A troubleshooting method, device, and medium for an automatic car wash machine.

Abstract

This invention discloses a fault handling method, device, and medium for an automatic car wash machine, relating to the field of unmanned driving technology. When establishing a simulation platform, the automatic car wash machine's automatic driving function is achieved by incorporating simulated ATS signals from a train. Based on the ATS signal system, train operation model, and end brush running model, the equipment simulation platform, combined with pre-set influencing factors, obtains corresponding test results based on the simulation response under this model. This solves the problem of the limited simulation function of existing simulation platforms, comprehensively realizing simulation functions beyond basic functions and enhancing the utilization value of the simulation platform. The test results provide fault handling solutions for each potential failure mode, ensuring the integrity of the control system's functions and safety under special operating conditions such as failures. This avoids the need for on-site debugging by engineers for the influencing factors of existing automatic car wash machines under failure modes, saving time and manpower costs.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a fault handling method, device and medium for an automatic car wash machine. Background Technology

[0002] With the promotion of fully automated subway trains, the demand for driverless train automatic car wash operations is increasing. Currently, automatic car wash machines on the market are based on digital twin technology to build corresponding digital models on remote simulation platforms. Their focus is on the life assessment and fault prediction of the mechanical parts of the automatic car wash machine, but there is little analysis of the failure of the control system itself.

[0003] Meanwhile, existing debugging on simulation platforms mainly involves using the platform's built-in simulation function after the control system program is written. The method of forcing input signals is relatively simple, merely simulating the basic online operation of the equipment. Other simulation functions on the platform are not being utilized optimally. Furthermore, solutions for various factors affecting the operation of automatic car wash machines can only be provided through on-site debugging, which is time-consuming and labor-intensive.

[0004] Therefore, how to combine various influencing factors to ensure the integrity and safety of the control system is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a fault handling method, device and medium for automatic car wash machines, so as to solve the problems of existing simulation platforms having limited simulation functions and requiring on-site debugging to provide solutions for various influencing factors, which is time-consuming and labor-intensive.

[0006] To solve the above-mentioned technical problems, the present invention provides a fault handling method for an automatic car wash machine, comprising:

[0007] Acquire the train's ATS analog signals and the automatic car wash machine's control signals;

[0008] The ATS signal system of the automatic car wash machine is determined based on the ATS analog signal and the control signal;

[0009] A simulation platform is built based on the ATS signal system, train operation model, and end brush running model. The train operation model is established based on the train information and combined with the start and stop information of the car wash garage and the distance of each car wash line component in the car wash garage. The end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face.

[0010] On the equipment simulation platform, various fault factors are pre-included to output test results, and corresponding fault handling solutions are determined based on the test results.

[0011] Preferably, the step of determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal includes:

[0012] The car wash mode car wash request signal is received from the ATS analog signal, wherein the ATS analog signal is a writable signal used to view and change the signal status, and the car wash mode car wash request signal is either a car wash mode car wash request signal or a car wash mode car wash request signal.

[0013] If the self-test meets the car wash conditions, the end wash signal in the ATS signal system of the automatic car wash machine is determined according to the car wash request signal of the car wash mode and the control signal corresponding to meeting the car wash conditions. The end wash signal includes a front-end signal and a back-end signal.

[0014] The current washing progress of the train is determined based on the end-wash signal;

[0015] After the current car wash progress of the train is completed and the train has completely left the car wash garage, a car wash completion signal is output.

[0016] When the received ATS analog signal is a request to pass without washing the car, the control signal in the ATS signal system is determined to be a car wash machine permission signal, and the train is controlled to pass through the car wash garage through the ATS analog signal.

[0017] The car wash mode car wash request signal, the end wash signal, the car wash completion signal, and the car wash machine pass-through signal are used as signals of the ATS signal system;

[0018] Correspondingly, during the current car wash progress, if the car wash machine malfunctions, the train completely leaves the car wash garage, including:

[0019] Output a fault emergency stop signal and suspend the operation of the car wash machine and the train;

[0020] The equipment or mechanism corresponding to the end-washing operation that interfered with the end-washing signal was retrieved so that the train could leave the car wash garage.

[0021] Preferably, the process of establishing the train operation model includes:

[0022] The system acquires the location of each car wash line component in the car wash garage, the train information of the train, and the start / stop point information of the car wash garage. The car wash line components include photoelectric switches and car wash line stations. Each car wash line station includes at least a spray station and a brushing station. The brushing station includes an outer brushing station and an end-face brushing station. The train information includes at least the train's speed and length. The car wash garage start / stop point information includes at least the start / stop position and start / stop acceleration.

[0023] Establish the coordinate system for train operation, and locate the positions of each car wash line component in the car wash garage on the same X-axis coordinate.

[0024] When the train head travels to each of the spray stations in the car wash line, the distance the train travels to the spray station is determined based on the position of each spray station, the position of the photoelectric switch it passes, the start-stop acceleration, the train's speed, and the corresponding time.

[0025] When the train head travels to each of the washing stations on the car wash line, the distance the train travels to the washing station is determined based on the ATS signal of the ATS signal system, the position of each washing station, the position of the photoelectric switch it passes, the start-stop acceleration, the train's speed, and the corresponding time.

[0026] The train operation model is established based on the distance the train travels to each of the car wash line stations and the corresponding time.

[0027] Preferably, the process of establishing the end-brush travel model includes:

[0028] Acquire the end brush information based on the end brush travel and the shape of the train's front end face, wherein the end brush information includes at least the end brush travel motor speed, first radius information, end brush lifting motor speed, second radius information, distance from the end brush travel track start proximity switch to the end proximity switch, distance from the end brush column from the lower limit position proximity switch to the upper limit position proximity switch, and brush bristle length.

[0029] A front end face shape function is constructed based on the horizontal coordinate of the train's parking position and the front end arc surface of the train's front end face shape.

[0030] The current coefficient that controls the train to start moving forward, the critical current coefficient that allows forward movement, and the current contact depth between the bristles and the end face are obtained.

[0031] The end brush rotation current function and the current-to-hair-take function are determined based on the critical current coefficient that allows forward movement, the initial current value of the current end brush rotation, and the current contact depth between the bristles and the end face.

[0032] When the end brush lifting motor starts, the rising distance function of the end brush lifting motor is determined based on the end brush lifting motor speed, the second radius information, and the rising time;

[0033] When the end brush column moves, the forward hair intake function is determined based on the speed of the end brush motor, the first radius information, and the walking time.

[0034] The current first current value is determined based on the forward hair-eating amount function and the current and hair-eating amount function.

[0035] When the current first current value is not less than the product of the current initial current value of the end brush rotation and the critical current coefficient, the end brush walking motor is stopped.

[0036] The real-time brush feed amount is determined based on the shape function of the front end face and the rising distance function of the end brush lifting motor until the real-time brush feed amount reaches the brush feed amount corresponding to the preset current value.

[0037] The current second current value is determined based on the real-time hair consumption and the current-hair consumption function.

[0038] When the second current value is not greater than the threshold current, the end brush walking motor is started to work until the vertical coordinate coefficient of the end brush is consistent with the vertical coordinate coefficient of the end brush column proximity switch to establish the end brush walking model. The threshold current is determined by the forward start current coefficient and the current end brush rotation initial current value.

[0039] Preferably, the step of building a device simulation platform based on the ATS signaling system, train operation model, and end-brush running model includes:

[0040] The operation of each washing line component of the train washing machine is simulated based on the train operation model and the ATS signal of the ATS signal system.

[0041] The end-brush running is simulated in the vertical and horizontal directions based on the end-brush running model and the ATS signal of the ATS signal system.

[0042] The equipment simulation platform was built based on the simulated operation of each washing line component of the train cleaning machine and the vertical and horizontal end-washing operation of the end brush.

[0043] Preferably, the fault factors include at least one or a combination of human operation factors, signal interaction factors, and factors of the car wash machine itself. The human operation factors include at least the factors of operating the car wash button when the car wash conditions are not met in train driving mode, operating the end wash button when the end wash parking position is incorrect, the factors of incorrect switching of car wash mode during the car wash process, the factors of incorrect switching of local and remote permissions, the factors of incorrect switching of unmanned driving and manned driving modes, and the factors of incorrect operation of failure to retract the clearance interference in unmanned driving mode.

[0044] The signal interaction factors include at least the factors of sending a car wash request but not meeting the car wash conditions, incorrect front and rear parking positions, and emergency stop signal factors of the ATS signal.

[0045] The factors inherent to the car wash machine include at least photoelectric switch failure, motor circuit failure, proximity switch failure leading to brush group signal failure, end brush travel and lifting exceeding the travel limit, frequency converter failure, communication failure, and car wash conditions.

[0046] Preferably, after outputting the test results and before determining the corresponding fault handling solution based on the test results, the method further includes:

[0047] Output fault message.

[0048] To solve the above-mentioned technical problems, the present invention also provides a fault handling device for an automatic car wash machine, comprising:

[0049] The acquisition module is used to acquire the train's ATS analog signals and the automatic car wash machine's control signals;

[0050] The first determining module is used to determine the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal;

[0051] The module is used to build a simulation platform for the equipment based on the ATS signal system, the train operation model, and the end brush running model. The train operation model is established based on the train information and combined with the start and stop information of the car wash garage and the distance of each car wash line component in the car wash garage. The end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face.

[0052] The second determining module is used to pre-include various fault factors on the equipment simulation platform to output test results, and determine the corresponding fault handling plan based on the test results.

[0053] To solve the above-mentioned technical problems, the present invention also provides a fault handling device for an automatic car wash machine, comprising:

[0054] Memory, used to store computer programs;

[0055] A processor is configured to implement the steps of the fault handling method for an automatic car wash machine as described above when executing the computer program.

[0056] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the fault handling method for the automatic car wash machine as described above.

[0057] This invention provides a fault handling method for an automatic car wash machine, comprising: acquiring the ATS analog signal of a train and the control signal of the automatic car wash machine; determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal; building an equipment simulation platform based on the ATS signal system, a train operation model, and an end brush running model, wherein the train operation model is established based on the train information and combined with the start and stop point information in the car wash garage and the distance between each workstation in the car wash garage, and the end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face; on the equipment simulation platform, various fault factors are pre-included to output test results, and the corresponding fault handling scheme is determined based on the test results. This method, when establishing the simulation platform, incorporates the train's ATS analog signal to realize the automatic driving function of the automatic car wash machine. Furthermore, based on the equipment simulation platform built using the ATS signaling system, train operation model, and end brush running model, and combined with various pre-defined influencing factors, corresponding test results are obtained based on the simulation response results under this model. This addresses the limitation of the existing simulation platform's single simulation function, comprehensively realizing simulation functions beyond the basic functions and enhancing the platform's simulation functionality and utilization value. The test results provide fault handling solutions for each potential failure mode to ensure the integrity of the control system's functions and safety under special operating conditions such as failures. This avoids the need for on-site debugging by engineers to address the influencing factors of existing automatic car wash machines under failure modes, saving time and manpower costs.

[0058] In addition, the present invention also provides a fault handling device and medium for an automatic car wash machine, which has the same beneficial effects as the fault handling method for the automatic car wash machine described above. Attached Figure Description

[0059] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A flowchart illustrating a fault handling method for an automatic car wash machine provided in an embodiment of the present invention;

[0061] Figure 2 A structural diagram of a simulation platform provided in an embodiment of the present invention;

[0062] Figure 3 A schematic diagram of an ATS signal system provided in an embodiment of the present invention;

[0063] Figure 4 A schematic diagram of a train operation model provided in an embodiment of the present invention;

[0064] Figure 5 A schematic diagram of an end brush provided in an embodiment of the present invention;

[0065] Figure 6 This is a structural diagram of a fault handling device for an automatic car wash machine provided in an embodiment of the present invention;

[0066] Figure 7 This is a structural diagram of another automatic car wash machine fault handling device provided in an embodiment of the present invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0068] The core of this invention is to provide a fault handling method, device and medium for automatic car wash machines, so as to solve the problems of existing simulation platforms having limited simulation functions and requiring on-site debugging to provide solutions for various influencing factors, which is time-consuming and labor-intensive.

[0069] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0070] It should be noted that, compared to traditional cleaning machines for manned trains, driverless subway train cleaning machines use a signal interaction method between the train cleaning machine control system and the automatic train control system, replacing the method of manually determining the train's stopping position and inputting washing signals. This evolution increases the safety performance requirements of the train cleaning machine control system. At the same time, the shunting of fully automated train lines is more complex, increasing the inconvenience for on-site debugging and verification of the control system's effectiveness and safety. Therefore, building a simulation platform on a personal computer (PC) to simulate the actual car washing environment, predicting various car washing conditions including malfunctions, and repeatedly testing the train cleaning machine control system becomes a necessary approach.

[0071] A subway train cleaning machine is a complex, non-standard piece of equipment composed of multiple systems, mainly consisting of the following parts: a signal indication system, a washing system, a water circulation and treatment system, an air supply system, and an electrical control and monitoring system. Its external control signal inputs include photoelectric switches to determine the train's position in the washing depot, proximity switches to determine the brush group's position, and level gauges. Actuators include motors, pumps, and solenoid valves. By selecting components according to the functional requirements of the train cleaning machine and obtaining the input and output signals to be controlled, a simulation platform can be built based on the actual application.

[0072] Existing simulation platforms only offer basic simulation functions. Once the main functions are largely implemented, efforts are focused on subsequent on-site debugging. However, on-site debugging is limited by factors such as equipment installation schedules, construction interference, and difficulties in vehicle relocation. Typically, staff need to make multiple trips to the site for debugging, leading to increased time and labor costs. The fault handling method for automatic car wash machines provided by this invention simulates various failure factors that may be encountered in the actual equipment's functional debugging and after it is put into use on a PC. Through simulation testing, it provides solutions for each potential failure mode, thereby minimizing the investment in on-site debugging of the control system, improving safety, and reducing costs.

[0073] Figure 1 A flowchart illustrating a fault handling method for an automatic car wash machine provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0074] S11: Acquire the train's ATS analog signal and the automatic car wash machine's control signal;

[0075] S12: Determine the ATS signal system of the automatic car wash machine based on the ATS analog signal and control signal;

[0076] S13: Build an equipment simulation platform based on the ATS signaling system, train operation model, and end-brush running model;

[0077] Among them, the train operation model is established based on the train information and combined with the start and stop information of the car wash garage and the distance of each car wash line component in the car wash garage; the end brush travel model is established based on the end brush information of the end brush travel and the shape of the train's front end face.

[0078] S14: On the equipment simulation platform, various fault factors are pre-added to output test results, and the corresponding fault handling solutions are determined based on the test results.

[0079] Specifically, the control signals of the automatic car wash machine are based on a Programmable Logic Controller (PLC) control system and a Human Machine Interface (HMI) manual control interface. This enables fully automated cleaning of the train surface at all stations and manual control cleaning at individual stations. Traditional manned train cleaning machine control systems include both of these components. The Automatic Telecommunication System (ATS) analog signals are introduced based on the fully automated cleaning process of driverless trains, allowing for ATS signal interaction.

[0080] Figure 2 A structural diagram of a simulation platform provided in an embodiment of the present invention is shown below. Figure 2 As shown, this platform facilitates signal interaction between train washing machine 1 (automatic car wash) and train 2, taking into account actual equipment components, equipment layout, and operating environment. Its main body is divided into three parts: the control room, the washing line, and the machinery room. The control room includes the car wash garage control room located in the car wash garage and the dial control center (Dial, Control, Center, DCC) control panel located in the metro depot control center. Furthermore, to simulate the fully automated cleaning function of driverless trains, an ATS signaling system simulation is added.

[0081] The car wash garage control room is equipped with a control panel and an electrical cabinet. The control panel features knobs for selecting car wash modes (manned / unmanned, with / without end-wash, clean water / chemical dosing), and control knobs for car wash status (start car wash, start end-wash, emergency stop, reset). It also includes other control buttons for air compressor start, fault confirmation, and remote control, as well as necessary power indicators (power on, remote power-on), fault indicators (fault alarm), driving mode indicators (with / without end-wash, manned / unmanned), equipment status indicators (meets car wash conditions, end-wash in progress), and ATS interactive signal indicators (fault request, car wash request). In the electrical cabinet, the control system needs to monitor the contactor contacts (the status of the circuit where the controlled component is located) and the inverter status (fault or communication fault). The contactor contact and inverter fault states can be simulated on a simulation platform.

[0082] The DCC control console and the car wash garage control console have interlocked control permissions, and they have the same control functions for the train washing machine.

[0083] The car wash line simulation includes information acquisition inputs, mainly proximity switches and photoelectric switches; and action execution outputs, mainly motors, solenoid valves, and signal lights. Proximity switches are used to acquire the extended / retracted positions of the vertical and end brushes, as well as the horizontal and vertical positions of the end brush mechanism. Photoelectric switches are used to acquire key positions of the train within the car wash garage, serving as the basis for the train washing machine's actions.

[0084] The input signals for the mechanical simulation mainly involve the levels of water pumps, water tanks, and chemical containers; the output signals mainly involve the start / stop control of water supply pumps, metering pumps, and booster pumps, the on / off control of solenoid valves in air supply, water replenishment, and drainage pipelines, and the control of water treatment components and air compressors. When building the simulation platform, all input and output signals are displayed graphically, mimicking their actual location distribution.

[0085] The ATS signal system of the automatic car wash machine is determined based on the ATS analog signal and the control signal. The ATS analog signal is based on the train itself, while the control signal of the automatic car wash machine is the signal from the train's cleaning machine control system. The ATS signal system of the corresponding automatic car wash machine is established by interactively combining the two.

[0086] The method of combining signals from two different systems is not limited here; it can be done by combining signals under different operating conditions or by matching them accordingly. As an example, step S12, determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal, includes:

[0087] The car wash mode car wash request signal receives the ATS analog signal, where the ATS analog signal is a writable signal used to view and change the signal status, and the car wash mode car wash request signal is either a car wash mode car wash request signal or a car wash mode car wash request signal.

[0088] If the self-test meets the car wash conditions, the end wash signal in the ATS signal system of the automatic car wash machine is determined according to the car wash mode car wash request signal and the control signal corresponding to meeting the car wash conditions. The end wash signal includes front-end signal and back-end signal.

[0089] The current washing progress of the train is determined based on the end-wash signal;

[0090] After completing the current car wash progress of the train and waiting for the train to completely leave the car wash garage, output a car wash completion signal;

[0091] When the received ATS analog signal is a request to pass without washing the car, the control signal in the ATS signal system is determined to be a signal that the car wash machine is allowed to pass, and the train is controlled to pass through the car wash garage through the ATS analog signal.

[0092] The car wash mode car wash request signal, end wash signal, car wash complete signal, and car wash machine pass-through signal are used as signals of the ATS signal system;

[0093] Correspondingly, if a car wash machine malfunctions during the current car wash process, the train will completely leave the car wash depot, including:

[0094] Output an emergency stop signal for a fault and suspend the operation of the car wash machine and the train.

[0095] The equipment and mechanism corresponding to the end-washing operation of the interference end-washing signal are retrieved so that the train can leave the washing depot.

[0096] Specifically, Figure 3 This is a schematic diagram of an ATS signal system provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the left side represents the control system of the automatic car wash machine, and the right side represents the train ATS analog signals. The main signals include fifteen signals from W01 to W15. Among them, W01 to W09 are signals output from the train wash machine control system to the ATS, which are read-only signals. On the ATS signal system simulation interface, you can only view the signal status (high level or low level). W10 to W15 are signals output from the ATS to the train wash machine control system, which are writable signals. You can view and change the signal status.

[0097] First, the automatic train car wash receives the car wash mode request signal from the ATS analog signal. The car wash mode request signal is either a car wash mode request signal (W10) or a car wash mode request signal (W11). After the automatic train car wash machine performs a self-check, it checks whether the car wash conditions are met. The self-check checks the status of its own equipment, such as pressure, temperature, and brush limits. If the car wash conditions are met, the automatic train car wash machine determines the end-wash signal within the ATS signal system based on the car wash mode request signal and the control signal corresponding to the met car wash conditions. The end-wash signal includes a front-end signal and a back-end signal.

[0098] Specifically, after self-checking, if the train washing machine meets the washing conditions (W01), it replies to the ATS with end-wash mode and meets the washing conditions (W02) or without end-wash mode and meets the washing conditions (W03). The ATS signal system then controls the train to enter the washing garage, and the train washing machine controls each station to start sequentially. In the mode without end-wash mode, the train passes through the washing garage without stopping. In the mode with end-wash mode, the train needs to stop at the front washing position and the rear washing position. When the train reaches the front washing position, when the front washing in progress signal (W04) output by the train washing machine control system to the ATS changes from high to low, the ATS controls the train to stop. After the train stops, the front washing stop OK signal (W12) output by the ATS to the train washing machine control system changes to high. The train washing machine control system then controls the train washing machine to start cleaning the front end of the train. After cleaning is completed, W04 changes from low to high. After the ATS receives the falling edge of the W04 signal, the W12 signal changes to low, and the train continues to move forward. When the train continues to travel to the rear washing position, the rear washing in progress signal (W05) output by the train washing machine control system to the ATS changes from high level to low level. The ATS then controls the train to stop. After the train comes to a complete stop, the rear washing stop OK signal (W13) output by the ATS to the train washing machine control system changes to high level. The train washing machine control system then controls the train washing machine to start cleaning the rear end face of the train. After cleaning is completed, the W05 signal changes from low level to high level. After the ATS receives the falling edge of W05, the W13 signal changes to low level, and the train continues to move forward.

[0099] The current washing progress of the train is determined based on the end-wash signal. For example, if the end-wash signal is being processed, the train is in the front-end process; if the end-wash signal is being processed, the train is in the rear-end process. The end-brush station is located between the two side-brush units, so after the rear-end is completed, the second half of the side-washing will continue. The washing process continues until the train leaves the washing depot, at which point the washing is considered complete. When the train has completely left the washing depot, the train washing machine outputs a high-level "Wash Complete (W06)" signal to the ATS, completing one fully automated, driverless train washing cycle.

[0100] In the current car washing process, if the car wash machine malfunctions, the main way to ensure the train has completely left the car wash depot is to output a fault emergency stop signal. This pauses the operation of both the car wash machine and the train until the cause of the emergency stop is eliminated. The car wash machine then retracts its interference limit mechanism, which is the mechanism responsible for retracting the interference end wash signal. During the washing process, if the car wash machine fault emergency stop signal (W07) is low (high under normal operating conditions) or the ATS fault emergency stop signal (W14) is low, both the train wash machine and the train operation are suspended until the cause of the emergency stop is eliminated. The train wash machine then retracts its interference limit mechanism and outputs a fault confirmation (W08) high level, allowing the train to leave the car wash depot. Even without washing, the train can still pass through the car wash depot. The ATS outputs a "no-wash passage request" (W15) to the train wash machine control system. The train wash machine self-checks and finds no interference limit, then outputs a "car wash machine allows passage" (W09) signal to the ATS. The ATS then controls the train to pass through the car wash depot.

[0101] Based on the established ATS signal system, train operation model, and end-brush running model, a simulation platform is built. The simulation of the automatic car wash process first involves arranging information acquisition elements and actuators at the actual car wash line stations. Secondly, the train operation model is established based on train information, combined with start-stop / start-stop information in the car wash garage, and the distances between various car wash line components. Primarily, the corresponding travel length and travel time are determined based on the position of each car wash line component during train operation, using start-stop / start-stop information. The car wash line components here include various car wash stations, as well as acceleration and deceleration values ​​at start-stop / start points (front and rear wash positions), and the corresponding acceleration and deceleration values ​​during train start-stop / stop processes. The train operation model is determined based on the functional relationship between time and length.

[0102] For the end brush traveling model, the end brush simulation washing is completed by controlling the movement of the end brush traveling mechanism in the horizontal (x-axis) and vertical (z-axis) directions based on the current generated by the contact between the end brush bristles and the train end face. The model is also based on the end brush information during end brush travel and the shape of the train's front end face. The end brush information mainly includes the speed, radius, traveling distance, and lifting distance of each motor during the end brushing process, and establishes a functional relationship with the corresponding bristle absorption amount and current value. This ensures that the end brush coordinates are consistent with the coordinates of the proximity switches on the column; that is, when the corresponding proximity switch in the vertical direction is triggered, the end brush simulation ends.

[0103] On the equipment simulation platform, various fault factors are pre-introduced for simulation to output test results. In this embodiment, the fault factors take into account various factors affecting the equipment's function and safety. These influencing factors are tested multiple times on the simulation platform. Based on the responses of the simulated equipment components, train operation, and end brush running models, the impact of their individual or multiple effects on the equipment's function and safety is explored. This is beneficial for verifying the integrity of the control system's functions and its safety under special operating conditions such as faults.

[0104] This invention provides a fault handling method for an automatic car wash machine, comprising: acquiring the ATS analog signal of a train and the control signal of the automatic car wash machine; determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal; building an equipment simulation platform based on the ATS signal system, a train operation model, and an end brush running model, wherein the train operation model is established based on the train information and combined with the start and stop point information in the car wash garage and the distance between each workstation in the car wash garage, and the end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face; on the equipment simulation platform, various fault factors are pre-included to output test results, and the corresponding fault handling scheme is determined based on the test results. This method, when establishing the simulation platform, incorporates the train's ATS analog signal to realize the automatic driving function of the automatic car wash machine. Furthermore, based on the equipment simulation platform built using the ATS signaling system, train operation model, and end brush running model, and combined with various pre-defined influencing factors, corresponding test results are obtained based on the simulation response results under this model. This addresses the limitation of the existing simulation platform's single simulation function, comprehensively realizing simulation functions beyond the basic functions and enhancing the platform's simulation functionality and utilization value. The test results provide fault handling solutions for each potential failure mode to ensure the integrity of the control system's functions and safety under special operating conditions such as failures. This avoids the need for on-site debugging by engineers to address the influencing factors of existing automatic car wash machines under failure modes, saving time and manpower costs.

[0105] Based on the above embodiments, as one example, the process of establishing a train operation model includes:

[0106] The system acquires the location of each car wash line component, train information, and car wash start / stop point information. Car wash line components include photoelectric switches and car wash stations. Car wash stations include at least spray stations and brush stations. Brush stations include outer brush stations and end face brush stations. Train information includes at least train speed and train length. Car wash start / stop point information includes at least start / stop position and start / stop acceleration.

[0107] Establish a coordinate system for train operation, and locate the positions of each car wash line component in the car wash garage on the same X-axis coordinate.

[0108] When the train head travels to each spray station of the car wash line, the distance the train will travel to the spray station is determined based on the location of each spray station, the location of the photoelectric switches it passes, the start and stop acceleration, the train speed, and the corresponding time.

[0109] When the train head travels to each washing station of the car wash line, the distance the train travels to the washing station is determined based on the ATS signal of the ATS signal system, the corresponding position of each washing station, the position of the photoelectric switch passed by, the start and stop acceleration, the train speed and the corresponding time.

[0110] A train operation model was created based on the distance the train travels to each car wash station and the corresponding time.

[0111] Figure 4 This is a schematic diagram of a train operation model provided in an embodiment of the present invention, as shown below. Figure 4 As shown, GD1-4 represent photoelectric switches, PL1-PL3 represent spray stations, CS1-CS2 represent train side washing stations, and DS represents end face washing station. Figure 4 The train is located in the lower right corner. The car wash line components include photoelectric switches and wash station locations. Each wash station includes at least a spray station and a brush station, with the brush station including an outer brush station and an end-face brush station. The train information includes at least the train's speed and length. The car wash garage start / stop information includes at least the start / stop position and start / stop acceleration. Establish a coordinate system. Figure 4 The values ​​in the text represent the corresponding X-axis positions in the X-axis coordinate system. When the train head travels to each spray station in the car wash line, the distance the train travels to the spray station is determined based on the position of each spray station, the position of the photoelectric switch it passes, the start and stop acceleration, the train's speed, and the corresponding time.

[0112] When the train head travels to each washing station on the car wash line, the distance the train travels to the washing station is determined based on the ATS signal from the ATS signal system, the corresponding position of each washing station, the position of the photoelectric switch it passes, the start and stop acceleration, the train speed, and the corresponding time.

[0113] Specifically, 1) the distance and time from the locomotive head to the PL1 workstation:

[0114]

[0115] Where x0 represents the distance from the train's parking point in front of the depot to the photoelectric switch GD1, x1 represents the distance from the photoelectric switch to the PL1 station, a is the train acceleration, and t0 is the train's acceleration / deceleration to v. t The time, a and t0 are fixed parameters for train operation, v tThis refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0116] 2) Distance and time from the locomotive head to the PL2 workstation:

[0117]

[0118] Where x2 represents the distance from workstation PL1 to workstation PL2, x PL1 v represents the distance from the front of the machine to the PL2 workstation. t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0119] 3) Distance and time from the locomotive head to the CS1 workstation:

[0120]

[0121] Where x3 represents the distance from PL2 to CS1 workstation, x PL2 v represents the distance from the front of the machine to the PL1 workstation. t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0122] 4) Distance and time from the front of the vehicle to the front parking spot A (if there is a continuous washing service):

[0123]

[0124] Where x4 represents the distance from workstation CS1 to workstation GD2, x CS1 This represents the distance from the locomotive to workstation CS1, where 'a' is the train acceleration and 't0' is the train acceleration / deceleration to v. t The time, a and t0 are fixed parameters for train operation, v t The speed at which the train passes through the car wash is typically 3-5 km / h. CS1 This refers to the time it takes for the locomotive to travel from the front of the train to the CS1 workstation.

[0125] 5) The time from the start to the end of the front-end washing is t. FE ;

[0126] If there is no end to the washing, then the time is t. FE =0.

[0127] 6) Distance and time from the locomotive to the CS2 workstation:

[0128] x E-CS2 =x E-CS1 +x4+x5+x6;

[0129] Where, x CS1x4 represents the distance from the front of the machine to the CS1 workstation, x5 represents the distance from the CS1 workstation to the GD2 workstation, x5 represents the distance from the GD2 workstation to the GD3 workstation, and x6 represents the distance from the GD3 workstation to the CS2 workstation.

[0130] If there is a corresponding time for washing:

[0131] If there is no corresponding time for washing:

[0132] Among them, t A t0 is the time from the locomotive to the front washing stop point A (if there is end washing), 'a' is the train acceleration, and t0 is the time for the train to accelerate / decelerate to v. t The time, a and t0 are fixed parameters for train operation, v t The speed at which the train passes through the car wash depot is typically 3-5 km / h. x5 represents the distance from station GD2 to station GD3, x6 represents the distance from station GD3 to station CS2, and t... FE x4 represents the time from the start to the end of the front-end washing process, x4 represents the distance from CS1 to GD2 workstation, and t represents the time from the start to the end of the front-end washing process. CS1 This refers to the time it takes for the locomotive to travel from the front of the train to the CS1 workstation.

[0133] 7) Distance and time from the locomotive head to the PL3 workstation:

[0134]

[0135] Where, x CS2 x7 represents the distance from the front of the machine to the CS2 workstation, x7 represents the distance from the CS2 workstation to the PL3 workstation, and v t The speed at which the train passes through the car wash is typically 3-5 km / h. CS2 This refers to the time it takes for the locomotive to travel from the front of the vehicle to the CS2 workstation.

[0136] 8) Distance and time from the rear of the vehicle to the PL1 workstation:

[0137]

[0138] Among them, L sub L is the length of the train body. gara The length of the car wash garage is t, which is the distance from the entry photoelectric switch to the exit photoelectric switch. PL3 x8 represents the distance from the locomotive to station PL3, x0 represents the distance from station PL3 to station GD4, x1 represents the distance from the train depot parking point to the entry photoelectric switch GD1, and x1 represents the distance from the entry photoelectric switch to station PL1. t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0139] 9) Distance and time from the rear of the vehicle to the PL2 workstation:

[0140]

[0141] Where, x E-PL1 t is the distance from the rear of the vehicle to the PL1 workstation. E-PL1 x1 represents the time from the rear of the vehicle to station PL1, x2 represents the distance from station PL1 to station PL2, and v represents the distance from the rear of the vehicle to station PL1. t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0142] 10) Distance and time from the rear of the vehicle to workstation CS1:

[0143]

[0144] Where, x E-PL2 t is the distance from the rear of the vehicle to the PL2 workstation. E-PL2 x3 represents the time from the rear of the vehicle to station PL2, x3 represents the distance from station PL1 to station PL2, and v t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0145] 11) Distance and time from the rear of the vehicle to the rear wash parking point B (where there is a continuous wash):

[0146]

[0147] Where, x E-CS1 x4 represents the distance from the rear of the vehicle to workstation CS1, x4 represents the distance from workstation CS1 to workstation GD2, and t E-CS1 The time from the rear of the train to the CS1 workstation is t0, where 'a' is the train acceleration and 't0' is the time for the train to accelerate / decelerate to v. t The time, a and t0 are fixed parameters for train operation, v t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h.

[0148] 12) Time t from start to end of back-end washing RE ;

[0149] If there is no end to washing, then t RE =0.

[0150] 13) Distance and time from the rear of the vehicle to the CS2 workstation:

[0151] x E-CS2 =x E-CS1 +x4+x5+x6;

[0152] Where, x E-CS1 x4 represents the distance from the rear of the vehicle to the CS1 workstation, x5 represents the distance from the CS1 workstation to the GD2 workstation, x6 represents the distance from the GD2 workstation to the GD3 workstation, and x6 represents the distance from the GD3 workstation to the CS2 workstation.

[0153] If there is a corresponding time for washing:

[0154] If there is no corresponding time for washing:

[0155] Among them, t B t0 is the time from the rear of the train to the front washing stop point B (if there is an end washing), 'a' is the train acceleration, and t0 is the time for the train to accelerate / decelerate to v. t The time, a and t0 are fixed parameters for train operation, v t The speed at which the train passes through the car wash depot is typically 3-5 km / h. x5 represents the distance from station GD2 to station GD3, x6 represents the distance from station GD3 to station CS2, and t... RE x4 represents the time from the start to the end of the back-end washing process, and t represents the distance from CS1 to GD2 workstation. E-CS1 This refers to the time from the rear of the vehicle to the CS1 workstation.

[0156] 14) Distance and time from the rear of the vehicle to the PL3 workstation:

[0157]

[0158] Where, x E-CS2 x7 represents the distance from the rear of the vehicle to workstation CS2, x7 represents the distance from workstation CS2 to workstation PL3, and v t The speed at which the train passes through the car wash is typically 3-5 km / h. E-CS2 This refers to the time from the rear of the vehicle to the CS2 workstation.

[0159] 15) The rising edge time of each photoelectric switch (GD1-GD4) during vehicle operation:

[0160]

[0161] If there is washing:

[0162] If there is no reason to wash:

[0163]

[0164] Where x0 represents the distance from the train's parking point in front of the depot to the photoelectric switch GD1, x1 represents the distance from the photoelectric switch to the PL1 station, a is the train acceleration, and t0 is the train's acceleration / deceleration to v. t The time, a and t0 are fixed parameters for train operation, v tThe speed at which the train passes through the car wash is typically 3-5 km / h. x2 represents the distance from PL1 to PL2, x3 represents the distance from PL2 to CS1, x4 represents the distance from CS1 to GD2, and x5 represents the distance from GD2 to GD3. t FE The time from the start to the end of the front-end washing process is represented by x7, which represents the distance from CS2 to PL3 station, and x8 represents the distance from PL3 to GD4 station.

[0165] 16) The timing of the falling edge triggering each photoelectric switch during vehicle operation:

[0166]

[0167] If there is washing:

[0168] If there is no reason to wash:

[0169]

[0170] Among them, t GD4 The time t is the time it takes to reach workstation GD4 during the driving process. E-GD1 L is the time it takes for the rear of the vehicle to reach the ED1 workstation. sub L is the length of the train body. gara x is the length of the car wash garage, i.e., the distance from the entry photoelectric switch to the exit photoelectric switch; x0 represents the distance from the train's parking point in front of the garage to the entry photoelectric switch GD1; x1 represents the distance from the entry photoelectric switch to the PL1 station; a is the train acceleration; and t0 is the train's acceleration / deceleration to v. t The time, a and t0 are fixed parameters for train operation, v t This refers to the speed at which the train passes through the car wash, typically 3-5 km / h. x2 represents the distance from PL1 to PL2, x3 represents the distance from PL2 to CS1, x4 represents the distance from CS1 to GD2, and v... t x5 represents the speed at which the train passes through the car wash, typically 3-5 km / h; x5 represents the distance between workstations GD2 and GD3, t RE The time from the start to the end of the back-end washing process is represented by x7, which represents the distance from CS2 to PL3 station, and x8 represents the distance from PL3 to GD4 station.

[0171] Based on the above embodiments, as one example, the process of establishing the end-brush walking model includes:

[0172] Acquire end brush information based on end brush travel and the shape of the train's front end face. The end brush information includes at least the end brush travel motor speed, first radius information, end brush lifting motor speed, second radius information, distance from the end brush travel rail start proximity switch to the end proximity switch, distance from the end brush column from the lower limit position proximity switch to the upper limit position proximity switch, and brush bristle length.

[0173] Construct a front end face shape function based on the horizontal coordinate of the train's stopping position and the front end face shape of the train's front end face.

[0174] Obtain the current coefficient that controls the train to start moving forward, the critical current coefficient that allows forward movement, and the current contact depth between the bristles and the end face;

[0175] The end brush rotation current function and the current-to-hair-take function are determined based on the critical current coefficient that allows forward movement, the initial current value of the current end brush rotation, and the current contact depth between the bristles and the end face.

[0176] When the end brush lifting motor starts, the rising distance function of the end brush lifting motor is determined based on the end brush lifting motor speed, the second radius information, and the rising time.

[0177] When the end brush column moves, the forward hair intake function is determined based on the end brush motor speed, the first radius information, and the walking time.

[0178] The current first current value is determined based on the forward hair-eating amount function and the current and hair-eating amount function;

[0179] The end brush walking motor stops working when the current first current value is not less than the product of the current end brush rotation initial current value and the critical current coefficient.

[0180] The real-time brush feed rate is determined based on the shape function of the front end face and the rising distance function of the end brush lifting motor until the real-time brush feed rate reaches the brush feed rate corresponding to the preset current value.

[0181] The current second current value is determined based on the real-time wool consumption and the current and wool consumption function.

[0182] When the second current value is not greater than the threshold current, the end brush walking motor is started to work until the vertical coordinate coefficient of the end brush is consistent with the vertical coordinate coefficient of the end brush column proximity switch to establish the end brush walking model. The threshold current is determined by the forward start current coefficient and the current end brush rotation initial current value.

[0183] Figure 5 A schematic diagram of an end brush provided in an embodiment of the present invention, such as... Figure 5As shown, the end brush contouring cleaning is achieved by controlling the movement of the end brush traveling mechanism in the horizontal (x-axis) and vertical (z-axis) directions based on the current generated when the end brush bristles contact the train end face. During the train's movement on the running track 7, the end brush 6 moves on the column 5 to ensure that the bristles of the end brush 6 contact the train end face 3 until the z-coordinate of the end brush 6 matches the z-coordinate of the proximity switch 4 on the column 5. The shape function z = g(x) of the train's front end face is constructed based on the abscissa of the train's stopping position and the arc surface of the train's front end face, where x is the abscissa and z is the arc surface. For example... Figure 5 The relationship function between the curved surface of the car's front and the x-axis.

[0184] The end brush rotation current function and the current-to-brush-take function are determined based on the critical current coefficient allowing forward movement, the initial current value of the current end brush rotation, and the current contact depth between the bristles and the end face. The formulas are as follows:

[0185] The relationship between the current and the amount of hair picked up and the end brush rotation current function is I = ε2I0 = f(d);

[0186] Where d is the amount of hair picked up, and I0 is the initial current value of the current end brush rotation set in the control system.

[0187] Additionally, the critical current coefficient ε3 allows for forward movement, and the current contact depth between the bristles and the end face is the amount of bristle taken in, d.

[0188] When the end brush lifting motor starts, the rising distance function of the end brush lifting motor is determined based on the end brush lifting motor speed, the second radius information, and the rising time. The formula is as follows:

[0189] S lift =2π·r lift ·N lift ·t;

[0190] Where, N lift r is the speed of the end brush lifting motor. lift This represents the second radius information, and t represents the rise time.

[0191] When the end brush column moves, the forward brush pick-up amount function is determined based on the end brush motor speed, the first radius information, and the travel time. The formula is:

[0192] S walk =2π·r walk ·N walk ·t1;

[0193] Where, N walk r is the speed of the end brush walking motor. walk t1 represents the first radius information, and t1 represents the walking time.

[0194] The current first current value is determined based on the forward brush feed function and the current feed function. During the brush's ascent, the column moves along with it, and the current first current value I1 can be obtained by substituting the forward brush feed amount d1 into the feed function. The current first current value I1 needs to be compared with the reference current value, which is the product of the initial brush rotation current and the critical current coefficient, ε2I0. If it is greater than or equal to I0, the walking motor stops.

[0195] The real-time brush feed rate d2 is determined based on the shape function of the front end face and the rising distance function of the end brush lifting motor. This real-time brush feed rate d2 can be determined by the shape function z=g(x) of the front end face and the rising distance S. lift The relationship between time t is obtained until the real-time wool consumption reaches the wool consumption corresponding to the preset current value. The time for the wool consumption corresponding to the preset current value to reach the preset current value is set as the preset time t2.

[0196] Based on the real-time brush feed rate d2 and the function of current and brush feed rate, the corresponding current value I2 is determined. This current current value I2 is then compared with the threshold current. If it is less than or equal to the threshold current, the walking motor moves forward. The threshold current is a function ε1I0 determined by the starting current coefficient of forward movement and the initial current value of the current end brush rotation. The above walking motor start-stop process is repeated until the z-coordinate of the end brush matches the z-coordinate of the proximity switch on the column, i.e., when the corresponding proximity switch in the vertical direction is triggered, the end brush contouring ends.

[0197] Based on the above embodiments, as one example, a device simulation platform is built according to the ATS signaling system, train operation model, and end-brush running model, including:

[0198] The operation of each component of the train washing machine is simulated based on the train operation model and the ATS signal system.

[0199] The end-brush running is simulated in the vertical and horizontal directions based on the end-brush running model and the ATS signal of the ATS signal system.

[0200] A simulation platform was built based on the simulated operation of each component of the train cleaning machine and the vertical and horizontal end-washing operation of the end brushes.

[0201] Specifically, the train operation model is run. After the simulated car wash begins, the train cleaning machine executes the corresponding actions of its components. The train moves forward along the x-axis. When the horizontal coordinate of the train head is the same as the horizontal coordinate of the corresponding photoelectric switch, the photoelectric switch is triggered. When the side brushes and end brushes of the cleaning machine are pushed out, the proximity switches of the rest position, which were originally at a high level, become low level, and the proximity switches of the working position, which were originally at a low level, become high level. Based on the position of the train in the car wash garage and the control signals input by the simulated manual or signal system, the automatic operation of each station of the train cleaning machine is tested.

[0202] After the end washing begins, the end brush is in place, and the traveling mechanism moves in the horizontal and vertical directions according to the control signal. When the z-coordinate of the end brush is consistent with the z-coordinate of the proximity switch on the column, the corresponding proximity switch in the vertical direction is triggered; when the x-coordinate of the end brush column is consistent with the x-coordinate of the proximity switch on the traveling rail, the corresponding proximity switch in the horizontal direction is triggered.

[0203] The present invention provides a process for determining the train operation model and the end brush running model, as well as a process for building a simulation platform using the two models and the ATS signal system. After the simulation platform and models are built, they can be flexibly adjusted according to the equipment components and model parameters, making it suitable for different depots, parking lots, and cleaning models. The failure modes of the train cleaning machine control system are predicted, ensuring the safety and functional integrity of the equipment.

[0204] Based on the above embodiments, as one embodiment, the fault factors include at least one or more combinations of human operation factors, signal interaction factors, and car wash machine factors. Human operation factors include at least the following factors: operating the car wash button when the car wash conditions are not met in train driving mode; operating the end wash button when the end wash parking position is incorrect; erroneous switching of car wash mode during the car wash process; erroneous switching of local and remote permissions; erroneous switching of unmanned and manned driving modes; and erroneous operation factors such as failure to retract clearance interference in unmanned driving mode.

[0205] Signal interaction factors include at least the following: factors such as failure to meet car wash conditions when sending a car wash request, incorrect front and rear parking positions, and emergency stop signal factors of ATS signals;

[0206] Factors inherent to the car wash machine itself include at least photoelectric switch malfunctions, motor circuit malfunctions, proximity switch malfunctions leading to brush group signal malfunctions, brush travel and lifting exceeding their travel limits, inverter malfunctions, communication malfunctions, and car wash conditions.

[0207] Specifically, after completing the simulation platform construction and model establishment, various factors that may affect the equipment's function and safety are collected. This invention collects data on the influencing factors of the control system from three aspects: human operation, signal interaction, and the equipment itself.

[0208] Caused by human error: In manned driving mode, ① operating the "Start Wash" knob when the car wash conditions are not met, ② operating the "Start End Wash" knob when the parking position for end washing is incorrect; during the car wash process, ③ mistakenly switching between car wash mode and no car wash mode, ④ mistakenly switching between local and remote control permissions, ⑤ mistakenly switching between manned and unmanned driving modes; in unmanned driving mode, ⑥ mistakenly operating the "Fault Confirmation" button when the clearance interference is not retracted under fault conditions.

[0209] The following are possible causes of signal loss or errors during interaction with the ATS in autonomous driving mode: ① Car wash conditions are not met after sending a car wash request; ② Incorrect front and rear car wash parking positions; ③ Emergency stop signal from the ATS.

[0210] The following are causes of malfunctions in the train cleaning machine itself and their impact on operation: ① Photoelectric switch malfunction; ② Motor malfunction or malfunction in its circuit; ③ Proximity switch malfunction, manifested as ③ Brush assembly extension / retraction response malfunction; ④ Overtravel of end brush travel and lifting; ⑤ Inverter malfunction and communication malfunction; ⑥ Liquid level conditions, including low levels in the water pump, water tank, and chemical tank; ⑦ Air pressure conditions, including insufficient air pressure in the air compressor, end brushes, and individual vertical brushes; ⑧ Washing temperature conditions; ⑨ Abnormal end brush current; ⑩ Emergency stop, etc.

[0211] These influencing factors were tested multiple times on the simulation platform. Based on the responses of the simulation equipment components, train operation, and end brush running models, the impact of their individual or multiple effects on equipment function and safety was explored.

[0212] Based on the above embodiments, as one embodiment, after outputting the test results and before determining the corresponding fault handling solution based on the test results, the method further includes:

[0213] Output fault message.

[0214] Understandably, based on the results of simulation tests, the control system is optimized and fault prompts are added to achieve the following objectives: (1) Human error should not damage the train washing machine and the train, and the impact on the car washing work should be minimized; (2) Faults in signal interaction must be indicated to prevent the train from going out of control; (3) Mechanical and electrical faults of the train washing machine itself should not damage the train, and there should be clear fault location prompts, with local faults having the least possible impact on the overall function. Therefore, fault prompt information is output to alert the staff.

[0215] There are no restrictions on the way fault messages are displayed. They can be a buzzer, a flashing light, a display on the simulation interface, or voice prompts, etc., depending on the actual situation.

[0216] The foregoing has described in detail various embodiments of the troubleshooting method for automatic car wash machines. Based on this, the present invention also discloses a troubleshooting device for automatic car wash machines corresponding to the above-described method. Figure 6 This is a structural diagram of a fault handling device for an automatic car wash machine provided in an embodiment of the present invention. Figure 6 As shown, the troubleshooting device for the automatic car wash machine includes:

[0217] Acquisition module 11 is used to acquire the train's ATS analog signal and the automatic car wash machine's control signal;

[0218] The first determining module 12 is used to determine the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal;

[0219] Module 13 is used to build an equipment simulation platform based on the ATS signal system, train operation model, and end brush running model. The train operation model is established based on the train information and combined with the start and stop information in the car wash garage and the distance of each car wash line component in the car wash garage. The end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face.

[0220] The second determination module 14 is used to pre-include various fault factors on the equipment simulation platform to output test results, and determine the corresponding fault handling plan based on the test results.

[0221] Since the embodiments of the device part correspond to the embodiments described above, please refer to the embodiments described in the method part for the embodiments of the device part, and will not be repeated here.

[0222] For a description of the fault handling device for an automatic car wash machine provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-mentioned fault handling method for automatic car wash machines.

[0223] Figure 7 A structural diagram of another automatic car wash machine fault handling device provided in an embodiment of the present invention is shown below. Figure 7 As shown, the device includes:

[0224] Memory 21 is used to store computer programs;

[0225] Processor 22 is used to implement the steps of a fault handling method for an automatic car wash machine when executing a computer program.

[0226] The processor 22 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 22 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 22 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 22 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0227] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 21 is used to store at least the following computer program 211, which, after being loaded and executed by the processor 22, is capable of implementing the relevant steps of the automatic car wash machine fault handling method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. The operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, the data involved in the automatic car wash machine fault handling method, etc.

[0228] In some embodiments, the fault handling device for an automatic car wash machine may further include a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.

[0229] Those skilled in the field can understand, Figure 7 The structure shown does not constitute a limitation on the fault handling device for automatic car wash machines and may include more or fewer components than shown.

[0230] The processor 22 implements the fault handling method for the automatic car wash machine provided in any of the above embodiments by calling the instructions stored in the memory 21.

[0231] For a description of the fault handling device for an automatic car wash machine provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-mentioned fault handling method for automatic car wash machines.

[0232] Furthermore, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by processor 22, implements the steps of the fault handling method for the automatic car wash machine described above.

[0233] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0234] For an introduction to the computer-readable storage medium provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described automatic car wash machine fault handling method.

[0235] The foregoing has provided a detailed description of the fault handling method, device, and medium for an automatic car wash machine provided by the present invention. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0236] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A troubleshooting method for an automatic car wash machine, characterized in that, include: Acquire the train's ATS analog signals and the automatic car wash machine's control signals; The ATS signal system of the automatic car wash machine is determined based on the ATS analog signal and the control signal; A simulation platform is built based on the ATS signal system, train operation model, and end brush running model. The train operation model is established based on the train information and combined with the start and stop information of the car wash garage and the distance of each car wash line component in the car wash garage. The end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face. On the equipment simulation platform, various fault factors are pre-included to output test results, and corresponding fault handling solutions are determined based on the test results. Correspondingly, the step of determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal includes: The car wash mode car wash request signal is received from the ATS analog signal, wherein the ATS analog signal is a writable signal used to view and change the signal status, and the car wash mode car wash request signal is either a car wash mode car wash request signal or a car wash mode car wash request signal. If the self-test meets the car wash conditions, the end wash signal in the ATS signal system of the automatic car wash machine is determined according to the car wash request signal of the car wash mode and the control signal corresponding to meeting the car wash conditions. The end wash signal includes a front-end signal and a back-end signal. The current washing progress of the train is determined based on the end-wash signal; After the current car wash progress of the train is completed and the train has completely left the car wash garage, a car wash completion signal is output. When the received ATS analog signal is a request to pass without washing the car, the control signal in the ATS signal system is determined to be a car wash machine permission signal, and the train is controlled to pass through the car wash garage through the ATS analog signal. The car wash mode car wash request signal, the end wash signal, the car wash completion signal, and the car wash machine pass-through signal are used as signals of the ATS signal system; Correspondingly, during the current car wash progress, if the car wash machine malfunctions, the train completely leaves the car wash garage, including: Output a fault emergency stop signal and suspend the operation of the car wash machine and the train; The equipment or mechanism corresponding to the end-washing operation that interfered with the end-washing signal was retrieved so that the train could leave the car wash garage.

2. The fault handling method for an automatic car wash machine according to claim 1, characterized in that, The process of establishing the train operation model includes: The system acquires the location of each car wash line component in the car wash garage, the train information of the train, and the start / stop point information of the car wash garage. The car wash line components include photoelectric switches and car wash line stations. Each car wash line station includes at least a spray station and a brushing station. The brushing station includes an outer brushing station and an end-face brushing station. The train information includes at least the train's speed and length. The car wash garage start / stop point information includes at least the start / stop position and start / stop acceleration. Establish the coordinate system for train operation, and locate the positions of each car wash line component in the car wash garage on the same X-axis coordinate. When the train head travels to each of the spray stations in the car wash line, the distance the train travels to the spray station is determined based on the position of each spray station, the position of the photoelectric switch it passes, the start-stop acceleration, the train's speed, and the corresponding time. When the train head travels to each of the washing stations on the car wash line, the distance the train travels to the washing station is determined based on the ATS signal of the ATS signal system, the position of each washing station, the position of the photoelectric switch it passes, the start-stop acceleration, the train's speed, and the corresponding time. The train operation model is established based on the distance the train travels to each of the car wash line stations and the corresponding time.

3. The fault handling method for the automatic car wash machine according to claim 1, characterized in that, The process of establishing the end-brush travel model includes: Acquire the end brush information based on the end brush travel and the shape of the train's front end face, wherein the end brush information includes at least the end brush travel motor speed, first radius information, end brush lifting motor speed, second radius information, distance from the end brush travel track start proximity switch to the end proximity switch, distance from the end brush column from the lower limit position proximity switch to the upper limit position proximity switch, and brush bristle length. A front end face shape function is constructed based on the horizontal coordinate of the train's parking position and the front end arc surface of the train's front end face shape. The current coefficient that controls the train to start moving forward, the critical current coefficient that allows forward movement, and the current contact depth between the bristles and the end face are obtained. The end brush rotation current function and the current-to-hair-take function are determined based on the critical current coefficient that allows forward movement, the initial current value of the current end brush rotation, and the current contact depth between the bristles and the end face. When the end brush lifting motor starts, the rising distance function of the end brush lifting motor is determined based on the end brush lifting motor speed, the second radius information, and the rising time; When the end brush column moves, the forward hair intake function is determined based on the speed of the end brush motor, the first radius information, and the walking time. The current first current value is determined based on the forward hair-eating amount function and the current and hair-eating amount function. When the current first current value is not less than the product of the current initial current value of the end brush rotation and the critical current coefficient, the end brush walking motor is stopped. The real-time brush feed amount is determined based on the shape function of the front end face and the rising distance function of the end brush lifting motor until the real-time brush feed amount reaches the brush feed amount corresponding to the preset current value. The current second current value is determined based on the real-time hair consumption and the current-hair consumption function. When the second current value is not greater than the threshold current, the end brush walking motor is started to work until the vertical coordinate coefficient of the end brush is consistent with the vertical coordinate coefficient of the end brush column proximity switch to establish the end brush walking model. The threshold current is determined by the forward start current coefficient and the current end brush rotation initial current value.

4. The fault handling method for an automatic car wash machine according to claim 2 or 3, characterized in that, The equipment simulation platform built based on the ATS signaling system, train operation model, and end-brush running model includes: The operation of each washing line component of the train washing machine is simulated based on the train operation model and the ATS signal of the ATS signal system. The end-brush running is simulated in the vertical and horizontal directions based on the end-brush running model and the ATS signal of the ATS signal system. The equipment simulation platform was built based on the simulated operation of each washing line component of the train cleaning machine and the vertical and horizontal end-washing operation of the end brush.

5. The fault handling method for the automatic car wash machine according to claim 4, characterized in that, The fault factors include at least one or a combination of human operation factors, signal interaction factors, and factors of the car wash machine itself. The human operation factors include at least the factors of operating the car wash button when the car wash conditions are not met in the train driving mode, operating the end wash button when the end wash parking position is incorrect, the factors of incorrect switching of the car wash mode during the car wash process, the factors of incorrect switching of local and remote permissions, the factors of incorrect switching of unmanned driving and manned driving modes, and the factors of incorrect operation of failure to retract the clearance interference in the unmanned driving mode. The signal interaction factors include at least the factors of sending a car wash request but not meeting the car wash conditions, incorrect front and rear parking positions, and emergency stop signal factors of the ATS signal. The factors inherent to the car wash machine include at least photoelectric switch failure, motor circuit failure, proximity switch failure leading to brush group signal failure, end brush travel and lifting exceeding the travel limit, frequency converter failure, communication failure, and car wash conditions.

6. The fault handling method for an automatic car wash machine according to claim 1, characterized in that, After outputting the test results, and before determining the corresponding fault handling solution based on the test results, the method further includes: Output fault message.

7. A fault handling device for an automatic car wash machine, characterized in that, include: The acquisition module is used to acquire the train's ATS analog signals and the automatic car wash machine's control signals; The first determining module is used to determine the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal; The module is used to build a simulation platform for the equipment based on the ATS signal system, the train operation model, and the end brush running model. The train operation model is established based on the train information and combined with the start and stop information of the car wash garage and the distance of each car wash line component in the car wash garage. The end brush running model is established based on the end brush information of the end brush running and the shape of the train's front end face. The second determining module is used to pre-include various fault factors on the equipment simulation platform to output test results, and determine the corresponding fault handling plan based on the test results. Correspondingly, the step of determining the ATS signal system of the automatic car wash machine based on the ATS analog signal and the control signal includes: The car wash mode car wash request signal is received from the ATS analog signal, wherein the ATS analog signal is a writable signal used to view and change the signal status, and the car wash mode car wash request signal is either a car wash mode car wash request signal or a car wash mode car wash request signal. If the self-test meets the car wash conditions, the end wash signal in the ATS signal system of the automatic car wash machine is determined according to the car wash request signal of the car wash mode and the control signal corresponding to meeting the car wash conditions. The end wash signal includes a front-end signal and a back-end signal. The current washing progress of the train is determined based on the end-wash signal; After the current car wash progress of the train is completed and the train has completely left the car wash garage, a car wash completion signal is output. When the received ATS analog signal is a request to pass without washing the car, the control signal in the ATS signal system is determined to be a car wash machine permission signal, and the train is controlled to pass through the car wash garage through the ATS analog signal. The car wash mode car wash request signal, the end wash signal, the car wash completion signal, and the car wash machine pass-through signal are used as signals of the ATS signal system; Correspondingly, during the current car wash progress, if the car wash machine malfunctions, the train completely leaves the car wash garage, including: Output a fault emergency stop signal and suspend the operation of the car wash machine and the train; The equipment or mechanism corresponding to the end-washing operation that interfered with the end-washing signal was retrieved so that the train could leave the car wash garage.

8. A fault handling device for an automatic car wash machine, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the fault handling method for an automatic car wash machine as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the fault handling method for the automatic car wash machine as described in any one of claims 1 to 6.

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