning equipment. The cleaning route of the mobile cleaning equipment is divided according to the preset equal distance division principle to obtain each cleaning route section of the mobile cleaning equipment, and corresponding cleaning stop points are respectively arranged in each cleaning route section of the mobile cleaning equipment to obtain each cleaning stop point in the cleaning route of the mobile cleaning equipment.

4. The intelligent control system for continuous cleaning of a bus according to claim 1, characterized in that: The vehicle side cleaning mechanical arm action parameter acquisition module acquires the action parameters corresponding to the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point, and the specific method is: The horizontal distance from the first support rod in the mobile cleaning device to the side of the target bus at each cleaning stop point is obtained by the laser rangefinder carried on the first support rod in the mobile cleaning device, and is recorded as i represents the number of the cleaning stop point in the cleaning route of the mobile cleaning equipment, i=1,2,...,n, and the horizontal distance from the first support rod of the mobile cleaning equipment at each cleaning stop point to the side of the target bus is substituted into the formula Get the moving distance of the side cleaning robot arm of the mobile cleaning equipment at each cleaning stop point horizontally close to the side direction of the target bus It is recorded as the horizontal movement distance of the vehicle side washing mechanical arm in the mobile washing device at each washing stop point, wherein Δl1 represents the operation distance of the vehicle side washing brush in the preset mobile washing device, Δh1 represents the error of the horizontal movement distance of the vehicle side washing mechanical arm in the preset mobile washing device, and β represents the horizontal movement distance correction factor of the vehicle side washing mechanical arm in the preset mobile washing device; Through the high-definition camera carried on the first support rod in the mobile cleaning device, the side image of the target bus body corresponding to each cleaning stop point is obtained. According to the side image of the target bus body corresponding to each cleaning stop point, the side contour of the target bus body corresponding to each cleaning stop point is obtained, and the side width of the target bus body corresponding to each cleaning stop point is further obtained, which is recorded as the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point, and the vertical direction movement distance of the vehicle side cleaning mechanical arm in the mobile cleaning device at each cleaning stop point is recorded as 5. The intelligent control system for continuous cleaning of a bus according to claim 1, characterized in that: The roof cleaning mechanical arm action parameter acquisition module acquires the action parameters corresponding to the roof cleaning mechanical arm in the mobile cleaning device at each cleaning stop point, and the specific method is: The laser rangefinder carried on the second support rod in the mobile cleaning device is used to obtain the horizontal distance from the second support rod in the mobile cleaning device to the roof of the target bus at each cleaning stop point, and then the horizontal movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as The high-definition camera carried on the second support rod in the mobile cleaning device is used to obtain the target bus roof image corresponding to each cleaning stop point. According to the target bus roof image corresponding to each cleaning stop point, the vertical movement distance of the roof cleaning robot arm in the mobile cleaning device at each cleaning stop point is obtained, which is recorded as 6. The intelligent control system for continuous cleaning of a bus according to claim 1, characterized in that: The specific method of the cleaning parameter acquisition module of the mobile cleaning equipment is: The first water pressure sensor and the first speed sensor built into the vehicle side cleaning mechanical arm of the mobile cleaning device are used to measure the water pressure and the moving speed of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning device, and they are recorded as and The water pressure and moving speed of the water outlet corresponding to each cleaning stop point of the roof cleaning brush in the mobile cleaning device are measured by the second water pressure sensor and the second speed sensor built into the roof cleaning robot arm in the mobile cleaning device, and are recorded as and 7. The intelligent control system for continuous cleaning of a bus according to claim 6, characterized in that: The specific process of the cleaning parameter processing module of the mobile cleaning equipment is as follows: The dust detector carried by the vehicle side cleaning brush in the mobile cleaning device is used to obtain the target bus side dust concentration corresponding to each cleaning stop point, and the dust detector carried by the vehicle roof cleaning brush in the mobile cleaning device is used to obtain the target bus roof dust concentration corresponding to each cleaning stop point; The standard water pressure of the washing brush outlet and the standard moving speed of the washing brush corresponding to different dust concentration ranges of the target bus stored in the cleaning database are extracted. According to the dust concentration on the side of the target bus and the dust concentration on the roof of the target bus corresponding to each cleaning stop point, the standard water pressure of the washing brush outlet on the side of the target bus, the standard moving speed of the washing brush on the side of the target bus, the standard water pressure of the washing brush outlet on the roof of the target bus and the standard moving speed of the washing brush on the roof of the target bus corresponding to each cleaning stop point are screened and obtained, and they are respectively recorded as f 1标 、v 1标 、f 2标 、v 2标 ; The water pressure of the water outlet corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment and movement speed Substitute into the formula Get the cleaning matching degree corresponding to each cleaning stop point of the vehicle side cleaning brush in the mobile cleaning equipment Where σ1 and σ2 represent the weight factors of the water pressure and moving speed of the water outlet of the vehicle side washing brush in the preset mobile washing device, respectively, and e represents a natural constant. Similarly, according to the cleaning matching degree analysis method corresponding to each cleaning stop point of the vehicle side washing brush in the mobile washing device, the cleaning matching degree corresponding to each cleaning stop point of the roof washing brush in the mobile washing device is obtained, which is recorded as The cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at each washing stop point are compared with the preset cleaning matching degree threshold of the washing brushes of the mobile washing device. If the cleaning matching degrees corresponding to the side washing brushes and the roof washing brushes in the mobile washing device at a certain washing stop point are greater than or equal to the cleaning matching degree threshold, no processing is performed; otherwise, the results are sent to the mobile washing device control center to make corresponding adjustments.

8. A bus continuous cleaning intelligent control method, characterized in that: The steps include: Step 1: Obtaining the location information of the target bus: Obtaining the location information of the target bus to be cleaned in the bus station parking lot, and sending the location information of the target bus to the mobile cleaning equipment route planning module; Step 2: Mobile cleaning equipment route planning: receiving the location information of the target bus, planning the driving route of the mobile cleaning equipment for cleaning the target bus according to the location information of the target bus, recording the driving route of the mobile cleaning equipment for cleaning the target bus as the mobile cleaning equipment cleaning route, and arranging various cleaning stop points in the mobile cleaning equipment cleaning route; Step 3: Acquiring the action parameters of the vehicle side cleaning mechanical arm: acquiring the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the vehicle side cleaning mechanical arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal; Step 4: Acquiring the action parameters of the roof cleaning robot arm: acquiring the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device, and sending the action parameters corresponding to the roof cleaning robot arm at each cleaning stop point in the mobile cleaning device to the mobile cleaning device execution terminal; Step 5: The mobile cleaning device performs processing: receiving the motion parameters corresponding to the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm at each cleaning stop point in the mobile cleaning device, and controlling the vehicle side cleaning mechanical arm and the vehicle roof cleaning mechanical arm to perform corresponding motions; Step 6: Acquisition of cleaning parameters of the mobile cleaning device: Acquisition of cleaning parameters corresponding to the vehicle side cleaning brush and the vehicle roof cleaning brush at each cleaning stop point in the mobile cleaning device, wherein the cleaning parameters include the water pressure of the water outlet and the moving speed; Step 7: Cleaning data storage: storing the standard water pressure of the cleaning brush outlet and the standard moving speed of the cleaning brush corresponding to different dust concentration ranges of the target bus; Step 8. Processing of cleaning parameters of mobile cleaning equipment: Analyze the cleaning parameters corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, obtain the cleaning matching degree corresponding to the side cleaning brush and the roof cleaning brush in the mobile cleaning equipment at each cleaning stop point, and perform corresponding processing.

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