Full-automatic intelligent car washing robot system based on mechanical arm

Abstract

The invention discloses a full-automatic intelligent car washing robot system based on a mechanical arm. The system comprises a multi-degree-of-freedom mechanical arm, a sensor unit, a control system and a cleaning module. The multi-degree-of-freedom mechanical arm enables the cleaning module to flexibly reach each part of the vehicle without cleaning dead angles, the sensor unit is used for detecting the boundary dimension, position and environment information of the vehicle, and the control system carries out vehicle identification, cleaning path planning and motion control based on sensor data. The cleaning module comprises a high-pressure water spraying module, a foam spraying module, a brush head module, an air drying module, a dust collection module, a water circulation module and the like; according to the system, automatic recognition, precise cleaning path planning and motion control of the vehicle can be achieved, the vehicle is efficiently cleaned in combination with multiple cleaning modes, and the system can adapt to different vehicle types and complex cleaning scenes.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment and intelligent control technology, and in particular to a fully automatic intelligent car washing robot system based on a mechanical arm. The system uses a multi-degree-of-freedom mechanical arm and a variety of sensor technologies to automatically identify the vehicle shape, intelligently plan the cleaning path and motion control, and can clean the vehicle efficiently, comprehensively and safely, and is suitable for vehicles of different types and sizes and various complex car washing scenarios. Background Art

[0002] With the continuous increase in the number of cars, traditional manual car washing and semi-automatic car washing methods have gradually exposed many shortcomings, such as high labor costs, low efficiency, high water consumption, unstable cleaning effect, etc. Although some automatic car washing equipment has appeared on the market, these equipment are mostly fixed structures, which cannot flexibly adapt to different car models, and are easy to damage the vulnerable parts such as antennas and rearview mirrors on the outside of the vehicle, and cleaning is easy to leave dead corners. Based on the above problems, there is an urgent need for a fully automatic car washing equipment that can automatically identify the shape of the vehicle, intelligently plan the cleaning path, and is efficient and safe. The present invention proposes a fully automatic intelligent car washing robot system based on a mechanical arm, which can solve the deficiencies in the prior art and realize intelligent and automatic cleaning of vehicles. Summary of the invention

[0003] The present invention provides a fully automatic intelligent car washing robot system based on a mechanical arm to solve the problems raised in the above background technology. The system can automatically identify different types of vehicles and intelligently plan the cleaning path according to the shape and size of the vehicle to achieve all-round cleaning and detailed processing of the vehicle. It mainly includes a multi-degree-of-freedom mechanical arm, a sensor unit, a control system and a cleaning module.

[0004] The multi-degree-of-freedom robotic arm can flexibly move and rotate in three-dimensional space to cover all parts of the vehicle. The end of the robotic arm is equipped with a cleaning module (high-pressure water spray, foam spray, brush head, air drying, dust suction and other functional modules), which can be automatically switched according to different cleaning needs.

[0005] The multi-degree-of-freedom robotic arm is one of the core components of the intelligent car washing robot. It is composed of joints with multiple degrees of freedom, including base rotation, shoulder joints, elbow joints, wrist joints, etc. The robotic arm can be a 6-axis or 7-axis industrial robotic arm or a flexible collaborative robotic arm. It can be equipped with torque sensors, electromagnetic brakes, collision detection and other functions. It can move flexibly in three-dimensional space and can accurately locate and adjust the posture of the cleaning module. The robotic arm has a high-level waterproof and dustproof design and can adapt to various complex outdoor environmental conditions. The end is wrapped with soft materials to avoid hard collisions with the vehicle.

[0006] The sensor unit is equipped with a variety of sensors such as laser radar, ultrasonic sensors and cameras to detect the shape, position, size and surrounding environment information of the vehicle. The number and installation position are not limited. The laser radar and camera can also be installed on the top of the robot arm, and the ultrasonic sensor can be installed at different positions of the robot arm.

[0007] The laser radar in the sensor unit is used to build an accurate three-dimensional model of the vehicle and the environment, and detect the shape and position of the vehicle. The ultrasonic sensor is used to detect obstacles around the vehicle and the working range of the robot arm, and assist the robot arm in accurate obstacle avoidance. The camera is used to capture the external features of the vehicle, such as the antenna, rearview mirror, etc., to assist in vehicle identification, detail processing, cleaning quality inspection, etc. Through the fusion processing of sensor unit data, the system can build a three-dimensional model of the vehicle in real time, providing data support for subsequent cleaning path planning and motion control.

[0008] The control system is the "brain" of the entire car wash robot system, which is mainly composed of data processing module, path planning module, motion control module and cleaning control module, intelligent obstacle avoidance module, user interaction and remote monitoring module, etc.

[0009] The data processing module in the control system receives and processes the vehicle data collected by the sensor unit, builds a three-dimensional model of the vehicle and identifies the vehicle type and appearance features; the path planning module generates the best cleaning path and cleaning strategy based on the vehicle model and cleaning requirements. The motion control module controls the motion trajectory of the robotic arm based on the path planning results. The robotic arm adopts a flexible control algorithm to ensure that the force is appropriate when it contacts the vehicle to avoid damaging the vehicle. The cleaning control module is responsible for the switching and parameter adjustment of the cleaning tool at the end of the robotic arm. The sensor unit monitors the surrounding environment of the vehicle and obstacles within the range of motion of the robotic arm in real time. When an obstacle is detected, the intelligent obstacle avoidance module automatically adjusts the motion trajectory of the robotic arm or suspends the cleaning operation to ensure the safety of the cleaning process. Users can interact with the system through a touch screen, mobile device or network platform, select a cleaning mode, view the cleaning progress, set personalized cleaning parameters, etc. It supports remote monitoring and management. Users and maintenance personnel can grasp the status of the equipment at any time and perform fault diagnosis and maintenance.

[0010] The cleaning module includes high-pressure water spray and foam spray module, brush head module, air drying and dust suction module, water resource recycling module and other functional modules. The high-pressure water spray module is used to spray high-pressure water flow to remove mud and dirt on the surface of the vehicle body. The foam spray module is used to spray cleaning foam to soften dirt and facilitate subsequent cleaning. The high-pressure water spray and foam spray modules can share a spray gun. The brush head module is used to scrub the surface of the vehicle to remove stubborn stains, and soft materials are used to avoid damaging the paint. The air drying module is used to air dry the vehicle body after cleaning to avoid residual water stains. The dust suction module is used to absorb dust and fine mud and other garbage in the vehicle. The air drying and dust suction modules can share a spray gun. Each cleaning module can intelligently adjust parameters such as water spray angle, water pressure, foam volume, air drying wind speed, dust suction wind speed, and brush head speed according to different cleaning steps and specific conditions of vehicle parts. Some of the wastewater generated during the cleaning process can be reused after being treated by the water resource recycling module, reducing water resource consumption and emissions in line with environmental protection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a schematic diagram of the present invention.

[0013] Figure 2 It is the front view of the present invention.

[0014] Figure 3 This is an axonometric drawing of the present invention.

[0015] In the figure: 100. Multi-degree-of-freedom robotic arm; 200, sensor unit; 201, camera; 202, ultrasonic sensor; 203, laser radar; 300, control system; 301, path planning module; 302, motion control module; and 303, cleaning control module; 304, intelligent obstacle avoidance module; 305, user interaction and remote monitoring module; 400, cleaning module; 401, high-pressure water spray and foam spray module; 402, air drying and dust collection module; 403, brush head module, water resource recycling module (404); DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0017] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0018] Example 1

[0019] The present invention discloses a fully automatic intelligent car washing robot system based on a mechanical arm, and its implementation process is as follows: When a vehicle enters the car wash area, the sensor unit 200 performs vehicle entry detection, automatically detects the position, size and appearance information of the vehicle, and prompts the user with the vehicle parking position.

[0020] The intelligent car wash robot system captures the external features of the vehicle through the laser radar 203 and the camera 201, generates a three-dimensional model of the vehicle and its surrounding environment, and identifies the vehicle type and appearance features (such as antennas, rearview mirrors, etc.), and performs vehicle identification and model construction.

[0021] The control system 300 performs cleaning path planning and generates cleaning paths and cleaning parameters (such as water spray angle, water pressure, foam volume, air drying speed, dust suction speed, brush head speed, etc.) according to the vehicle model, the cleaning mode selected by the user, and the preset cleaning strategy. The multi-degree-of-freedom robotic arm moves according to the path planning results and performs cleaning steps such as high-pressure water spraying, foam spraying, brushing, rinsing, and air drying in sequence. The control system 300 monitors the cleaning status in real time and dynamically adjusts the cleaning parameters according to the actual situation.

[0022] After the cleaning is completed, the system automatically stops the operation, the cleaning module retracts to the standby state, and a prompt is issued to the user. The user can view the cleaning report and choose to clean again or end the operation as needed.

[0023] After receiving the system prompt, the user drives the vehicle safely out of the car wash area. The intelligent car wash robot system will perform self-inspection and maintenance on the equipment and prepare for the next vehicle to be washed.

[0024] The fully automatic intelligent car washing robot system based on a mechanical arm of the present invention realizes fully automatic and efficient vehicle washing by integrating a multi-degree-of-freedom mechanical arm, a variety of sensors and intelligent control technology, and has broad market application prospects. The system is comprehensive in function and can adapt to vehicles of different types and sizes, providing an innovative solution for the development of the intelligent car washing industry.

[0025] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. If these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A fully automatic intelligent car washing robot system based on a mechanical arm, characterized in that: It comprises a multi-degree-of-freedom mechanical arm (100), a sensor unit (200), a control system (300) and a cleaning module (400).

2. The fully automatic intelligent car washing robot system based on a mechanical arm according to claim 1 is characterized in that: The multi-degree-of-freedom robotic arm (100) is composed of joints with multiple degrees of freedom, including base rotation, shoulder joints, elbow joints, wrist joints, etc.; it can be a 6-axis or 7-axis industrial robotic arm or a flexible collaborative robotic arm, and can be equipped with torque sensors, electromagnetic brakes, collision detection and other functions, and can move flexibly in three-dimensional space, and can accurately locate and adjust the posture of the cleaning module; it has a high-level waterproof and dustproof design, can adapt to various complex outdoor environmental conditions, and the end is wrapped with soft materials to avoid hard collisions with vehicles.

3. The fully automatic intelligent car washing robot system based on a mechanical arm according to claim 1 is characterized in that: The sensor unit (200) comprises a plurality of sensors such as a laser radar (203), an ultrasonic sensor (202) and a camera (201); the number and installation position are not limited; the laser radar (203) is used to construct an accurate three-dimensional model of the vehicle and the environment, and detect the shape and position of the vehicle; the ultrasonic sensor (202) is used to detect obstacles around the vehicle and the working range of the robot arm, and assist the robot arm in accurate obstacle avoidance; the camera (201) is used to capture external features of the vehicle, such as antennas, rearview mirrors, etc., to assist in vehicle identification, detail processing, cleaning quality detection, etc.; through the fusion processing of the sensor unit (200) data, the system can construct a three-dimensional model of the vehicle in real time, and provide data support for subsequent cleaning path planning and motion control.

4. The fully automatic intelligent car washing robot system based on a mechanical arm according to claim 1 is characterized in that: The control system (300) comprises a data processing module (301), a path planning module (302), a motion control module (303), a cleaning control module (304), an intelligent obstacle avoidance module (305), a user interaction and remote monitoring module, etc. (306); The data processing module (301) receives and processes the vehicle data collected by the sensor unit (200), constructs a three-dimensional model of the vehicle and identifies the type and appearance characteristics of the vehicle; The path planning module (302) generates an optimal cleaning path and cleaning strategy according to the vehicle model and cleaning requirements; The motion control module (303) controls the motion trajectory of the robot arm according to the path planning result. The robot arm adopts a flexible control algorithm to ensure that the force when contacting the vehicle is appropriate to avoid damaging the vehicle; The cleaning control module (304) is responsible for switching and parameter adjustment of the cleaning tool at the end of the robot arm; The intelligent obstacle avoidance module (305) can automatically adjust the motion trajectory of the robot arm or suspend the cleaning operation; The user interaction and remote monitoring module (306) allows the user to interact with the system through a touch screen, mobile device or network platform to select a cleaning mode, view cleaning progress, set personalized cleaning parameters, etc. It supports remote monitoring and management, so that users and maintenance personnel can understand the status of the equipment at any time and perform fault diagnosis and maintenance.

5. The fully automatic intelligent car washing robot system based on a mechanical arm according to claim 1 is characterized in that: The cleaning module (400) comprises a high-pressure water spray and foam spray module (401), an air drying and dust suction module (402), a brush head module (403), a water resource recycling module (404) and other functional modules; The high-pressure water spray module is used to spray high-pressure water to remove mud and dirt on the surface of the vehicle body; the foam spray module is used to spray cleaning foam to soften dirt and facilitate subsequent cleaning. The high-pressure water spray and foam spray modules can share a spray gun; The brush head module (403) is used to scrub the surface of the vehicle to remove stubborn stains, and uses soft materials to avoid damaging the vehicle paint; The air drying module is used to air dry the car body after washing to avoid residual water stains. The dust suction module is used to absorb dust and fine sand and other garbage in the car. The air drying and dust suction modules can share a spray gun; Each cleaning module can intelligently adjust parameters such as water spray angle, water pressure, foam volume, air drying speed, dust suction speed, and brush head speed according to different cleaning steps and specific conditions of vehicle parts. Part of the wastewater generated during the cleaning process can be treated by the water resource recycling module (404) and reused, thereby reducing water resource consumption and meeting environmental protection requirements.

6. A fully automatic intelligent car washing robot system based on a mechanical arm, characterized in that: A car washing robot system comprising any one of claims 1-5.

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