Automatic control system and method for car washing brush

Abstract

The present invention relates to an automatic control system and method for a car wash brush, and belongs to the field of automatic control technology. The present invention includes a data acquisition module, a control module, an execution module, a feedback module, and a car wash brush. The vehicle image information and vehicle position information are obtained by performing vehicle detection on the vehicle to be washed, the vehicle information is processed by a core processing unit, a car wash mode is obtained by processing the vehicle image information, the car wash brush category is determined according to the car wash mode, a control signal is generated according to the car wash brush category and the vehicle position information, and the car wash brush is driven to rotate and clean the vehicle body by controlling the transmission structure according to the control signal. The pressure signal, the motor operating state and the motor position information are transmitted to the core processing unit for processing, and the control signal is adjusted by comparing the preset program, so as to realize the automatic control of the car wash brush, and feedback control is performed by real-time monitoring of the cleaning process, thereby improving the motor control accuracy and cleaning effect.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control, and in particular relates to an automatic control system and method for a car washing brush. Background Art

[0002] With the development of the times and the improvement of people's living standards, people's demand for cars is increasing, and with it comes car maintenance, among which car cleaning is an indispensable content. At present, most of the domestic car cleaning is still done manually. Although automatic car washing machines are gradually becoming popular, many problems have gradually emerged, including the single car washing mode of ordinary automatic car washing machines, which cannot perform personalized cleaning according to the degree of dirtiness of the vehicle. On the other hand, there is no feedback control during the car washing process, resulting in the inability to monitor car washing abnormalities in real time, which further leads to the instability of the cleaning process and causes cleaning failures. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the prior art, the present invention provides an automatic control system and method for a car washing brush, which obtains vehicle image information and vehicle position information by performing vehicle detection on a vehicle to be washed, processes the vehicle information by a core processing unit, obtains a car washing mode by processing the vehicle image information, determines the type of the car washing brush according to the car washing mode, generates a control signal according to the type of the car washing brush and the vehicle position information, drives the car washing brush to rotate to clean the vehicle body by controlling the transmission structure according to the control signal, transmits the pressure signal, the motor operating status and the motor position information to the core processing unit for processing, and adjusts the control signal by comparing with a preset program, thereby realizing automatic control of the car washing brush, and performing feedback control by real-time monitoring of the cleaning process, thereby improving the motor control accuracy and cleaning effect.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] An automatic control system for a car washing brush comprises a data acquisition module, a control module, an execution module, a feedback module and a car washing brush;

[0006] The data acquisition module is used to detect the vehicle to be washed to obtain vehicle information, collect vehicle image information of the vehicle to be washed by a camera, and measure the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information;

[0007] The control module includes a core processing unit, the control module is used to receive the vehicle information, process the vehicle information through the core processing unit, obtain a car wash mode through image processing according to the vehicle image information, determine a car wash brush category according to the car wash mode, and generate a control signal according to the car wash brush category and the vehicle position information, the car wash mode includes a normal car wash mode and a fine car wash mode;

[0008] The execution module is used to receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal. The execution module includes a servo motor, a driver and a reducer;

[0009] The feedback module is used to obtain the pressure signal, the motor operation state and the motor position information of the servo motor, transmit the pressure signal, the motor operation state and the motor position information to the core processing unit for processing, and adjust the control signal by comparing with a preset program;

[0010] The car washing brush consists of a brush shaft and bristles, the brush shaft is used to connect the bristles and the servo motor, the brush shaft is connected to the servo motor through a bearing, and the car washing brush categories include fiber car washing brushes and nylon car washing brushes.

[0011] Preferably, obtaining the car wash mode through image processing according to the vehicle image information specifically comprises the following steps:

[0012] Obtaining a vehicle grayscale image through image processing according to the vehicle image information, obtaining vehicle surface features by performing feature extraction on the vehicle grayscale image, obtaining a vehicle feature map according to the vehicle surface features, obtaining a center coordinate distance of the vehicle feature map, calculating a confidence score according to the center coordinate distance and the vehicle feature map through a confidence formula, and obtaining a dirt feature map set according to the confidence score through a target detection loss function;

[0013] Obtaining dirty region frame information according to the dirty feature atlas, and obtaining the dirty candidate region frame by calculating the Euclidean distance according to the dirty region frame information, wherein the dirty region frame information includes a covariance matrix and a matching degree;

[0014] Calling a standard dirt library, obtaining the dirt recognition network model through training according to the standard dirt library, and inputting the dirt candidate region frame into the dirt recognition network model to obtain the dirt candidate matching degree;

[0015] When the dirt candidate matching degree is greater than or equal to a preset threshold, the car wash mode is output as the fine car wash mode; when the dirt candidate matching degree is less than the preset threshold, the car wash mode is output as the ordinary car wash mode.

[0016] Preferably, the driver is used to receive the control signal, filter the control signal by processing it to obtain a filtered signal, transmit the filtered signal to a power amplifier circuit to obtain a motor control signal, and transmit the motor control signal to the servo motor.

[0017] Preferably, the servo motor is used to control the rotation angle and speed of the servo motor through the motor control signal transmitted by the driver, and drive the car washing brush according to the rotation angle and the speed. The servo motor includes a feedback system inside, and the feedback system is used to measure the rotation angle and the speed, and generate a feedback signal according to the rotation angle and the speed. When the feedback signal is greater than a set value, the power of the servo motor is transmitted to the output shaft through the reducer.

[0018] Preferably, when the car washing mode ends cleaning, a reset control signal is generated, and the execution module controls the car washing brush to complete the reset according to the reset control signal.

[0019] Preferably, the pressure signal is a pressure signal between the car washing brush and the car body. The current signal of the car washing brush is detected by a current sensor, and the current signal is converted into the pressure signal. The pressure signal is sent to the control module through the feedback module, and the core processing unit generates a motor adjustment signal by comparing the pressure signal with a preset threshold.

[0020] A method for automatically controlling a car wash brush, which is applied to an automatic control system of a car wash brush, comprises the following steps:

[0021] Performing vehicle detection on the vehicle to be washed to obtain vehicle information, collecting vehicle image information of the vehicle to be washed by a camera, and measuring the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information;

[0022] receiving the vehicle information, processing the vehicle information through the core processing unit, obtaining a car wash mode through image processing according to the vehicle image information, determining a car wash brush type according to the car wash mode, and generating a control signal according to the car wash brush type and the vehicle position information;

[0023] Receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal, wherein the execution module includes a servo motor, a driver and a reducer;

[0024] The pressure signal, the motor operating state and the motor position information of the servo motor are acquired, the pressure signal, the motor operating state and the motor position information are transmitted to the core processing unit for processing, and the control signal is adjusted by comparing with a preset program.

[0025] The beneficial effects of the present invention are:

[0026] 1. By determining the car washing mode according to the vehicle image information, the type of car washing brush is determined according to the car washing mode. For vehicles with less dirtiness, a fiber car washing brush is matched, and for vehicles with more dirtiness, a nylon car washing brush is matched. This not only improves the cleaning effect and protects the appearance of the vehicle, but also protects the bristles and increases the service life of the bristles.

[0027] 2. By using fuzzy control method to control the servo motor, the current is controlled within a suitable range, the control accuracy is improved, the optimal distance between the car wash brush and the vehicle to be washed is maintained, and the safety and stability of the car washing process are ensured;

[0028] 3. By setting up a feedback module, the vehicle cleaning status and motor operating status during the car washing process are tracked in real time, and the acquired data is fed back to the control module. The core processing unit compares and adjusts with the preset program to achieve real-time monitoring and correction of the motor movement, ensuring the stability and accuracy of the entire cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0030] Figure 1 It is a structural block diagram of the automatic control system of the car washing brush of the present invention. DETAILED DESCRIPTION

[0031] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0032] See also Figure 1 , an automatic control system for a car washing brush, comprising a data acquisition module, a control module, an execution module, a feedback module, and a car washing brush;

[0033] The data acquisition module is used to detect the vehicle to be washed to obtain vehicle information, collect vehicle image information of the vehicle to be washed by a camera, and measure the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information;

[0034] The control module includes a core processing unit, the control module is used to receive the vehicle information, process the vehicle information through the core processing unit, obtain a car wash mode through image processing according to the vehicle image information, determine a car wash brush category according to the car wash mode, and generate a control signal according to the car wash brush category and the vehicle position information, the car wash mode includes a normal car wash mode and a fine car wash mode;

[0035] The execution module is used to receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal. The execution module includes a servo motor, a driver and a reducer;

[0036] The feedback module is used to obtain the pressure signal, the motor operation state and the motor position information of the servo motor, transmit the pressure signal, the motor operation state and the motor position information to the core processing unit for processing, and adjust the control signal by comparing with a preset program;

[0037] The car washing brush consists of a brush shaft and bristles, the brush shaft is used to connect the bristles and the servo motor, the brush shaft is connected to the servo motor through a bearing, the car washing brush categories include fiber car washing brushes and nylon car washing brushes. It should be further explained that the car washing brushes are matched according to the degree of dirtiness of the car body. For cars with a small degree of dirtiness, a fiber car washing brush is matched, and for cars with a large degree of dirtiness, a nylon car washing brush is matched. This not only improves the cleaning effect and protects the appearance of the vehicle, but also protects the bristles and increases the service life of the bristles.

[0038] Specifically, obtaining the car wash mode through image processing according to the vehicle image information specifically includes the following steps:

[0039] Obtaining a vehicle grayscale image through image processing according to the vehicle image information, obtaining vehicle surface features by performing feature extraction on the vehicle grayscale image, obtaining a vehicle feature map according to the vehicle surface features, obtaining a center coordinate distance of the vehicle feature map, calculating a confidence score according to the center coordinate distance and the vehicle feature map through a confidence formula, and obtaining a dirt feature map set according to the confidence score through a target detection loss function;

[0040] Obtaining dirty region frame information according to the dirty feature atlas, and obtaining the dirty candidate region frame by calculating the Euclidean distance according to the dirty region frame information, wherein the dirty region frame information includes a covariance matrix and a matching degree;

[0041] Calling a standard dirt library, obtaining the dirt recognition network model through training according to the standard dirt library, and inputting the dirt candidate region frame into the dirt recognition network model to obtain the dirt candidate matching degree;

[0042] When the dirt candidate matching degree is greater than or equal to a preset threshold, the car wash mode is output as the fine car wash mode; when the dirt candidate matching degree is less than the preset threshold, the car wash mode is output as the ordinary car wash mode.

[0043] Specifically, the driver is used to receive the control signal, filter the control signal by processing it to obtain a filtered signal, transmit the filtered signal to a power amplifier circuit to obtain a motor control signal, and transmit the motor control signal to the servo motor.

[0044] Specifically, the servo motor is used to control the rotation angle and speed of the servo motor through the motor control signal transmitted by the driver, and drive the car washing brush according to the rotation angle and the speed. The servo motor includes a feedback system inside, and the feedback system is used to measure the rotation angle and the speed, and generate a feedback signal according to the rotation angle and the speed. When the feedback signal is greater than a set value, the power of the servo motor is transmitted to the output shaft through the reducer.

[0045] Specifically, when the car washing mode ends washing, a reset control signal is generated, and the execution module controls the car washing brush to complete the reset according to the reset control signal.

[0046] Specifically, the pressure signal is a pressure signal between the car wash brush and the car body. The current signal of the car wash brush is detected by a current sensor, and the current signal is converted into the pressure signal. The pressure signal is sent to the control module through the feedback module. The core processing unit generates a motor adjustment signal by comparing the pressure signal with a preset threshold.

[0047] By setting up a feedback module, the vehicle cleaning status and the motor operating status during the car washing process are tracked in real time, and the acquired data is fed back to the control module. The core processing unit compares and adjusts with the preset program to achieve real-time monitoring and correction of the motor movement, ensuring the stability and accuracy of the entire cleaning process.

[0048] Furthermore, the present invention also provides a method for automatically controlling a car wash brush, comprising the following steps:

[0049] Performing vehicle detection on the vehicle to be washed to obtain vehicle information, collecting vehicle image information of the vehicle to be washed by a camera, and measuring the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information;

[0050] receiving the vehicle information, processing the vehicle information through the core processing unit, obtaining a car wash mode through image processing according to the vehicle image information, determining a car wash brush type according to the car wash mode, and generating a control signal according to the car wash brush type and the vehicle position information;

[0051] Receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal, wherein the execution module includes a servo motor, a driver and a reducer;

[0052] The pressure signal, the motor operating state and the motor position information of the servo motor are acquired, the pressure signal, the motor operating state and the motor position information are transmitted to the core processing unit for processing, and the control signal is adjusted by comparing with a preset program.

[0053] The working principle and use process of the present invention:

[0054] The vehicle to be washed is detected by the data acquisition module to obtain vehicle image information and vehicle position information, the vehicle information is processed by the core processing unit, the car wash mode is obtained by processing the vehicle image information, the type of car wash brush is determined according to the car wash mode, a control signal is generated according to the type of car wash brush and the vehicle position information, and the car wash brush is driven to rotate to clean the car body by controlling the transmission structure according to the control signal, the pressure signal, the motor operating status and the motor position information are transmitted to the core processing unit for processing, and the control signal is adjusted by comparing with the preset program.

[0055] The program code included in the method in the embodiment of the present invention can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, etc., or any suitable combination mentioned above. The computer program code for performing the operation of the present invention can be written with one or more programming languages ​​or their combination, and the programming language includes object-oriented programming languages--such as Java, Smalltalk, C++, and also includes conventional procedural programming languages--such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on the remote computer, or executed completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0056] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An automatic control system for a car wash brush, characterized in that: It includes data acquisition module, control module, execution module, feedback module and car washing brush; The data acquisition module is used to detect the vehicle to be washed to obtain vehicle information, collect vehicle image information of the vehicle to be washed by a camera, and measure the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information; The control module includes a core processing unit, the control module is used to receive the vehicle information, process the vehicle information through the core processing unit, obtain a car wash mode through image processing according to the vehicle image information, determine a car wash brush category according to the car wash mode, and generate a control signal according to the car wash brush category and the vehicle position information, the car wash mode includes a normal car wash mode and a fine car wash mode; Obtaining a car wash mode through image processing according to the vehicle image information specifically includes the following steps: Obtaining a vehicle grayscale image through image processing according to the vehicle image information, obtaining vehicle surface features by performing feature extraction on the vehicle grayscale image, obtaining a vehicle feature map according to the vehicle surface features, obtaining a center coordinate distance of the vehicle feature map, calculating a confidence score according to the center coordinate distance and the vehicle feature map through a confidence formula, and obtaining a dirt feature map set according to the confidence score through a target detection loss function; Obtaining dirty region frame information according to the dirty feature atlas, and obtaining a dirty candidate region frame by calculating the Euclidean distance according to the dirty region frame information, wherein the dirty region frame information includes a covariance matrix and a matching degree; Calling a standard dirt library, obtaining the dirt recognition network model through training according to the standard dirt library, and inputting the dirt candidate region frame into the dirt recognition network model to obtain the dirt candidate matching degree; When the dirt candidate matching degree is greater than or equal to a preset threshold, the car wash mode is output as the fine car wash mode; when the dirt candidate matching degree is less than the preset threshold, the car wash mode is output as the ordinary car wash mode; The execution module is used to receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal. The execution module includes a servo motor, a driver and a reducer; The feedback module is used to obtain the pressure signal, the motor operation status and the motor position information of the servo motor, transmit the pressure signal, the motor operation status and the motor position information to the core processing unit for processing, and adjust the control signal by comparing with a preset program; The car washing brush consists of a brush shaft and bristles, the brush shaft is used to connect the bristles and the servo motor, the brush shaft is connected to the servo motor through a bearing, and the car washing brush categories include fiber car washing brushes and nylon car washing brushes.

2. The automatic control system for car wash brushes according to claim 1, characterized in that: The driver is used to receive the control signal, filter the control signal to obtain a filtered signal, transmit the filtered signal to a power amplifier circuit to obtain a motor control signal, and transmit the motor control signal to the servo motor.

3. The automatic control system for car wash brushes according to claim 1, characterized in that: The servo motor is used to control the rotation angle and speed of the servo motor through the motor control signal transmitted by the driver, and drive the car washing brush according to the rotation angle and the speed. The servo motor includes a feedback system inside, and the feedback system is used to measure the rotation angle and the speed, and generate a feedback signal according to the rotation angle and the speed. When the feedback signal is greater than a set value, the power of the servo motor is transmitted to the output shaft through the reducer.

4. The automatic control system for car wash brushes according to claim 1, characterized in that: When the car wash mode ends cleaning, a reset control signal is generated, and the execution module controls the car wash brush to complete the reset according to the reset control signal.

5. The automatic control system for car wash brushes according to claim 1, characterized in that: The pressure signal is a pressure signal between the car wash brush and the car body. The current signal of the car wash brush is detected by a current sensor, and the current signal is converted into the pressure signal. The pressure signal is sent to the control module through the feedback module. The core processing unit generates a motor adjustment signal by comparing the pressure signal with a preset threshold.

6. A method for automatically controlling a car wash brush, the method for automatically controlling a car wash brush being applied to the automatic control system for a car wash brush as claimed in claim 1, characterized in that: The following steps are involved: Performing vehicle detection on the vehicle to be washed to obtain vehicle information, collecting vehicle image information of the vehicle to be washed by a camera, and measuring the vehicle to be washed by a preset ultrasonic probe to obtain vehicle position information, wherein the vehicle information includes the vehicle image information and the vehicle position information; receiving the vehicle information, processing the vehicle information through the core processing unit, obtaining a car wash mode through image processing according to the vehicle image information, determining a car wash brush type according to the car wash mode, and generating a control signal according to the car wash brush type and the vehicle position information; Obtaining a car wash mode through image processing according to the vehicle image information specifically includes the following steps: Obtaining a vehicle grayscale image through image processing according to the vehicle image information, obtaining vehicle surface features by performing feature extraction on the vehicle grayscale image, obtaining a vehicle feature map according to the vehicle surface features, obtaining a center coordinate distance of the vehicle feature map, calculating a confidence score according to the center coordinate distance and the vehicle feature map through a confidence formula, and obtaining a dirt feature map set according to the confidence score through a target detection loss function; Obtaining dirty region frame information according to the dirty feature atlas, and obtaining the dirty candidate region frame by calculating the Euclidean distance according to the dirty region frame information, wherein the dirty region frame information includes a covariance matrix and a matching degree; Calling a standard dirt library, obtaining the dirt recognition network model through training according to the standard dirt library, and inputting the dirt candidate region frame into the dirt recognition network model to obtain the dirt candidate matching degree; When the dirt candidate matching degree is greater than or equal to a preset threshold, the car wash mode is output as the fine car wash mode; when the dirt candidate matching degree is less than the preset threshold, the car wash mode is output as the ordinary car wash mode; Receive the control signal sent by the control module, and drive the car wash brush to rotate and clean the car body by controlling the transmission structure according to the control signal, wherein the execution module includes a servo motor, a driver and a reducer; The pressure signal, the motor operating state and the motor position information of the servo motor are acquired, the pressure signal, the motor operating state and the motor position information are transmitted to the core processing unit for processing, and the control signal is adjusted by comparing with a preset program.

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