Automobile glass manufacturing cleaning machine capable of intelligently and automatically adjusting spraying angle

Abstract

The invention belongs to the technical field of glass cleaning, and discloses an intelligent automobile glass manufacturing cleaning machine capable of automatically adjusting the spraying angle, the automobile glass manufacturing cleaning machine comprises a portal frame, a conveying roller is arranged at the top end of the portal frame, and a spraying angle adjusting mechanism is installed at the top end in a cleaning top plate. After the water pump is started, a water source in the water tank is transported through the first connecting pipe and then passes through the second connecting pipe and the energy recycling box; a second connecting pipe is conveyed into a cleaning top plate to spray a cleaning water source, the cleaning water source can drive an energy recycling paddle to rotate after passing through an energy recycling box so as to drive a second connecting rod to rotate through transmission, the second connecting rod drives a stirring rod to rotate when rotating, and the stirring rod stirs a cleaning agent and water in a water tank when rotating; in this way, the purpose that the cleaning agent and water can be conveniently stirred in the transportation process when the mixed agent of the cleaning agent and the water is sprayed is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of glass cleaning, and in particular is an automobile glass manufacturing cleaning machine capable of intelligently and automatically adjusting a spraying angle. Background Art

[0002] The automobile industry is one of the largest industries in the world, with the characteristics of high industrial correlation, high technical requirements, and a large number of parts. It has a strong driving effect on the upgrading of industrial structure and the development of related industries. As one of the main parts of automobiles, automobile glass has a large market demand. The existing automobile glass production structure process includes multiple cleaning processes. After the automobile glass is cut and edged, glass chips or foreign matter will remain on the surface of the glass. Therefore, the cleaning equipment after cutting and edge grinding needs to be cleaned with a brush to improve the cleaning effect. However, the appearance of existing automobile glass varies greatly. Glass with different curvatures requires adjustment of the height of the brush. The adjustment method is cumbersome and time-consuming. The glass is easy to loosen after adjustment, and the cleaning effect is greatly affected.

[0003] In addition, the existing device cannot quickly mix the detergent and water while saving energy when in use, resulting in a poor cleaning effect. The cleaning angle of the automobile glass inside the device cannot be quickly adjusted, and the glass in the device cannot be cleaned in a full range.

[0004] It is necessary to enable the device to perform intelligent multi-angle cleaning on the glass, and to quickly mix the detergent and water while saving energy, so as to improve the cleaning effect. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides an automobile glass manufacturing cleaning machine with intelligent and automatic adjustment of the spraying angle.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an automobile glass manufacturing and cleaning machine with intelligent automatic adjustment of spray angle, comprising a gantry, a conveying roller is arranged at the top of the gantry, a multi-angle grabbing arm is arranged on the outer wall of the gantry, a height adjustment mechanism is installed at the top of the gantry, a cleaning top plate is arranged at the top of the height adjustment mechanism, an infrared sensor is fixed to the side wall of the cleaning top plate, a water tank is fixed to the bottom end of the interior of the gantry, an energy recovery mechanism is fixed to the outer wall of the gantry, and a spray angle adjustment mechanism is installed at the top of the interior of the cleaning top plate;

[0007] The height adjustment mechanism includes a first mounting base, a first connecting rod and a second mounting base, the first mounting base is fixed to the top of the gantry, the inner wall of the first mounting base is hinged with the first connecting rod, the top of the gantry is fixed with the second mounting base, the top of the second mounting base is provided with a connecting seat, the outer wall of the connecting seat is hinged with the second connecting rod, the bottom end of the cleaning top plate is fixed with a mounting top seat, the inner wall of the second mounting base is rotatably connected with a threaded rod, and the inner wall of the threaded rod is fixed with a first motor.

[0008] Preferably, the first mounting base is provided with four groups symmetrically distributed about the central axis of the gantry, the top end of the second mounting base is provided with a sliding block, the bottom end of the connecting seat is provided with a sliding groove, and the second mounting base and the connecting seat are slidably connected.

[0009] Preferably, a threaded hole is provided at the top of the connecting seat, the threaded rod and the connecting seat are threadedly connected, the threaded rod is rotatably connected to the inner wall of the second mounting base, and the inner wall of the second connecting rod is rotatably connected to the first connecting rod.

[0010] Preferably, two groups of the second connecting rods are provided, and the second connecting rods are symmetrically distributed about the central axis of the connecting seat.

[0011] Preferably, the energy recovery mechanism includes a first connecting pipe, a water pump, a second connecting pipe and an energy recovery box, the energy recovery box is fixed to the outer wall of the gantry, the inner wall of the energy recovery box is rotatably connected with an energy recovery paddle, the bottom end of the energy recovery box is connected with the second connecting pipe, the input end of the second connecting pipe is connected with the water pump, the input end of the water pump is connected with the first connecting pipe, the input end of the first connecting pipe is connected with a water tank, the top of the energy recovery box is connected with the second connecting pipe, the side wall of the energy recovery paddle is fixed with a first bevel gear, the outer wall of the first bevel gear is meshedly connected with the second bevel gear, the side wall of the second bevel gear is fixed with a first connecting rod, one end of the first connecting rod is fixed with a third bevel gear, the bottom end of the third bevel gear is meshedly connected with a fourth bevel gear, the bottom end of the fourth bevel gear is fixed with a second connecting rod, and the bottom end of the second connecting rod is fixed with a stirring rod.

[0012] Preferably, the output end of the first connecting pipe is connected to a water pump, the output end of the second connecting pipe is connected to a cleaning top plate, and the first bevel gear is provided with two groups fixed to the side walls of the energy recovery paddle, and the first bevel gear is symmetrically distributed about the central axis of the energy recovery paddle.

[0013] Preferably, the outer wall of the stirring rod is provided with a plurality of groups of stirring paddles, and the stirring paddles are distributed at equal intervals about the central axis of the second connecting rod.

[0014] Preferably, the spray angle adjustment mechanism includes a first delivery head, a second motor and a first gear, the first delivery head is connected to the top of the cleaning top plate, the outer wall of the first delivery head is fixed with a second motor, the bottom end of the second motor is installed with a first gear, the bottom end of the first delivery head is rotatably connected to the second delivery head, the outer wall of the second delivery head is fixed with a third motor, the bottom end of the third motor is installed with a second gear, the bottom end of the second delivery head is rotatably connected to the third delivery head, the outer wall of the third delivery head is fixed with a fourth motor, the bottom end of the fourth motor is installed with a third motor, and the bottom end of the third delivery head is rotatably connected to the cleaning nozzle.

[0015] Preferably, the outer wall of the first gear is provided with several groups of teeth, the outer wall of the second delivery head is provided with several groups of teeth, the first gear and the second delivery head are meshingly connected, the outer wall of the second gear is provided with several groups of teeth, the outer wall of the third delivery head is provided with several groups of teeth, and the second gear and the third delivery head are meshingly connected.

[0016] Preferably, the outer wall of the second gear is provided with a plurality of groups of teeth, the outer wall of the third delivery head is provided with a plurality of groups of teeth, and the second gear and the third delivery head are meshingly connected.

[0017] Preferably, the automobile glass manufacturing and cleaning machine further includes an environment perception system; the environment perception system adopts multi-sensor fusion technology, and realizes accurate detection of the position, shape and stain distribution of the glass through the coordinated work of laser radar, infrared sensor and ultrasonic sensor, and includes the following steps:

[0018] Step 1: Get the 3D point cloud data of the glass and fit the plane

[0019] 1.1 LiDAR sensor obtains point cloud data

[0020] The LiDAR sensor scans the glass surface and generates a 3D point cloud dataset Where N is the number of sampling points;

[0021] 1.2 Fitting the glass surface plane using the least squares method

[0022] According to the collected point cloud data, the plane equation of the glass surface is fitted using the least squares method:

[0023] ax+by+cz+d=0;

[0024] Among them, a, b, c: the components of the plane normal vector, describing the orientation of the glass surface; d: the constant term of the plane equation, indicating the position of the plane in the coordinate system; x, y, z: the three-dimensional coordinates of each point in the point cloud data;

[0025] 1.3 Minimizing the Error Function

[0026] By minimizing the error function E(a, b, c, d), the best fitting plane parameters are determined;

[0027]

[0028] Where, E(a,b,c,d): error function, which represents the sum of square errors between the point cloud data and the fitted plane; x i ,y i ,z i : The three-dimensional coordinates of the i-th point in the point cloud data;

[0029] Step 2: Detect the dirty area on the glass surface

[0030] 2.1 Infrared sensor collects temperature data

[0031] The infrared sensor generates thermal image data, which is represented as a two-dimensional matrix T(x,y), where T(x,y) is the temperature value at the position (x,y);

[0032] 2.2 Calculation of temperature gradient

[0033] Calculating temperature gradients To identify temperature changes:

[0034]

[0035] in, The temperature gradient component represents the rate of change of temperature in the x and y directions;

[0036] 2.3 Identify the stained area

[0037] Based on the temperature gradient and the preset temperature threshold T threshold , identify areas where stains may be present

[0038] S={(x,y)|T(x,y)>T threshold};

[0039] Where S is the set of contaminated areas, including all areas where the temperature exceeds the threshold T threshold Point (x, y); T threshold : Temperature threshold, used to determine which areas may have stains;

[0040] Step 3: Measure the glass thickness

[0041] 3.1 Ultrasonic sensor measuring echo time

[0042] The ultrasonic sensor transmits ultrasonic waves and measures the time t from transmission to receiving the echo;

[0043] 3.2 Calculation of glass thickness

[0044] According to the measured echo time t and the propagation speed v of ultrasound in the air, the thickness d of the glass is calculated:

[0045]

[0046] Among them, d: the thickness of the glass; v: the propagation speed of ultrasound in the air; t: the time from the emission of ultrasound to the receipt of the echo;

[0047] Step 4: Multi-sensor data fusion

[0048] 4.1 Initializing the state vector

[0049] Define the state vector X of the system, including the position of the glass and the surface normal vector;

[0050]

[0051] Where X is the state vector, which contains the position of the glass (x c ,y c ,z c ) and the surface normal vector (a, b, c); x c ,y c ,z c : The position coordinates of the glass in three-dimensional space; a, b, c: The normal vector components of the glass surface;

[0052] 4.2 Prediction Steps

[0053] According to the system state transfer matrix F and control input u k , predict the state at the next moment:

[0054]

[0055] in, Predicted state vector; F: state transition matrix, describing the change of system state over time; X k-1 : The state vector at the previous moment; B: The control input matrix, describing the influence of the control input on the state; u k : Control input vector, representing the external control signal;

[0056] 4.3 Update steps

[0057] By Kalman gain K k The sensor's measured value Z k Combined with the predicted value, update the state vector:

[0058]

[0059] Among them, X k: updated state vector; K k : Kalman gain, which determines the weight of measured data and predicted data; Z k : measurement vector, containing the observation data from the sensor; H: measurement matrix, mapping the state vector to the measurement space; R: measurement noise covariance matrix, describing the statistical characteristics of the measurement noise;

[0060] Step 5: Automatically adjust the spray angle of the cleaning nozzle

[0061] 5.1 Calculation of spray angle based on surface inclination

[0062] Based on the normal vector components a, b, c in the state vector, calculate the spray angle α of the cleaning nozzle:

[0063] or

[0064] Where, α: the spray angle of the cleaning nozzle; The tilt of the glass surface in the x and y directions;

[0065] 5.2 Perform cleaning operations

[0066] After adjusting the nozzle angle, the system determines the cleaning path according to the stain detection result S and performs the cleaning operation to achieve multi-angle and efficient spray cleaning.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] 1. High-precision glass surface detection and adaptive capabilities

[0069] The present invention uses a laser radar sensor to obtain the three-dimensional shape data of the glass and accurately fits the plane equation of the glass surface through the least squares method. This high-precision detection method enables the system to adapt to glass of different shapes and sizes, realize automatic cleaning operations without human intervention, and greatly improves the adaptability and operational convenience of the equipment.

[0070] 2. Intelligent stain recognition and targeted cleaning

[0071] By using infrared sensors to detect the temperature distribution on the glass surface, the system can identify the stain area on the glass surface in real time. Combined with intelligent algorithms, the system automatically adjusts the angle and position of the nozzle to focus on cleaning the stain area. This intelligent stain recognition and cleaning path optimization ensures accurate spraying of the cleaning liquid, effectively improves the cleaning effect, and reduces unnecessary consumption of cleaning liquid.

[0072] 3. Optimized cleaning fluid mixing and energy-saving design

[0073] The present invention is designed with a unique energy recovery and stirring mechanism, which fully mixes the cleaning liquid and the detergent through mechanical linkage to ensure that the sprayed cleaning liquid has a uniform concentration. The energy recovery mechanism not only recovers the unused cleaning liquid, but also converts its flow energy into stirring energy, reducing the consumption of additional energy. This design achieves the recycling of the cleaning liquid and the goal of energy conservation and environmental protection, reduces operating costs, and improves resource utilization efficiency.

[0074] 4. Intelligent control to automatically adjust the spray angle

[0075] The present invention realizes multi-dimensional rotation and automatic adjustment of the cleaning nozzle through a multi-stage conveying head and motor system. Combined with the data of laser radar and infrared sensor, the system can dynamically adjust the spray angle according to the actual shape and stain distribution of the glass surface to ensure that the cleaning liquid can cover every corner of the glass surface. This intelligent angle adjustment improves the comprehensiveness and efficiency of cleaning, and is particularly suitable for cleaning needs of glass with complex shapes.

[0076] 5. Intelligent control and efficient data fusion

[0077] The present invention uses the Kalman filter algorithm to fuse data from multiple sensors to generate an accurate environmental perception model. The system can respond to changes in the glass surface state in real time, and independently judge and adjust the cleaning parameters. This intelligent control not only improves the response speed and stability of the system, but also greatly reduces manual intervention and significantly improves the degree of automation.

[0078] 6. Improve production efficiency and reduce operating costs

[0079] The invention reduces cleaning time and resource consumption through highly automated design, significantly improving the overall efficiency of the production line. The energy-saving and environmentally friendly design further reduces operating costs, while optimizing resource utilization, making the equipment show excellent economy and environmental protection in practical applications.

[0080] In general, the present invention realizes an efficient, accurate and environmentally friendly cleaning process in the field of automobile glass cleaning through innovative multi-sensor fusion technology, intelligent automatic control and energy-saving and environmentally friendly design. Its main beneficial effects are reflected in improving cleaning accuracy, saving resources, reducing costs and significantly improving the degree of automation, which fully demonstrates the advantages and broad prospects of the present invention in technological innovation and practical application. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0082] Figure 2 It is a schematic diagram of the overall rear view structure of the present invention;

[0083] Figure 3It is a schematic diagram of the structure of the energy recovery mechanism of the present invention;

[0084] Figure 4 It is a schematic diagram of the height adjustment mechanism structure of the present invention;

[0085] Figure 5 It is a partial cross-sectional structural schematic diagram of the height adjustment mechanism of the present invention;

[0086] Figure 6 It is a schematic diagram of the structure of the injection angle adjustment mechanism of the present invention;

[0087] Figure 7 It is a schematic diagram of the structure of the injection angle adjustment mechanism of the present invention in a rotation state;

[0088] Figure 8 It is a schematic diagram of the structure of the multi-angle grabbing arm of the present invention.

[0089] In the figure: 1. gantry; 2. conveyor roller; 3. multi-angle grab arm; 4. height adjustment mechanism; 401. first mounting base; 402. first connecting rod; 403. second mounting base; 404. connecting seat; 405. second connecting rod; 406. mounting top seat; 407. threaded rod; 408. first motor; 5. cleaning top plate; 6. infrared sensor; 7. water tank; 8. energy recovery mechanism; 801. first connecting pipe; 802. water pump; 803. second connecting pipe; 804. energy recovery box; 805. energy recovery paddle ; 806, second connecting pipe; 807, first bevel gear; 808, second bevel gear; 809, first connecting rod; 810, third bevel gear; 811, fourth bevel gear; 812, second connecting rod; 813, stirring rod; 9, spray angle adjustment mechanism; 901, first delivery head; 902, second motor; 903, first gear; 904, second delivery head; 905, third motor; 906, second gear; 907, third delivery head; 908, fourth motor; 909, third motor; 910, cleaning nozzle. DETAILED DESCRIPTION

[0090] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0091] like Figures 1 to 8As shown, the present invention provides an automobile glass manufacturing cleaning machine with intelligent automatic adjustment of the spraying angle, wherein a conveying roller 2 is arranged at the top of a gantry 1, a multi-angle grabbing arm 3 is arranged at the outer wall of the gantry 1, a height adjustment mechanism 4 is installed at the top of the gantry 1, a cleaning top plate 5 is arranged at the top of the height adjustment mechanism 4, an infrared sensor 6 is fixed to the side wall of the cleaning top plate 5, a water tank 7 is fixed to the bottom end inside the gantry 1, an energy recovery mechanism 8 is fixed to the outer wall of the gantry 1, and a spraying angle adjustment mechanism 9 is installed at the top inside the cleaning top plate 5.

[0092] By adopting the above solution, the glass after cleaning can be clamped and transported by using the multi-angle grabbing arm 3 .

[0093] like Figures 1 to 8 As shown, the height adjustment mechanism 4 includes a first mounting base 401, a first connecting rod 402 and a second mounting base 403. The first mounting base 401 is fixed to the top of the gantry 1, the first connecting rod 402 is hinged on the inner wall of the first mounting base 401, the second mounting base 403 is fixed to the top of the gantry 1, and a connecting seat 404 is arranged on the top of the second mounting base 403. The first mounting base 401 is provided with four groups symmetrically distributed about the central axis of the gantry 1, a sliding block is arranged on the top of the second mounting base 403, and a sliding groove is opened at the bottom of the connecting seat 404, and the second mounting base 403 and the connecting seat 404 are slidably connected.

[0094] like Figures 1 to 8 As shown, the outer wall of the connecting seat 404 is hinged with a second connecting rod 405, and the second connecting rod 405 is provided with two groups. The second connecting rod 405 is symmetrically distributed about the central axis of the connecting seat 404, and a mounting top seat 406 is fixed to the bottom end of the cleaning top plate 5. The inner wall of the second mounting base 403 is rotatably connected with a threaded rod 407. A threaded hole is provided at the top of the connecting seat 404. The threaded rod 407 and the connecting seat 404 are threadedly connected. The threaded rod 407 is rotatably connected to the inner wall of the second mounting base 403. The inner wall of the second connecting rod 405 is rotatably connected with the first connecting rod 402, and the inner wall of the threaded rod 407 is fixed with a first motor 408.

[0095] The above scheme is adopted: by starting the first motor 408 to drive the threaded rod 407 to rotate, so that the threaded rod 407 drives the position of the connecting seat 404 to slide on the second mounting base 403 when rotating, and then drives the position of the second connecting rod 405 to move, so that the second connecting rod 405 and the first connecting rod 402 and the top mounting top seat 406 can be lifted and lowered, and by providing two sets of this mechanism, the heights of both sides of the cleaning top plate 5 can be adjusted separately.

[0096] like Figures 1 to 8As shown, the energy recovery mechanism 8 includes a first connecting pipe 801, a water pump 802, a second connecting pipe 803 and an energy recovery box 804, the energy recovery box 804 is fixed to the outer wall of the gantry 1, the inner wall of the energy recovery box 804 is rotatably connected with an energy recovery paddle 805, the bottom end of the energy recovery box 804 is connected with the second connecting pipe 803, the input end of the second connecting pipe 803 is connected with the water pump 802, the input end of the water pump 802 is connected with the first connecting pipe 801, the input end of the first connecting pipe 801 is connected with the water tank 7, the top of the energy recovery box 804 is connected with the second connecting pipe 806, the side wall of the energy recovery paddle 805 is fixed with a first bevel gear 807, the output end of the first connecting pipe 801 is connected with the water pump 802, the output end of the second connecting pipe 806 is connected with the cleaning top plate 5, the first bevel gear 807 is provided with two groups fixed on the side wall of the energy recovery paddle 805, and the first bevel gear 807 is symmetrically distributed about the central axis of the energy recovery paddle 805.

[0097] like Figures 1 to 8 As shown, the outer wall of the first bevel gear 807 is meshedly connected with the second bevel gear 808, the side wall of the second bevel gear 808 is fixed with a first connecting rod 809, one end of the first connecting rod 809 is fixed with a third bevel gear 810, the bottom end of the third bevel gear 810 is meshedly connected with a fourth bevel gear 811, the bottom end of the fourth bevel gear 811 is fixed with a second connecting rod 812, the bottom end of the second connecting rod 812 is fixed with a stirring rod 813, and the outer wall of the stirring rod 813 is provided with several groups of stirring paddles, and the stirring paddles are evenly spaced about the central axis of the second connecting rod 812.

[0098] The above scheme is adopted: after starting the water pump 802, the water source inside the water tank 7 is transported through the first connecting pipe 801, and then transported to the inside of the cleaning top plate 5 through the second connecting pipe 803, the energy recovery box 804, and the second connecting pipe 806 for spraying and cleaning. After passing through the energy recovery box 804, the water source can drive the energy recovery paddle 805 to rotate and then drive the first bevel gear 807 to rotate, so that when the first bevel gear 807 rotates, it drives the second bevel gear 808 to rotate, so that the second bevel gear 808 rotates and drives the first connecting rod 809 and the third bevel gear 810 to rotate, and then the rotation of the third bevel gear 810 drives the fourth bevel gear 811 to rotate, thereby driving the second connecting rod 812 to rotate, so that the second connecting rod 812 drives the stirring rod 813 to rotate when rotating, so that the stirring rod 813 stirs the detergent and water inside the water tank 7 when rotating, thereby improving the cleaning efficiency.

[0099] like Figures 1 to 8As shown, the injection angle adjustment mechanism 9 includes a first delivery head 901, a second motor 902 and a first gear 903, the first delivery head 901 is communicated with the top end inside the cleaning top plate 5, the outer wall of the first delivery head 901 is fixed with the second motor 902, the bottom end of the second motor 902 is installed with the first gear 903, the bottom end of the first delivery head 901 is rotatably connected with the second delivery head 904, the outer wall of the second delivery head 904 is fixed with the third motor 905, the bottom end of the third motor 905 is installed with the second gear 906, the bottom end of the second delivery head 904 is rotatably connected with the third delivery head 907, the outer wall of the first gear 903 is provided with several groups of teeth, the outer wall of the second delivery head 904 is provided with several groups of teeth, the first gear 903 and the second delivery head 904 are meshingly connected, the outer wall of the second gear 906 is provided with several groups of teeth, the outer wall of the third delivery head 907 is provided with several groups of teeth, and the second gear 906 and the third delivery head 907 are meshingly connected.

[0100] like Figures 1 to 8 As shown, a fourth motor 908 is fixed to the outer wall of the third delivery head 907, a third motor 909 is installed at the bottom end of the fourth motor 908, a cleaning nozzle 910 is rotatably connected to the bottom end of the third delivery head 907, a plurality of groups of teeth are arranged on the outer wall of the second gear 906, a plurality of groups of teeth are arranged on the outer wall of the third delivery head 907, and the second gear 906 and the third delivery head 907 are meshingly connected.

[0101] By adopting the above scheme: after the mixed cleaning agent enters the interior of the cleaning top plate 5 and then enters the first delivery head 901, the second delivery head 904 can be driven to rotate about the central axis of the first delivery head 901 by the second motor 902 and the first gear 903, and the third delivery head 907 can be driven to rotate about the central axis of the second delivery head 904 by the third motor 905 and the second gear 906, and the cleaning nozzle 910 can be driven to rotate about the central axis of the third delivery head 907 by the fourth motor 908 and the third motor 909, so that the mixed cleaning agent can be sprayed and cleaned at various angles.

[0102] The working principle and use process of the present invention are as follows: by starting the first motor 408 to drive the threaded rod 407 to rotate, the threaded rod 407 drives the position of the connecting seat 404 to slide on the second mounting base 403 when rotating, and then drives the position of the second connecting rod 405 to move, so that the second connecting rod 405 and the first connecting rod 402 and the top mounting top seat 406 can be lifted and lowered, and by providing two groups of the mechanism, the heights of the two sides of the cleaning top plate 5 can be adjusted separately, and after starting the water pump 802, the water source inside the water tank 7 is transported through the first connecting pipe 801, and then transported to the inside of the cleaning top plate 5 through the second connecting pipe 803, the energy recovery box 804, and the second connecting pipe 806 for spraying and cleaning. After passing through the energy recovery box 804, the water source can drive the energy recovery paddle 805 to rotate and then drive the first bevel gear 807 to rotate, so that when the first bevel gear 807 rotates, it drives the second bevel gear 808 to rotate, so that the second bevel gear 808 rotates and drives the first connecting rod 809 and the third bevel gear 81 0 is rotated, and then the rotation of the third bevel gear 810 drives the fourth bevel gear 811 to rotate, thereby driving the second connecting rod 812 to rotate, so that the second connecting rod 812 drives the stirring rod 813 to rotate when rotating, so that the stirring rod 813 stirs the detergent and water inside the water tank 7 when rotating, thereby improving the cleaning efficiency. After the mixed cleaning agent enters the cleaning top plate 5 and then enters the first conveying head 901, the second conveying head 904 can be driven to rotate about the central axis of the first conveying head 901 through the second motor 902 and the first gear 903, and the third conveying head 907 can be driven to rotate about the central axis of the second conveying head 904 through the third motor 905 and the second gear 906, and the cleaning nozzle 910 can be driven to rotate about the central axis of the third conveying head 907 through the fourth motor 908 and the third motor 909, so that the mixed cleaning agent can be sprayed and cleaned at multiple angles, and the glass after cleaning can be clamped and transported by using the multi-angle grabbing arm 3.

[0103] In addition, the automobile glass manufacturing and cleaning machine also includes an environment perception system; the environment perception system adopts multi-sensor fusion technology, and realizes accurate detection of the position, shape and stain distribution of the glass through the coordinated work of laser radar, infrared sensor and ultrasonic sensor, including the following steps:

[0104] Step 1: Get the 3D point cloud data of the glass and fit the plane

[0105] 1.1 LiDAR sensor obtains point cloud data

[0106] The LiDAR sensor scans the glass surface and generates a 3D point cloud dataset Where N is the number of sampling points;

[0107] 1.2 Fitting the glass surface plane using the least squares method

[0108] According to the collected point cloud data, the plane equation of the glass surface is fitted using the least squares method:

[0109] ax+by+cz+d=0;

[0110] Among them, a, b, c: the components of the plane normal vector, describing the orientation of the glass surface; d: the constant term of the plane equation, indicating the position of the plane in the coordinate system; x, y, z: the three-dimensional coordinates of each point in the point cloud data;

[0111] 1.3 Minimizing the Error Function

[0112] By minimizing the error function E(a, b, c, d), the best fitting plane parameters are determined;

[0113]

[0114] Where, E(a,b,c,d): error function, which represents the sum of square errors between the point cloud data and the fitted plane; x i ,y i ,z i : The three-dimensional coordinates of the i-th point in the point cloud data;

[0115] Step 2: Detect the dirty area on the glass surface

[0116] 2.1 Infrared sensor collects temperature data

[0117] The infrared sensor generates thermal image data, which is represented as a two-dimensional matrix T(x,y), where T(x,y) is the temperature value at the position (x,y);

[0118] 2.2 Calculation of temperature gradient

[0119] Calculating temperature gradients To identify temperature changes:

[0120]

[0121] in, The temperature gradient component represents the rate of change of temperature in the x and y directions;

[0122] 2.3 Identify the stained area

[0123] Based on the temperature gradient and the preset temperature threshold T threshold , identify areas where stains may be present

[0124] S={(x,y)|T(x,y)>T threshold};

[0125] Where S is the set of contaminated areas, including all areas where the temperature exceeds the threshold T threshold Point (x, y); T threshold : Temperature threshold, used to determine which areas may have stains;

[0126] Step 3: Measure the glass thickness

[0127] 3.1 Ultrasonic sensor measuring echo time

[0128] The ultrasonic sensor transmits ultrasonic waves and measures the time t from transmission to receiving the echo;

[0129] 3.2 Calculation of glass thickness

[0130] According to the measured echo time t and the propagation speed v of ultrasound in the air, the thickness d of the glass is calculated:

[0131]

[0132] Among them, d: the thickness of the glass; v: the propagation speed of ultrasound in the air; t: the time from the emission of ultrasound to the receipt of the echo;

[0133] Step 4: Multi-sensor data fusion

[0134] 4.1 Initializing the state vector

[0135] Define the state vector X of the system, including the position of the glass and the surface normal vector;

[0136]

[0137] Where X is the state vector, which contains the position of the glass (x c ,y c ,z c ) and the surface normal vector (a, b, c); x c ,y c ,z c : The position coordinates of the glass in three-dimensional space; a, b, c: The normal vector components of the glass surface;

[0138] 4.2 Prediction Steps

[0139] According to the system state transfer matrix F and control input u k , predict the state at the next moment:

[0140]

[0141] in, Predicted state vector; F: state transition matrix, describing the change of system state over time; X k-1: The state vector at the previous moment; B: The control input matrix, describing the influence of the control input on the state; u k : Control input vector, representing the external control signal;

[0142] 4.3 Update steps

[0143] By Kalman gain K k The sensor's measured value Z k Combined with the predicted value, update the state vector:

[0144]

[0145] Among them, X k : updated state vector; K k : Kalman gain, which determines the weight of measured data and predicted data; Z k : measurement vector, containing the observation data from the sensor; H: measurement matrix, mapping the state vector to the measurement space; R: measurement noise covariance matrix, describing the statistical characteristics of the measurement noise;

[0146] Step 5: Automatically adjust the spray angle of the cleaning nozzle

[0147] 5.1 Calculation of spray angle based on surface inclination

[0148] Based on the normal vector components a, b, c in the state vector, calculate the spray angle α of the cleaning nozzle:

[0149]

[0150] Where, α: the spray angle of the cleaning nozzle; The tilt of the glass surface in the x and y directions;

[0151] 5.2 Perform cleaning operations

[0152] After adjusting the nozzle angle, the system determines the cleaning path according to the stain detection result S and performs the cleaning operation to achieve multi-angle and efficient spray cleaning.

[0153] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0154] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automobile glass manufacturing and cleaning machine with intelligent automatic adjustment of spray angle, comprising a gantry (1), characterized in that: The top of the gantry (1) is provided with a conveying roller (2), the outer wall of the gantry (1) is provided with a multi-angle grabbing arm (3), the top of the gantry (1) is installed with a height adjustment mechanism (4), the top of the height adjustment mechanism (4) is provided with a cleaning top plate (5), the side wall of the cleaning top plate (5) is fixed with an infrared sensor (6), the bottom of the interior of the gantry (1) is fixed with a water tank (7), the outer wall of the gantry (1) is fixed with an energy recovery mechanism (8), and the top of the interior of the cleaning top plate (5) is installed with a spray angle adjustment mechanism (9); The height adjustment mechanism (4) comprises a first mounting base (401), a first connecting rod (402) and a second mounting base (403), wherein the first mounting base (401) is fixed to the top of the gantry (1), the first connecting rod (402) is hingedly connected to the inner wall of the first mounting base (401), the second mounting base (403) is fixed to the top of the gantry (1), a connecting seat (404) is arranged at the top of the second mounting base (403), the outer wall of the connecting seat (404) is hingedly connected to the second connecting rod (405), the bottom end of the cleaning top plate (5) is fixed with a mounting top seat (406), the inner wall of the second mounting base (403) is rotatably connected to a threaded rod (407), and the inner wall of the threaded rod (407) is fixed to a first motor (408).

2. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: The first mounting base (401) is provided with four groups symmetrically distributed about the central axis of the gantry (1); a sliding block is provided at the top end of the second mounting base (403); a sliding groove is provided at the bottom end of the connecting base (404); and the second mounting base (403) and the connecting base (404) are slidably connected.

3. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: A threaded hole is provided at the top of the connecting seat (404); the threaded rod (407) and the connecting seat (404) are threadedly connected; the threaded rod (407) is rotatably connected to the inner wall of the second mounting base (403); and the inner wall of the second connecting rod (405) is rotatably connected to the first connecting rod (402).

4. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: Two groups of the second connecting rods (405) are provided, and the second connecting rods (405) are symmetrically distributed about the central axis of the connecting seat (404).

5. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: The energy recovery mechanism (8) comprises a first connecting pipe (801), a water pump (802), a second connecting pipe (803) and an energy recovery box (804); the energy recovery box (804) is fixed to the outer wall of the gantry (1); the inner wall of the energy recovery box (804) is rotatably connected to an energy recovery paddle (805); the bottom end of the energy recovery box (804) is connected to the second connecting pipe (803); the input end of the second connecting pipe (803) is connected to the water pump (802); the input end of the water pump (802) is connected to the first connecting pipe (801); the input end of the first connecting pipe (801) is connected to the water tank (7); the energy recovery box (804) is connected to the outer wall of the gantry (1); the inner wall of the energy recovery box (804) is rotatably connected to an energy recovery paddle (805); the bottom end of the energy recovery box (804) is connected to the second connecting pipe (803); the input end of the second connecting pipe (803) is connected to the water pump (802); the input end of the water pump (802) is connected to the first connecting pipe (801); the input end of the first connecting pipe (801) is connected to the water tank (7); The top of the energy recovery paddle (805) is connected to a second connecting pipe (806), a first bevel gear (807) is fixed to the side wall of the energy recovery paddle (805), the outer wall of the first bevel gear (807) is meshingly connected to the second bevel gear (808), a first connecting rod (809) is fixed to the side wall of the second bevel gear (808), a third bevel gear (810) is fixed to one end of the first connecting rod (809), the bottom end of the third bevel gear (810) is meshingly connected to the fourth bevel gear (811), a second connecting rod (812) is fixed to the bottom end of the fourth bevel gear (811), and a stirring rod (813) is fixed to the bottom end of the second connecting rod (812).

6. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 5 is characterized by: The output end of the first connecting pipe (801) is connected to a water pump (802), the output end of the second connecting pipe (806) is connected to a cleaning top plate (5), and the first bevel gear (807) is provided with two groups fixed on the side wall of the energy recovery paddle (805), and the first bevel gear (807) is symmetrically distributed about the central axis of the energy recovery paddle (805).

7. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 5 is characterized by: The outer wall of the stirring rod (813) is provided with a plurality of groups of stirring paddles, and the stirring paddles are distributed at equal intervals about the central axis of the second connecting rod (812).

8. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: The spray angle adjustment mechanism (9) comprises a first delivery head (901), a second motor (902) and a first gear (903); the first delivery head (901) is connected to the top of the cleaning top plate (5); the second motor (902) is fixed to the outer wall of the first delivery head (901); the first gear (903) is installed at the bottom end of the second motor (902); the second delivery head (904) is rotatably connected to the bottom end of the first delivery head (901); the third motor (905) is fixed to the outer wall of the second delivery head (904); the second gear (906) is installed at the bottom end of the third motor (905); the third delivery head (907) is rotatably connected to the bottom end of the second delivery head (904); the fourth motor (908) is fixed to the outer wall of the third delivery head (907); the third motor (909) is installed at the bottom end of the fourth motor (908); the cleaning nozzle (910) is rotatably connected to the bottom end of the third delivery head (907).

9. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 8 is characterized in that: The outer wall of the first gear (903) is provided with a plurality of groups of teeth, the outer wall of the second delivery head (904) is provided with a plurality of groups of teeth, the first gear (903) and the second delivery head (904) are meshingly connected, the outer wall of the second gear (906) is provided with a plurality of groups of teeth, the outer wall of the third delivery head (907) is provided with a plurality of groups of teeth, the second gear (906) and the third delivery head (907) are meshingly connected; the outer wall of the second gear (906) is provided with a plurality of groups of teeth, the outer wall of the third delivery head (907) is provided with a plurality of groups of teeth, the second gear (906) and the third delivery head (907) are meshingly connected.

10. The automobile glass manufacturing cleaning machine with intelligent automatic adjustment of spray angle according to claim 1 is characterized in that: It also includes an environment perception system; the environment perception system adopts multi-sensor fusion technology, and realizes accurate detection of the position, shape and stain distribution of the glass through the coordinated work of laser radar, infrared sensor and ultrasonic sensor, and includes the following steps: Step 1: Get the 3D point cloud data of the glass and fit the plane 1.1 LiDAR sensor obtains point cloud data The LiDAR sensor scans the glass surface and generates a 3D point cloud dataset Where N is the number of sampling points; 1.2 Fitting the glass surface plane using the least squares method According to the collected point cloud data, the plane equation of the glass surface is fitted using the least squares method: ax+by+cz+d=0; in, a, b, c: components of the plane normal vector, describing the orientation of the glass surface; d: the constant term of the plane equation, indicating the position of the plane in the coordinate system; x, y, z: the three-dimensional coordinates of each point in the point cloud data; 1.3 Minimizing the Error Function By minimizing the error function E(a, b, c, d), the best fitting plane parameters are determined; Where, E(a,b,c,d): error function, which represents the sum of square errors between the point cloud data and the fitted plane; x i ,y i ,z i : The three-dimensional coordinates of the i-th point in the point cloud data; Step 2: Detect the dirty area on the glass surface 2.1 Infrared sensor collects temperature data The infrared sensor generates thermal image data, which is represented as a two-dimensional matrix T(x,y), where T(x,y) is the temperature value at the position (x,y); 2.2 Calculation of temperature gradient Calculating temperature gradients To identify temperature changes: in, The temperature gradient component represents the rate of change of temperature in the x and y directions; 2.3 Identify the stained area Based on the temperature gradient and the preset temperature threshold T threshold , identify areas where stains may be present S={(x,y)∣T(x,y)>T threshold }; Where S is the set of contaminated areas, including all areas where the temperature exceeds the threshold T threshold Point (x, y); T threshold : Temperature threshold, used to determine which areas may have stains; Step 3: Measure the glass thickness 3.1 Ultrasonic sensor measuring echo time The ultrasonic sensor transmits ultrasonic waves and measures the time t from transmission to receiving the echo; 3.2 Calculate glass thickness According to the measured echo time t and the propagation speed v of ultrasound in the air, the thickness d of the glass is calculated: in, d: thickness of glass; v: propagation speed of ultrasound in air; t: time from ultrasound emission to echo reception; Step 4: Multi-sensor data fusion 4.1 Initializing the state vector Define the state vector X of the system, including the position of the glass and the surface normal vector; Where X is the state vector, which contains the position of the glass (x c ,y c ,z c ) and the surface normal vector (a, b, c); x c ,y c ,z c : The position coordinates of the glass in three-dimensional space; a, b, c: The normal vector components of the glass surface; 4.2 Prediction Steps According to the system state transfer matrix F and control input u k , predict the state at the next moment: in, Predicted state vector; F: state transition matrix, describing the change of system state over time; X k-1 : The state vector at the previous moment; B: The control input matrix, describing the influence of the control input on the state; u k : Control input vector, representing the external control signal; 4.3 Update steps By Kalman gain K k The sensor's measured value Z k Combined with the predicted value, update the state vector: Among them, X k : updated state vector; K k : Kalman gain, which determines the weight of measured data and predicted data; Z k : measurement vector, containing the observation data from the sensor; H: measurement matrix, mapping the state vector to the measurement space; R: measurement noise covariance matrix, describing the statistical characteristics of the measurement noise; Step 5: Automatically adjust the spray angle of the cleaning nozzle 5.1 Calculation of spray angle based on surface inclination Based on the normal vector components a, b, c in the state vector, calculate the spray angle α of the cleaning nozzle: or Where, α: the spray angle of the cleaning nozzle; The tilt of the glass surface in the x and y directions; 5.2 Perform cleaning operations After adjusting the nozzle angle, the system determines the cleaning path according to the stain detection result S and performs the cleaning operation to achieve multi-angle and efficient spray cleaning.

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