Movable instrument panel self-cleaning mechanical device

Abstract

The invention discloses a movable instrument panel self-cleaning mechanical device which comprises a movable trolley, a driving assembly, a cleaning head, a primary positioning module and a secondary positioning module. The primary positioning module is used for providing primary positioning for the moving trolley through wireless positioning, and the secondary positioning module comprises a laser ranging probe and a control module installed in the moving trolley; the driving assembly comprises a cross-shaped movement module, a rotating table, a vertical movement module and a horizontal movement module. The cross-shaped movement module is installed in the moving trolley, the bottom end of the rotating table is rotatably installed on the cross-shaped movement module, the bottom end of the vertical movement module is installed above the rotating table, the laser ranging probe and the horizontal movement module are both installed on the vertical movement module, and the cleaning head is installed at one end of the horizontal movement module; the cross-shaped motion module is used for driving the rotating table and the overall structure above to move in an adjusting plane range; the cleaning head is used for completing instrument panel cleaning under driving of the driving assembly.

Description

Technical Field

[0001] The invention relates to the technical field of navigation and positioning, and in particular to a mobile instrument panel self-cleaning mechanical device. Background Art

[0002] On-site reading of instrument panels is an important function of robots in industrial inspections. Conventional outdoor instrument reading methods usually use visual reading. The accuracy of outdoor instrument readings may be affected by the reading angle, lighting, and even stains of the reading camera, and may even lead to inability to read. The traditional technical solution for automatic cleaning of outdoor instrument panels is to identify, locate, and extract contours of outdoor instrument panels. However, due to the contamination of the instrument panel itself, the contour extraction of the instrument panel will be biased, which will lead to a lack of targeting in the cleaning area. During the movement process, pre-positioning the cleaning instrument has become the technical key to the mobile instrument panel self-cleaning mechanical device. The positioning of the cleaning instrument can be achieved through the existing wireless positioning technology, and the relative position of the instrument panel and the cleaning head can be limited to within 30mm, while the diameter of the instrument panel is usually in the range of 100mm-150mm. Therefore, if the existing wireless positioning is not accurate enough, it is difficult to complete the automatic cleaning of the instrument panel. Summary of the invention

[0003] In order to solve the problems raised in the above background technology, the technical solution adopted by the present invention is:

[0004] A mobile instrument panel self-cleaning mechanical device comprises a mobile trolley, a driving assembly, a cleaning head, a primary positioning module and a secondary positioning module;

[0005] The primary positioning module is used to provide initial positioning for the mobile vehicle through wireless positioning, and the secondary positioning module includes a laser ranging probe and a control module installed in the mobile vehicle;

[0006] The driving assembly includes a cross motion module, a rotating table, a vertical motion module and a horizontal motion module;

[0007] The cross motion module is installed inside the mobile trolley, the bottom end of the rotating table is rotatably installed on the cross motion module, the bottom end of the vertical motion module is installed above the rotating table, the laser ranging probe and the horizontal motion module are both installed on the vertical motion module, and the cleaning head is installed at one end of the horizontal motion module;

[0008] The cross motion module is used to drive the rotating table and the upper overall structure to move forward and backward and left and right within the adjustment plane, the vertical motion module is used to drive the laser ranging probe and the horizontal motion module to move up and down, and the horizontal motion module is used to drive the cleaning head to move horizontally along a straight line;

[0009] The cleaning head is used to clean the instrument panel under the drive of the driving assembly.

[0010] In some embodiments, the mobile dashboard self-cleaning mechanical device is positioned by the following steps:

[0011] S1. For the instrument panel to be processed, first complete the positioning teaching manually:

[0012] Determine the teaching reference plane corresponding to the instrument panel, move the mobile car to the front side of the reference plane, continuously adjust the position and azimuth of the mobile car, and adjust the height and angle of the laser ranging probe through the driving component. In the horizontal plane, take the reference plane direction as the x-axis and the direction perpendicular to the reference plane as the y-axis, so that the two-axis directions of the cross motion module correspond to the x-axis and the y-axis respectively, and determine the initial position, azimuth α, cross motion module coordinates (x, y), and laser ranging probe height H0 at which the mobile car can complete cleaning;

[0013] Furthermore, under this position, coordinates and azimuth, the laser ranging probe is rotated left and right by the rotating table, and the absolute value of the difference between the distances L1 and L2 of the left and right edges of the reference surface is measured to be less than a preset threshold value, and L1 and L2 and the working angles β1 and β2 of the rotating table are recorded at this time, and then the working angle of the rotating table is changed to β0=(β1+β2) / 2, and the distance measurement value L0 at this time is recorded;

[0014] S2. When cleaning is required, the primary positioning module is used for initial positioning, so that the mobile car automatically moves to the recorded position and azimuth, and the height of the laser ranging probe is H0, the coordinates of the cross motion module are (x, y), and the working angle of the rotating table is β0;

[0015] S3, automatically perform secondary precise positioning through the secondary positioning module, specifically including the following steps:

[0016] S3a, determining whether the following conditions are met at this time: rotating the rotating table left and right, obtaining the corresponding ranging values ​​L1' and L2' and the corresponding working angles β1' and β2' when the ranging readings suddenly change at the left and right ends, and the values ​​of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all less than their respective preset thresholds;

[0017] If the above conditions are not met, the cross motion module automatically adjusts its coordinate value in the adjustment plane, and makes another judgment after adjustment until the above conditions are met;

[0018] S3b, secondary precise positioning is completed.

[0019] In some embodiments, in step S3a, if the conditions cannot be met after automatic adjustment, an alarm message is issued to prompt manual processing.

[0020] In some embodiments, after step S3a and before step S3b, step S3a' is further included: determining whether the values ​​of |β1'-β1| and |β2'-β2| are both less than their respective preset thresholds, and if not, issuing a prompt message.

[0021] In some embodiments, in step S1, after the initial position, coordinates and azimuth are determined, when the working angle of the rotating table is β0, the vertical motion module is used to control the laser ranging probe to move up and down, and the corresponding heights H1 and H2 when the laser reaches the upper and lower ends of the reference surface are recorded respectively;

[0022] In step S3a', the working angle of the rotating table is also adjusted to β0'=(β1'+β2') / 2. At this angle, the laser ranging probe is controlled to move up and down through the vertical motion module to obtain the corresponding ranging values ​​H1' and H2' when the ranging reading changes suddenly at the upper and lower ends, and determine whether the values ​​of |H1'-H1| and |H2'-H2| are both less than their respective preset thresholds. If not, a prompt message is issued.

[0023] In some embodiments, in step S1, the threshold value of |L1-L2| is 1 mm;

[0024] In step S3a, the thresholds of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all 1 mm;

[0025] In step S3a', the thresholds of |β1'-β1| and |β2'-β2| are both 0.1°, and the thresholds of |H1'-H1| and |H2'-H2| are both 1 mm.

[0026] In some embodiments, it further comprises a cleaning box mounted on the mobile vehicle, wherein clean water and cleaning liquid are stored in the cleaning box, and a corresponding clean water pump and cleaning liquid pump are respectively configured;

[0027] The cleaning box is connected to the liquid outlet at the outer end of the cleaning head through a pipeline, so as to provide clean water and cleaning liquid to the cleaning head to complete the cleaning of the instrument panel.

[0028] In some embodiments, a hot air source is also installed inside the cleaning head, and the hot air source includes a thermal resistor wire and a micro blower. The outer end of the cleaning head is also provided with an air outlet connected to the hot air source.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The mobile instrument panel self-cleaning mechanical device provided by the present invention adopts structures such as a drive component and a laser ranging probe, and can achieve accurate secondary positioning during operation, and the accuracy requirement can fully meet the precise cleaning of the instrument; at the same time, through the design of a high-pressure cleaning head with sufficient distance and precise distance, outdoor instrument stains can be effectively cleaned, and through the hot air duct design, outdoor instruments can be broken into ice and cleared of snow; this makes it convenient for mobile operating equipment to read and clean outdoor instruments, and further ensures the safe and reliable operation of the equipment in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the principle of the mobile instrument panel self-cleaning mechanical device provided by the present invention.

[0032] Description of reference numerals:

[0033] 1. Mobile trolley; 2. Cleaning head; 3. Laser ranging probe; 4. Rotating table; 5. Vertical motion module; 6. Horizontal motion module; 7. Cleaning box; 8. Pipeline; 9. Adjustment plane. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following further describes how the present invention is implemented in conjunction with the accompanying drawings and specific implementation methods.

[0035] Reference Figure 1 As shown, the present invention provides a mobile instrument panel self-cleaning mechanical device, including a mobile trolley 1, a driving assembly, a cleaning head 2, a primary positioning module and a secondary positioning module; the primary positioning module is used to provide initial positioning for the mobile trolley 1 through wireless positioning, and the secondary positioning module includes a laser ranging probe 3 and a control module installed in the mobile trolley 1; the driving assembly includes a cross motion module, a rotating table 4, a vertical motion module 5 and a horizontal motion module 6; the cross motion module is installed inside the mobile trolley 1, the bottom end of the rotating table 4 is rotatably installed on the cross motion module, the bottom end of the vertical motion module 5 is installed above the rotating table 4, the laser ranging probe 3 and the horizontal motion module 6 are both installed on the vertical motion module 5, and the cleaning head 2 is installed at one end of the horizontal motion module 6; the cross motion module is used to drive the rotating table 4 and the upper overall structure to move forward and backward and left and right within the range of the adjustment plane 9, the vertical motion module 5 is used to drive the laser ranging probe 3 and the horizontal motion module 6 to move up and down, and the horizontal motion module 6 is used to drive the cleaning head 2 to move horizontally along a straight line; the cleaning head 2 is used to complete the instrument panel cleaning under the drive of the driving assembly.

[0036] The cross motion module can be composed of a conventional 200mm cross moving stepping screw to form forward and backward, left and right movement displacement, which is a conventional electromechanical structure; the vertical motion module 5 is similar to the horizontal motion module 6, which is also a conventional electromechanical structure; the primary positioning module can use an existing wireless positioning module, which can usually provide a rough positioning capability of 30mm error for the mobile car 1, and the azimuth error is within 1 degree; the control module can be an existing control chip to complete various intelligent controls. The above existing conventional structures are not repeated in the present invention.

[0037] Furthermore, the mobile instrument panel self-cleaning mechanical device also includes a cleaning box 7 installed on the mobile vehicle 1, in which clean water and cleaning liquid are stored, and a corresponding clean water pump and cleaning liquid pump are respectively configured; and the cleaning box 7 is connected to the liquid outlet at the outer end of the cleaning head 2 through a pipeline 8, so as to provide clean water and cleaning liquid to the cleaning head 2 to complete the instrument panel cleaning. The cleaning head 2 can be a conventional high-pressure cleaning head, which will not be described in detail in the present invention.

[0038] Furthermore, a hot air source is also installed inside the cleaning head 2, and the hot air source includes a thermal resistor wire and a micro blower. An air outlet connected to the hot air source is also provided at the outer end of the cleaning head 2. The cleaning head 2 can form a strong airflow for sweeping the panel surface. In special cases, ice melting and snow cleaning are also required when cleaning the instrument panel. At this time, the thermal resistor wire works to form hot air, which is ejected from the air outlet to thaw. The hot air source can be constructed by using the existing conventional thermal resistor wire, blower, and hot air pipe, which will not be described in detail in the present invention.

[0039] Furthermore, the mobile instrument panel self-cleaning mechanical device is positioned by the following steps:

[0040] S1. For the instrument panel to be processed, first complete the positioning teaching manually:

[0041] Determine the teaching reference plane corresponding to the instrument panel, move the mobile car 1 to the front side of the reference plane, continuously adjust the position and azimuth of the mobile car 1, and adjust the height and angle of the laser ranging probe 3 through the driving component. In the horizontal plane, take the reference plane direction as the x-axis and the direction perpendicular to the reference plane as the y-axis, so that the two-axis directions of the cross motion module correspond to the x-axis and the y-axis respectively, and determine the initial position, azimuth α, cross motion module coordinates (x, y), and laser ranging probe 3 height H0 at which the mobile car 1 can complete cleaning; and, under this position, coordinates and azimuth, rotate the laser ranging probe 3 left and right through the rotating table 4, and measure that the absolute value of the difference between the distances L1 and L2 of the left and right edges of the reference plane is less than the preset threshold, record L1 and L2 at this time and the working angles β1 and β2 of the rotating table 4, and then change the working angle of the rotating table 4 to β0=(β1+β2) / 2, and record the distance value L0 at this time. At this time, the laser emitted by the laser ranging probe 3 is just vertically irradiated on the center line of the reference plane.

[0042] It can be understood that during positioning teaching, when selecting the initial value corresponding to the cleaning position, the height H0 can be selected to be at the same horizontal height as the height of a certain cross-section of the instrument panel, or to be flush with the height of the middle of the instrument panel; the selected cleaning position should have a stable physical structure, and there is a high probability that there will be no physical structural changes within the life range of the instrument panel, and its main structural form will not be affected by external factors such as ice and snow accumulation; there should be a significant concave-convex deviation between the surrounding environment and the parallel surface of the instrument panel, which can be significantly obtained and measured by laser ranging, and the width of the concave-convex deviation will not be affected by external factors such as ice and snow accumulation, so that secondary precise positioning can be achieved through laser ranging in subsequent steps.

[0043] The most typical types of outdoor instruments are embedded instrument boxes and external instrument panels. If it is an external instrument panel, the instrument panel itself can be used for positioning teaching, that is, the reference surface is the instrument panel surface; if the instrument panel is embedded in the box, the box can be used for positioning teaching. At this time, the reference surface is the overall outer surface of the instrument panel and the box. The left and right edges of the reference surface refer to the edges where there is a significant concave-convex deviation from the surrounding environment. In the future, you only need to accurately locate it to a certain position in front of the box, and the instrument panel cleaning can be automatically completed according to the preset program.

[0044] S2. When cleaning operation is required, the primary positioning module is used for initial positioning, so that the mobile car 1 automatically moves to the recorded position and azimuth, and the height of the laser ranging probe 3 is H0, the coordinates of the cross motion module are (x, y), and the working angle of the rotating table 4 is β0.

[0045] It is understandable that after the primary positioning in step S2, the positioning accuracy is 40mm and 1°, that is, there is an error between the position to which the mobile car 1 automatically moves and the position and azimuth recorded in step S1, which makes it difficult to meet the positioning accuracy requirements for cleaning the dashboard. The height of the laser rangefinder probe 3, the coordinates of the cross motion module and the working angle of the rotating table 4 are only related to the working stroke of the components in the drive assembly (such as the stepping screw), which can be considered to be accurate, so the values ​​of H0, (x, y), β0, etc. determined in the teaching can be reproduced.

[0046] S3, automatically perform secondary precise positioning through the secondary positioning module, specifically including the following steps:

[0047] S3a, judging whether the following conditions are met at this time: rotating the rotating table 4 left and right, obtaining the corresponding ranging values ​​L1' and L2' and the corresponding working angles β1' and β2' when the ranging readings suddenly change at the left and right ends, and the values ​​of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all less than their respective preset thresholds; if the above conditions are not met, the cross motion module automatically adjusts its coordinate values ​​in the adjustment plane 9, and judges again after the adjustment until the above conditions are met;

[0048] It can be understood that in the positioning teaching, after determining the values ​​of L1, L2, β1, and β2, it is actually equivalent to uniquely determining the triangle in the horizontal plane with the laser ranging probe 3 and the left and right end points of the reference plane as vertices, and it is an isosceles triangle within the error range; in step S3a, if the above conditions are met, it is equivalent to reproducing the isosceles triangle in step S1, thereby ensuring the accuracy of the position of the laser ranging probe 3; when the cross motion module needs to be adjusted, the position to be adjusted can also be accurately calculated based on the measurement results, so that it can be automatically adjusted under the control of the control module; if the conditions cannot be met after automatic adjustment, the error may be too large or a fault may occur, and it is difficult to perform the cleaning operation normally. In this case, the operation is suspended and an alarm message is issued to prompt manual processing.

[0049] S3b, secondary precise positioning is completed.

[0050] In addition, after step S3a and before step S3b, step S3a' may be further included: determining whether the values ​​of |β1'-β1| and |β2'-β2| are both less than respective preset thresholds, and if not, issuing a prompt message.

[0051] It can be understood that, when the conditions described in step S3a are met, if the working angles β1' and β2' of the rotating table 4 still have errors with the β1 and β2 determined in step S1, the reason is the azimuth error of the mobile cart 1 itself, which usually does not affect the cleaning operation. In subsequent cleaning operations, β0'=(β1'+β2') / 2 can be used as the new center angle to carry out the operation; therefore, in this case, only a prompt message can be issued to remind the staff that there is an azimuth error in the positioning of the mobile cart 1, without stopping the cleaning operation.

[0052] In addition, in step S1, after determining the initial position, coordinates and azimuth, when the working angle of the rotating table 4 is β0, the vertical motion module 5 is used to control the laser ranging probe 3 to move up and down, and the corresponding heights H1 and H2 when the laser reaches the upper and lower ends of the reference surface are recorded respectively; in step S3a', the working angle of the rotating table 4 is also adjusted to β0'=(β1'+β2') / 2, and the vertical motion module 5 is used to control the laser ranging probe 3 to move up and down at this angle, and the corresponding ranging values ​​H1' and H2' when the ranging reading changes suddenly at the upper and lower ends are obtained, and it is judged whether the values ​​of |H1'-H1| and |H2'-H2| are both less than their respective preset thresholds, and if not, a prompt message is issued.

[0053] It is understandable that, when the conditions described in step S3a are met, if there is still an error between the heights H1' and H2' and H1 and H2 determined in step S1, the reason may be the influence of dirt, resulting in

[0054] The azimuth error of the mobile cart 1 itself usually does not affect the cleaning operation. During the subsequent cleaning operation, β0'=(β1'+β2') / 2 can be used as the new center angle to carry out the operation; therefore, in this case, only a prompt message can be issued to remind the staff that there is an azimuth error in the positioning of the mobile cart 1, without stopping the cleaning operation.

[0055] In a specific embodiment, in step S1, the threshold of |L1-L2| is 1mm; in step S3a, the thresholds of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all 1mm; in step S3a', the thresholds of |β1'-β1| and |β2'-β2| are all 0.1°, and the thresholds of |H1'-H1| and |H2'-H2| are all 1mm. By defining such thresholds, the positioning accuracy can be quickly and accurately controlled within 1mm and 0.1 degree deviation, and the accuracy requirements can fully meet the precise cleaning of the instrument; when adjustment is required in step S3a, fine-tuning can be performed within the range of ±5mm of the original position, with each stroke of 1mm to ensure accuracy.

[0056] It is understandable that after completing precise positioning, various cleaning operations of the dashboard can be completed according to the preset program. For example, several center points of the dashboard can be marked, and cleaning operations can be performed with these points as the center. With the help of cleaning boxes, hot air sources and other structures, the dashboard in special scenes can be deeply cleaned, ice breaking and snow removal can be performed.

[0057] In summary, the mobile instrument panel self-cleaning mechanical device provided by the present invention adopts structures such as a drive component and a laser ranging probe, which can achieve accurate secondary positioning during operation, and the accuracy requirements can fully meet the precise cleaning of the instrument; at the same time, through the design of a high-pressure cleaning head with sufficient distance and precise distance, outdoor instrument stains can be effectively cleaned, and through the hot air duct design, outdoor instruments can be broken into ice and cleared of snow; this facilitates the reading and cleaning of outdoor instruments by mobile operating equipment, and further ensures the safe and reliable operation of equipment in harsh environments.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A mobile instrument panel self-cleaning mechanical device, characterized in that: It comprises a mobile vehicle (1), a driving assembly, a cleaning head (2), a primary positioning module and a secondary positioning module; The primary positioning module is used to provide initial positioning for the mobile vehicle (1) through wireless positioning, and the secondary positioning module includes a laser ranging probe (3) and a control module installed in the mobile vehicle (1); The driving assembly comprises a cross motion module, a rotating platform (4), a vertical motion module (5) and a horizontal motion module (6); The cross motion module is installed inside the mobile vehicle (1), the bottom end of the rotating platform (4) is rotatably installed on the cross motion module, the bottom end of the vertical motion module (5) is installed above the rotating platform (4), the laser ranging probe (3) and the horizontal motion module (6) are both installed on the vertical motion module (5), and the cleaning head (2) is installed at one end of the horizontal motion module (6); The cross motion module is used to drive the rotating table (4) and the upper overall structure to move forward and backward and left and right within the range of the adjustment plane (9); the vertical motion module (5) is used to drive the laser ranging probe (3) and the horizontal motion module (6) to move up and down; and the horizontal motion module (6) is used to drive the cleaning head (2) to move horizontally along a straight line; The cleaning head (2) is used to clean the instrument panel under the drive of the driving component.

2. The mobile instrument panel self-cleaning mechanical device according to claim 1, characterized in that: The mobile dashboard self-cleaning mechanical device achieves positioning through the following steps: S1. For the instrument panel to be processed, first complete the positioning teaching manually: Determine the teaching reference plane corresponding to the instrument panel, move the mobile trolley (1) to the front side of the reference plane, continuously adjust the position and azimuth of the mobile trolley (1), and adjust the height and angle of the laser ranging probe (3) through the driving component. In the horizontal plane, take the direction of the reference plane as the x-axis and the direction perpendicular to the reference plane as the y-axis, so that the two axis directions of the cross motion module correspond to the x-axis and the y-axis respectively, and determine the initial position, azimuth α, cross motion module coordinates (x, y), and the height H0 of the laser ranging probe (3) at which the mobile trolley (1) can complete cleaning; Furthermore, under the position, coordinates and azimuth, the laser distance measuring probe (3) is rotated left and right by the rotating table (4), and the absolute value of the difference between the distances L1 and L2 of the left and right edges of the reference surface is measured to be less than a preset threshold value, and L1 and L2 at this time and the working angles β1 and β2 of the rotating table (4) are recorded, and then the working angle of the rotating table (4) is changed to β0=(β1+β2) / 2, and the distance measurement value L0 at this time is recorded; S2. When cleaning operation is required, the primary positioning module is used for initial positioning, so that the mobile vehicle (1) automatically moves to the recorded position and azimuth, and the height of the laser ranging probe (3) is H0, the coordinates of the cross motion module are (x, y), and the working angle of the rotating table (4) is β0; S3, automatically perform secondary precise positioning through the secondary positioning module, specifically including the following steps: S3a, judging whether the following conditions are met at this time: rotating the rotating table (4) left and right, obtaining the corresponding ranging values ​​L1' and L2' and the corresponding working angles β1' and β2' when the ranging readings suddenly change at the left and right ends, and the values ​​of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all less than their respective preset thresholds; If the above conditions are not met, the cross motion module automatically adjusts its coordinate value in the adjustment plane (9), and makes another judgment after adjustment until the above conditions are met; S3b, secondary precise positioning is completed.

3. The mobile instrument panel self-cleaning mechanical device according to claim 2, characterized in that: In step S3a, if the conditions cannot be met after automatic adjustment, an alarm message is issued to prompt manual processing.

4. The mobile instrument panel self-cleaning mechanical device according to claim 3, characterized in that: After step S3a and before step S3b, the method further includes step S3a': determining whether the values ​​of |β1'-β1| and |β2'-β2| are both smaller than respective preset thresholds, and if not, issuing a prompt message.

5. The mobile instrument panel self-cleaning mechanical device according to claim 4, characterized in that: In step S1, after the initial position, coordinates and azimuth are determined, when the working angle of the rotating table (4) is β0, the vertical motion module (5) is used to control the laser ranging probe (3) to move up and down, and the corresponding heights H1 and H2 when the laser reaches the upper and lower ends of the reference surface are recorded respectively; In step S3a', the working angle of the rotating table (4) is also adjusted to β0'=(β1'+β2') / 2. At this angle, the laser ranging probe (3) is controlled to move up and down by the vertical movement module (5), and the ranging values ​​H1' and H2' corresponding to the sudden change of the ranging reading at the upper and lower ends are obtained. It is determined whether the values ​​of |H1'-H1| and |H2'-H2| are both less than their respective preset thresholds. If not, a prompt message is issued.

6. The mobile instrument panel self-cleaning mechanical device according to claim 5, characterized in that: In step S1, the threshold of |L1-L2| is 1 mm; In step S3a, the thresholds of |L1'-L1|, |L2'-L2|, and |L1'-L2'| are all 1 mm; In step S3a', the thresholds of |β1'-β1| and |β2'-β2| are both 0.1°, and the thresholds of |H1'-H1| and |H2'-H2| are both 1 mm.

7. The mobile instrument panel self-cleaning mechanical device according to claim 1, characterized in that: It also includes a cleaning box (7) installed on the mobile vehicle (1), wherein clean water and cleaning liquid are stored in the cleaning box (7), and corresponding clean water pumps and cleaning liquid pumps are respectively configured; Furthermore, the cleaning box (7) is connected to the liquid outlet at the outer end of the cleaning head (2) through a pipeline (8), thereby providing clean water and cleaning liquid to the cleaning head (2) to complete the cleaning of the instrument panel.

8. The mobile instrument panel self-cleaning mechanical device according to claim 7, characterized in that: The cleaning head (2) is also provided with a hot air source inside, the hot air source comprising a thermal resistance wire and a micro blower, and the outer end of the cleaning head (2) is also provided with an air outlet connected to the hot air source.

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