Vehicle washing system and method applied to port AGV

Abstract

The invention discloses a vehicle washing system and method applied to a port AGV. According to the technical scheme, the vehicle washing system comprises a detection system, and the detection system is used for recognizing the model of the AGV and at least determining the positions of the four corners of the AGV; the spraying system is used for spraying water to the AGV body for washing; the robot system is used for driving the spraying system to wash all parts of the AGV body; the main control system is connected with the detection system, the spraying system and the robot system; the car washing method comprises the steps that S01, a washing task is determined; s02, executing a cleaning task; through the arrangement of the spraying system and the robot system, all parts of the AGV can be accurately cleaned according to information detected by the detection system, the cleaning effect is guaranteed, and manpower input is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV cleaning, and more particularly to a washing system and method for AGVs at ports. Background Art

[0002] AGV (Automated Guided Vehicle), also known as automatic guided transporter or automatic guided transporter, is widely used in ports for short-distance transportation of goods. During daily use, a large amount of dust easily adheres to the body of AGV. In order to ensure the cleanliness of the AGV body, the AGV needs to be cleaned regularly.

[0003] In the current ports, most of the cleaning is done manually using high-pressure water guns, which not only consumes a lot of manpower costs, but also cannot guarantee the cleaning effect. In addition, due to the high body of the AGV, it is difficult to clean the top of the AGV manually. The existing mechanical automated cleaning is done by gantry-type car washing, which can only clean the appearance, but has poor cleaning effect on the details. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a car washing system applied to port AGVs, which, through the setting of a spray system and a robot system, can accurately clean various parts of the AGV according to the information detected by the detection system, thereby ensuring the cleaning effect and reducing the manpower input.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: A car washing system applied to a port AGV, comprising a detection system, wherein the detection system is used to identify the model of the AGV and determine the positions of at least the four corners of the AGV; A spray system, wherein the spray system is used to spray water to wash the AGV body; A robot system, which is used to drive a spray system to wash various parts of the AGV body; And a main control system, wherein the main control system is connected with the detection system, the spray system and the robot system.

[0006] The present invention is further configured to include a cleaning agent system for spraying cleaning agent onto the AGV body. The cleaning agent system is driven by a robot system to spray cleaning agent onto various locations of the AGV body. The cleaning agent system is connected to a main control system.

[0007] The present invention is further configured to include a water temperature system, wherein the water temperature system is used to control the temperature of water in the spray system, and the water temperature system is connected to the main control system.

[0008] The present invention is further configured as follows: the robot system comprises a six-axis robot and a ground rail, and the six-axis robot slides along a horizontal straight line on the ground rail.

[0009] The present invention is further configured as follows: the detection system includes a visual sensor, and the visual sensor is used to obtain image information of the AGV body; And a distance measuring sensor, wherein the distance measuring sensor is provided with a plurality of distance measuring sensors and at least a distance measuring sensor is provided to detect the distance to the four corners of the AGV.

[0010] Another object of the present invention is to provide a car washing method for port AGV, comprising the following steps: S01. Determine the cleaning task: After the AGV has docked, the main control system determines the cleaning task based on the information detected by the detection system. The cleaning task at least includes the AGV model, cleaning area, and cleaning mode; S02. Execute cleaning tasks: The spray system and the robot system receive cleaning tasks from the main control system and execute the cleaning tasks according to the task information.

[0011] The present invention is further configured as follows: in step S01, the cleaning mode at least includes a cleaning agent mode, a normal temperature water cleaning mode and a heated water cleaning mode.

[0012] The present invention is further configured as follows: in step S01, the cleaning area at least includes the top, front, back, left, right, and bottom.

[0013] The present invention is further configured as follows: the front area of ​​the AGV is set as the M00 area, the rear area is set as the Mn0 area, and the middle area is divided from front to back into M10, M20...M(n-1)0; each area of ​​the middle area includes the top, bottom and two sides of the AGV, and M10 includes M11 at the top of the AGV, M13 at the bottom, and two M12s on both sides.

[0014] The present invention is further configured as follows: the cleaning area also includes a hydraulic cabinet, an auxiliary cabinet area M111, a battery pack area M112, a ground area M113, and a scanner area M114.

[0015] In summary, compared with the prior art, the present invention has the following beneficial effects: through the setting of the spray system and the robot system, the present invention can accurately clean various parts of the AGV according to the information detected by the detection system, which not only ensures the cleaning effect but also reduces the manpower input. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of an embodiment; Figure 2It is a schematic diagram of the AGV docking position being a standard position in the embodiment; Figure 3 A schematic diagram of the actual docking position of the AGV in the embodiment; Figure 4 Schematic diagram of the division of the cleaning area in the embodiment.

[0017] In the figure: 1. Main control system; 2. Robot system; 3. Spray system; 31. Pump; 32. Valve; 33. Frequency converter; 4. Water temperature system; 5. Detection system; 51. Visual sensor; 52. Distance sensor; 6. Cleaning agent system. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0019] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0020] Embodiment 1: A car washing system for port AGV, see attached Figure 1 and attached Figure 2 , including a detection system 5, a spray system 3, a robot system 2 and a main control system 1. The detection system 5 is used to identify the model of the AGV and at least determine the positions of the four corners of the AGV; the spray system 3 is used to spray water to wash the AGV body; the robot system 2 is used to drive the spray system 3 to wash various parts of the AGV body; the main control system 1 is connected to the detection system 5, the spray system 3 and the robot system 2.

[0021] The detection system 5 is set in the site where the AGV is cleaned. When the AGV is cleaned, the AGV is driven into the site, and then the model and position of the AGV are determined by the detection system 5. After the model of the AGV and at least the positions of the four corners of the AGV are determined, the main control system 1 determines the position of the place where the AGV needs to be cleaned according to the positions of the four corners of the AGV at this time, and then the main control system 1 controls the robot system 2 to drive the spray system 3 to clean the position of the AGV that needs to be cleaned.

[0022] Specifically, this embodiment further includes a cleaning agent system 6 , which is used to spray cleaning agent onto the AGV body. The cleaning agent system 6 is driven by the robot system 2 to spray cleaning agent onto various parts of the AGV body. The cleaning agent system 6 is connected to the main control system 1 .

[0023] Through the setting of the detergent system, the AGV body can be sprayed with detergent first, and then rinsed with clean water, which improves the cleanliness of the AGV.

[0024] Specifically, the present embodiment further includes a water temperature system 4, which is used to control the temperature of water in the spray system 3, and the water temperature system 4 is connected to the main control system 1. Through the water temperature system 4, the temperature of the water sprayed by the spray system 3 can be adjusted according to the types of stains to be cleaned on the AGV body, thereby further improving the cleaning effect on the AGV body.

[0025] Specifically, the spray system 3 includes at least a water storage tank, a pump 31, a valve 32, a nozzle, and a frequency converter 33. The robot system 2 drives the nozzle to move so as to spray and rinse various parts of the AGV through the nozzle. Specifically, the spray system 3 also includes a pressure sensor, which is used to detect the water pressure of the water sprayed by the nozzle, and the pressure sensor is connected to the main control system 1. The main control system 1 adjusts the power of the pump 31 according to the information detected by the pressure sensor, and then adjusts the water pressure of the water sprayed by the nozzle.

[0026] Specifically, the water temperature system 4 includes a heater for instantaneously heating the water delivered by the water pump 31 , and the heater is connected to the main control system 1 .

[0027] Specifically, the cleaning agent system 6 includes a storage device, a pump, a valve, and a nozzle, and the cleaning agent stored in the storage device is sprayed onto the AGV body through the nozzle. Specifically, the nozzle of the cleaning agent system 6 is driven by the robot system 2 to spray the cleaning agent onto the AGV body. Specifically, the pump in the cleaning agent system 6 is connected to the main control system 1, and the operation of the cleaning agent system 6 is controlled by the main control system 1.

[0028] Specifically, the robot system 2 includes a six-axis robot and a ground rail, and the six-axis robot slides along a horizontal straight line on the ground rail. The free end of the six-axis robot is connected to the two pumps 31 of the cleaning agent system 6 and the spray system 3, so that the six-axis robot can drive the spray system 3 and the cleaning agent system 6 to clean the AGV body. Due to the length of the AGV body, the six-axis robot with a fixed position cannot cover all parts of the AGV body with the spray system 3 and the cleaning agent system 6. Therefore, in this embodiment, the six-axis robot is set to slide on the ground rail so that the spray system 3 and the cleaning agent system 6 can cover all parts of the AGV body when cleaning the AGV body.

[0029] Specifically, in this embodiment, two robot systems 2 are provided, which are located at both sides of the site, and each robot system 2 drives a nozzle of a spray system 3 and a nozzle of a cleaning agent system 6. When cleaning, the AGV travels between the two robot systems 2. The two six-axis robots are set as 101 and 102 respectively.

[0030] Specifically, the detection system 5 includes a visual sensor 51 and a distance sensor 52. The visual sensor 51 is used to obtain image information of the AGV body; the distance sensor 52 is provided with multiple distance sensors 52 and at least one distance sensor 52 is provided to detect the distance to the four corners of the AGV. The distance sensor 52 is set as a laser sensor.

[0031] The visual sensor 51 acquires the appearance image of the AGV, so that the main control system 1 can judge whether the AGV entering the site is a preset model AGV based on the image information. The distance measuring sensors 52 at least located at the four corners of the AGV can determine the positions of the four corners of the AGV, so as to determine the position information of the external contour of the AGV according to the size of the AGV. Based on the guidance of the position information, the main control system 1 can control the robot system 2 to accurately drive the spray system 3 and the cleaning agent system 6 to clean the body of the AGV.

[0032] Specifically, in some embodiments, two safety relays A and B are also included. An emergency stop button is provided in the emergency stop circuit A, and a safety door lock is provided in the safety door lock circuit B, and the safety relays A and B use a dual-circuit mode. The dual safety of the emergency stop circuit and the safety door lock circuit is ensured, and the convenience of debugging is achieved in a safe manner. Device A: The emergency stop circuit A is in effect and is not in the safety door lock area; Device B: The emergency stop circuit A and the safety door lock circuit B are in effect and are in the safety door lock area. In this system, the cleaning agent system 6, the water temperature system 4, and the water pressure system belong to device B. Failure of the emergency stop circuit and the safety door lock circuit will cause the above systems to stop operating. The automatic stop circuit in the robot system 2 belongs to device B, and the emergency stop circuit of the robot system 2 belongs to device A.

[0033] Embodiment 2: A car washing method for port AGV, see attached Figure 2 -Attached Figure 4 , including the following steps: S01, determine the cleaning task: after the AGV has docked, the main control system 1 determines the cleaning task according to the information detected by the detection system 5, and the cleaning task at least includes the AGV model, the cleaning area and the cleaning mode; S02, executing the cleaning task: the spray system 3 and the robot system 2 receive the cleaning task from the main control system 1 and execute the cleaning task according to the task information.

[0034] Specifically, in step S01, the cleaning modes at least include the cleaning agent mode, the normal temperature water cleaning mode, and the heated water cleaning mode; the cleaning areas at least include the top, the front, the rear, the left side, the right side, and the bottom.

[0035] Specifically, when dividing the cleaning areas of the AGV, it is first necessary to determine the specific position of the AGV in the site. The vision sensor 51 in the detection system 5 is located at the front end of the AGV, and the model of the AGV is identified by taking pictures. There are five ranging sensors 52, which are H1 set at the front end of the AGV, LH1 on the left front side, LB1 on the left rear side, RH1 on the right front side, and RB1 on the right rear side respectively.

[0036] As shown in the Figure 2 attachment, when the position where the AGV docks is the standard position, that is, when the theoretical docking error is 0, the standard measurement distance of H1 is L11s, the standard measurement distance of LH1 is L21s, the standard measurement distance of LB1 is L31s, the standard measurement distance of RH1 is L22s, and the standard measurement distance of RB1 is L32s.

[0037] In actual working conditions, as shown in the Figure 3 attachment, the AGV cannot achieve a theoretical docking error of 0. Therefore, in actual working conditions, the detection length of H1 is L11, the distance between LH1 and RH1 is L20, the distance between LB1 and RB1 is L30, the detection length of LH1 is L21, the detection length of RH1 is L22, the detection length of LB1 is L31, the detection length of RB1 is L32, the distance between LH1 and LB1 is L40, the distance between RH1 and RB1 is L50. By calculating, the offset angle tan A = |(L31 - L21)| / L40, and the vehicle body width H = (L30 - L31 - L32) * cos A.

[0038] The docking accuracy of the AGV is ±D. According to the measured data, the accuracy of the AGV is verified again. When the AGV docks accurately, the data of the ranging sensor 52 meet the following conditions: (L11s - D) < L11 < (L11s + D), (L21s - D) < L21 < (L21s + D), (L22s - D) < L22 < (L22s + D), (L31s - D) < L31 < (L31s + D), (L32s - D) < L32 < (L32s + D). Through the re-verification of the ranging sensor 52, the collision between the cleaning robot and the AGV body is prevented.

[0039] Specifically, the distance between the water outlet and the standard parking area is set to (D+5). During cleaning operations, the minimum distance between the water outlet and the AGV is maintained at 5, and the maximum distance from the vehicle body is: (2D+5), so as to achieve better cleaning effects while ensuring safety.

[0040] Specifically, the front area of ​​the AGV is set as the M00 area, the rear area is set as the Mn0 area, and the middle area is divided from front to back into M10, M20...M(n-1)0; each area of ​​the middle area includes the top, bottom and two sides of the AGV, and M10 includes M11 at the top of the AGV, M13 at the bottom, and two M12s on both sides.

[0041] In this embodiment, the middle area is divided into eight areas. Therefore, the rear area is set to M90, and the middle area is divided into M10, M20...M80. In the middle area, the eight areas on the top are M11, M21, M31, M41, M51, M61, M71, and M81, and the eight areas on the sides are M12, M22, M32, M42, M52, M62, M72, and M82, and the eight areas in the chassis area are M13, M23, M33, M43, M53, M63, M73, and M83.

[0042] Specifically, in this embodiment, a hydraulic cabinet auxiliary cabinet area M111 (located on the left side of the AGV), a battery pack area M112 (located on the left side of the AGV), a ground area M113, and a scanner area M114 (located on the front and rear of the AGV) are additionally provided.

[0043] In step S02, when executing the cleaning task, cleaning is performed in the set order, first cleaning the AGV body, and then cleaning the scanner, battery pack, hydraulic cabinet and auxiliary cabinet, and the ground in turn; the order of cleaning the AGV body is set to front area M00-middle area M10 (M11-M12-M13)-middle area M20 (M21-M22-M23)-middle area M30 (M31-M32-M33)-middle area M40 (M41-M42-M43)-middle area M51 (M51-M52-M53)-middle area M60 (M61-M62-M63)-middle area M70 (M71-M72-M13)-middle area M80 (M81-M82-M83))-rear area M90.

[0044] When cleaning each area, the detergent mode is executed first, and then one of the normal temperature water cleaning mode and the heated cleaning mode is executed.

[0045] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A car washing system for port AGV, characterized by: It comprises a detection system (5), wherein the detection system (5) is used to identify the model of the AGV and determine the positions of at least the four corners of the AGV; A spray system (3), the spray system (3) is used to spray water to wash the AGV body; A robot system (2), wherein the robot system (2) is used to drive a spray system (3) to wash various parts of the AGV body; and a main control system (1), wherein the main control system (1) is connected to the detection system (5), the spray system (3) and the robot system (2).

2. The car washing system for port AGV according to claim 1 is characterized by: It also includes a cleaning agent system (6), which is used to spray cleaning agent on the AGV body. The cleaning agent system (6) is driven by the robot system (2) to spray cleaning agent on various parts of the AGV body. The cleaning agent system (6) is connected to the main control system (1).

3. The car washing system for port AGV according to claim 1 is characterized by: It also includes a water temperature system (4), which is used to control the temperature of water in the spray system (3), and the water temperature system (4) is connected to the main control system (1).

4. The car washing system for port AGV according to claim 1 is characterized by: The robot system (2) comprises a six-axis robot and a ground rail, and the six-axis robot slides along a horizontal straight line on the ground rail.

5. The car washing system for port AGV according to claim 1 is characterized by: The detection system (5) comprises a visual sensor (51), and the visual sensor (51) is used to obtain image information of the AGV body; And a distance measuring sensor (52), wherein the distance measuring sensor (52) is provided with a plurality of distance measuring sensors (52) which are at least provided to detect the distances to the four corners of the AGV.

6. A car washing method applied to port AGV, characterized by: The steps include: S01, determining a cleaning task: after the AGV has completed docking, the main control system (1) determines a cleaning task based on information detected by the detection system (5), wherein the cleaning task at least includes the AGV model, the cleaning area, and the cleaning mode; S02, executing the cleaning task: the spray system (3) and the robot system (2) receive the cleaning task from the main control system (1) and execute the cleaning task according to the task information.

7. A car washing method for port AGV according to claim 6, characterized in that: In the step S01, the cleaning mode at least includes a cleaning agent mode, a normal temperature water cleaning mode and a heated water cleaning mode.

8. The method for washing a car for a port AGV according to claim 6, characterized in that: In step S01, the cleaning area at least includes the top, front, back, left, right, and bottom.

9. A car washing method for port AGV according to claim 8, characterized in that: The front area of ​​the AGV is set as the M00 area, the rear area is set as the Mn0 area, and the middle area is divided into M10, M20...M(n-1)0 from front to back; each area of ​​the middle area includes the top, bottom and two sides of the AGV, and M10 includes M11 at the top of the AGV, M13 at the bottom, and two M12s on both sides.

10. A car washing method for port AGV according to claim 9, characterized in that: The cleaning area also includes a hydraulic cabinet, an auxiliary cabinet area M111, a battery pack area M112, a ground area M113, and a scanner area M114.

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