Movable car washer

Abstract

The invention discloses a movable car washing machine, and relates to the technical field of car washing. The movable car washing machine comprises a movable base capable of being dragged / self-propelled; the modularized portal frame is arranged on the base, wherein the hollow part of a cross beam is an accommodating cavity; the parallel horizontal sliding rails are embedded in the bottom of the portal frame; the at least one pair of movable brackets is driven by a servo motor and is connected with the sliding rails through sliding blocks; the fixed end of the multi-stage telescopic arm assembly is hinged to the movable support, the working end of the multi-stage telescopic arm assembly horizontally extends towards the two sides, a fluid channel is formed in the multi-stage telescopic arm assembly, and a plurality of sprayers are distributed on the outer side wall in a matrix mode; the parallel pipeline system comprises a high-pressure water pipe, a compressed air pipe and a steam tracing pipe and is selectively communicated with the fluid channel of the telescopic arm through a rotary gas-liquid linkage valve; and the sensing system comprises an entrance radar sensor and a portal frame imaging camera. Through the comprehensive design, the intelligent cleaning vehicle can be flexible, adaptive to multiple vehicle types, energy-saving, environment-friendly, anti-freezing in winter and efficient and intelligent cleaning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle washing, and more particularly to a mobile car washer. BACKGROUND

[0002] With the increasing number of cars and the expansion of industrial logistics transportation, the demand for vehicle washing is becoming more and more common in urban services, industrial yards, and logistics parks. As an important device to meet this demand, the car washer plays a key role in improving vehicle cleaning efficiency, reducing labor intensity, and saving water resources. Especially in industrial settings where multiple vehicle types and large quantities of vehicles need to be quickly in and out, the intelligence, flexibility, and environmental adaptability of the car washer are particularly important.

[0003] However, most existing car washers are fixed structures with gantries and spray systems fixedly installed in the site, which can only serve a single vehicle at a time. This mode not only occupies a large area and has poor equipment flexibility, but also is difficult to meet the needs of multi-point arrangement or rapid migration when the application scenario is limited. When vehicles of different sizes enter the cleaning area, the spray heads cannot be flexibly adjusted according to the width and height of the vehicle, resulting in insufficient cleaning coverage or resource waste. On the other hand, the spray pipes of traditional devices are mostly arranged externally, which are prone to wear, blockage, or icing problems in winter during long-term operation, affecting the stability and service life of the system. At the same time, the water washing and drying functions are completed by independent devices, which cannot be quickly switched in the same device, increasing the use cost and area occupied. That is, the existing technology generally has the technical problems of insufficient mobility of the car washer, poor cleaning range adaptability, poor winter operation stability, non-integrated cleaning and drying, and insufficient intelligent recognition and dynamic control capability. SUMMARY

[0004] A series of simplified concepts are introduced in the summary part of the present application, which will be further described in detail in the specific embodiment part. The summary part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0005] The mobile car washer provided by the present application can realize the beneficial effects of mobile flexibility, multi-vehicle type adaptation, energy saving and environmental protection, winter anti-freezing, and efficient intelligent cleaning of the car washer through the comprehensive design of the movable base, modular gantry, multi-stage telescopic spray arm, parallel pipeline system, and intelligent sensing control.

[0006] The application provides a mobile car washer, comprising: a mobile base that can be towed or self-propelled; a modular gantry fixedly installed on the mobile base, the cross beam of the modular gantry being hollow inside to form a closed accommodating cavity; a pair of horizontal sliding rails parallel embedded at the bottom of the cross beam of the gantry; at least one pair of moving supports driven by a servo motor, the moving supports being slidingly connected with the horizontal sliding rails through sliding blocks; a multi-stage telescopic arm assembly, the fixed end of the multi-stage telescopic arm assembly being hingedly connected to the moving supports, the working end of the multi-stage telescopic arm assembly horizontally extending to both sides of the modular gantry, the inside of the multi-stage telescopic arm assembly being provided with a fluid passage, and a plurality of nozzles being arranged in a matrix on the outside wall of the multi-stage telescopic arm assembly; and a parallel pipeline system integrated in the accommodating cavity of the modular gantry, the parallel pipeline system comprising a high-pressure water pipe, a compressed air pipe and a steam tracing pipe, the parallel pipeline system being in selective communication with the fluid passage of the multi-stage telescopic arm assembly through a rotary gas-liquid linkage valve; and a sensing system comprising a radar sensor and an imaging camera arranged on the modular gantry.

[0007] In a feasible implementation, the multi-stage telescopic arm assembly comprises a first telescopic arm and a second telescopic arm arranged side by side and independently controlled, and the working end of the second telescopic arm is in a V-shaped bifurcated structure to form a first nozzle group and a second nozzle group simultaneously facing two sides.

[0008] In a feasible implementation, the steam tracing pipe is a cladding type pipeline, and the pipe wall of the steam tracing pipe is attached to and wound around the outer wall of the high-pressure water pipe.

[0009] In a feasible implementation, the inlet end of the steam tracing pipe is connected with a heat exchanger, and the heat exchanger is used to preheat cold water input into the high-pressure water pipe by using compressed air in the compressed air pipe.

[0010] In a feasible implementation, the valve core of the rotary gas-liquid linkage valve is integrated with a pulse modulation module, and the pulse modulation module is used to convert continuous fluid into pulsed jet flow and sprayed by the nozzles.

[0011] In a feasible implementation, the bottom of the mobile base is provided with hydraulic leveling legs and universal rollers at four corners, the hydraulic leveling legs are used to lift the universal rollers off the ground, and the mobile car washer is stably supported on uneven ground.

[0012] In a feasible implementation, the modular gantry is formed by bolting a plurality of standard segments, and the standard segments of the cross beam of the modular gantry are pre-buried with standardized interfaces connected with the horizontal sliding rails and the parallel pipeline system.

[0013] In an implementable embodiment, the spray head is replaceable, and the spray head comprises at least one of a fan-shaped nozzle for spraying foam, a high-pressure direct jet nozzle for flushing, and a fan-shaped wide-angle nozzle for blow-drying / steam.

[0014] In an implementable embodiment, the outer side of the imaging camera is provided with a self-cleaning rotary arm driven by compressed air for periodically blowing off water stains and dirt on the lens.

[0015] In an implementable embodiment, the mobile support is integrated with a non-contact distance measuring sensor, which is used to monitor the distance between the non-contact distance measuring sensor and the vehicle body in real time when the multi-stage telescopic arm assembly is extended, and feedback to the servo motor for anti-collision closed-loop control.

[0016] In summary, the mobile car washer provided by the present application can be moved flexibly between different places by setting a mobile base that can be towed or self-propelled, breaking through the problem that the application scene of traditional fixed car washers is limited, and improving the mobility and adaptability of the equipment; the modular gantry structure is convenient to disassemble and install, and convenient to transport; the inside of the cross beam is a cavity and forms a sealed accommodation cavity, which is used to integrate a parallel pipeline system, effectively improving the compactness and overall stability of the structure, and avoiding wear or icing caused by exposed pipelines, improving the durability of the equipment; by setting a horizontal sliding rail at the bottom of the gantry cross beam and combining with a mobile support driven by a servo motor, the multi-stage telescopic arm assembly can be precisely moved in the transverse direction, so that the spray head can cover vehicles of different widths and sizes, and the adaptation ability of the equipment to various vehicle models can be improved; the multi-stage telescopic arm assembly is provided with a fluid channel inside, and the spray heads are arranged in a matrix on the outer wall, so that different numbers and positions of spray heads can be flexibly selected and opened, and targeted cleaning can be performed according to the actual dirt condition of the vehicle, which improves the cleaning effect and reduces water waste; at the same time, the telescopic arm can be retracted and hidden to reduce the floor area; the parallel pipeline system integrates a high-pressure water pipe, a compressed air pipe and a steam tracing pipe, and is communicated with the telescopic arm fluid channel through a rotary gas-liquid linkage valve, realizing multi-mode switching such as cleaning, blow-drying and anti-freezing, one machine with multiple functions, improving the working efficiency and environmental adaptability of the device, especially suitable for use in cold regions; the perception system includes an entrance radar sensor and an imaging camera, which can identify the size and dirt degree of the vehicle and transmit the identification result to the control system, so as to realize intelligent adjustment of the moving range of the spray head, the water pressure and the cleaning mode, improve the automation level, and improve the cleaning efficiency and energy-saving effect. In summary, the mobile car washer provided by the present application realizes the beneficial effects of mobile flexibility, multi-vehicle model adaptation, energy saving and environmental protection, winter anti-freezing and efficient intelligent cleaning through the comprehensive design of the mobile base, the modular gantry, the multi-stage telescopic spray arm, the parallel pipeline system and the intelligent perception control. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present description. Moreover, in the drawings, like reference numerals designate similar parts throughout the several views. In the drawings: Figure 1 A schematic structural diagram of a mobile car washer is provided for the embodiments of the present application.

[0018] In the figure, 10 is a mobile car washer, 101 is a mobile base, 102 is a modular gantry, 103 is a horizontal sliding rail, 104 is a multi-stage telescopic arm assembly, 105 is a spray head, 106 is a compressed air pipe, 107 is a high-pressure water pipe, 108 is a radar sensor, and 109 is an imaging camera. DETAILED DESCRIPTION

[0019] The terms in the specification, claims and drawings of the present application, such as "first", "second", "third", "fourth" and the like (if any), are used to distinguish similar objects, not to describe a particular order or sequence. Therefore, it is understood that these terms can be used interchangeably under appropriate circumstances, so that the described embodiments can be implemented in different orders, unless otherwise specified in the drawings or description. In addition, the terms "is" and "has" and any variants thereof in the present application are intended to cover non-exclusive inclusion of all possible constituent elements. For example, a process, method, system, product or device including several steps or units does not necessarily limit to only the explicitly listed steps or units, but can also include other steps or units not explicitly listed, or steps or units inherent to the process, method, product or device.

[0020] The technical solutions in the present application will be described in detail below in conjunction with the drawings in the embodiments. It should be noted that the described embodiments are only a part of the present application, not all embodiments. In the following description, "some embodiments" mentioned is only a subset of all possible embodiments, which can be the same or different subset, and different embodiments can be combined with each other without conflict.

[0021] Figure 1A structure composition schematic diagram of a mobile car washer provided by the embodiment of the application, the mobile car washer 10 comprising: a mobile base 101 that can be towed or self-propelled; a modular gantry 102 fixedly installed on the mobile base 101, the inside of a crossbeam of the modular gantry 102 being a hollow structure to form a closed containing cavity; a pair of horizontal slide rails 103 parallelly embedded at the bottom of the crossbeam of the gantry; at least one pair of mobile supports driven by servo motors and slidably connected with the horizontal slide rails 103 through slide blocks; a multistage telescopic arm assembly 104, a fixed end of which is hingedly connected to the mobile support, the working end of the multistage telescopic arm assembly 104 horizontally extending to the two sides of the modular gantry 102, the inside of the multistage telescopic arm assembly 104 being provided with a fluid passage, and a plurality of nozzles 105 being arranged in a matrix on the outside wall of the multistage telescopic arm assembly 104; a parallel pipeline system integrated in the containing cavity of the modular gantry 102, the parallel pipeline system comprising a high-pressure water pipe 107, a compressed air pipe 106 and a steam tracing pipe, and the parallel pipeline system being selectively communicated with the fluid passage of the multistage telescopic arm assembly 104 through a rotary gas-liquid linkage valve; and a sensing system comprising a radar sensor 108 and an imaging camera 109 arranged on the modular gantry 102.

[0022] In some examples, the mobile base 101 is the load-bearing foundation of the entire car washer, made of high-strength steel and welded into shape. The bottom corners of the mobile base 101 can be equipped with universal wheels and hydraulic feet. The universal wheels can realize flexible steering and short-distance movement of the equipment. If long-distance transfer is required, a towing hook is provided at the front end of the mobile base, which can be towed by a towing vehicle. Some models integrate a self-propelled power unit (such as a diesel engine or an electric motor) to support autonomous driving. The upper surface of the mobile base 101 is provided with standardized bolt holes for fixed connection with the modular gantry 102 to ensure the stability of the overall structure. The mobile base 101 is used to solve the limitations of traditional fixed installation of car washers, allowing the equipment to be flexibly deployed according to the parking location of vehicles and to adapt to various scenarios such as material yards, parking lots, and construction sites. The modular gantry 102 is composed of multiple rectangular cross-section standard segments, which are fixed by flanges and high-strength bolts. The overall structure is in the shape of a door. The crossbeam is a hollow rectangular steel pipe, forming a closed cavity inside. The cavity has a cross-sectional size of 300mm x 200mm, which can accommodate parallel pipeline systems and cables. The crossbeam bottom is pre-drilled with a slide rail mounting groove, and the two side columns are fixed to the mobile base 101 by bolts. The length of the crossbeam can be flexibly increased or decreased according to the length of the vehicle to be washed (e.g., 5 meters for a car and 10 meters for a large truck). This design facilitates transportation and on-site assembly, solving the problem of poor adaptability and difficult transportation of traditional integrated gantries. The horizontal slide rail 103 is made of wear-resistant alloy material and is embedded in the bottom mounting groove of the modular gantry 102 crossbeam through countersunk bolts. The length of the slide rail is the same as that of the crossbeam. The surface of the slide rail is hardened to a hardness of HRC50 or above to ensure precision after long-term sliding wear. The horizontal slide rail 103 provides guidance for the mobile bracket, allowing it to move smoothly along the length of the crossbeam, thereby driving the multi-stage telescopic arm assembly 104 to cover vehicles of different lengths. The mobile bracket is made of aluminum alloy and consists of two symmetrically arranged vertical plates and top sliders. The inner side of the slider is equipped with a ball bearing, which is in sliding cooperation with the horizontal slide rail 103. The mobile bracket is integrated with a servo motor and a reduction box on the side. The motor output shaft is connected to a gear, which meshes with the rack on the side of the slide rail, realizing accurate movement (positioning accuracy ±1mm) of the bracket along the slide rail. At least two pairs of mobile brackets (i.e., two pairs on the left and right) are provided, corresponding to the multi-stage telescopic arm assembly 104 on both sides of the gantry. The mobile bracket is driven by the servo motor to adjust the lateral position of the telescopic arm assembly, allowing the spray head 105 to aim at different areas of the vehicle (such as the front, body, and rear of the vehicle).The multi-stage telescopic arm assembly 104 is of a nested structure, which can include a fixed arm, a first-stage telescopic arm, and a second-stage telescopic arm, all of which are made of high-strength aluminum alloy pipes. Each stage of the arm body is driven to be telescopic by a hydraulic cylinder, and the maximum extension length can reach 5 meters. The root of the fixed arm is hinged to the moving support through a hinge, and can be finely adjusted in angle (±15°) in the vertical plane to adapt to the curvature of the top of the vehicle. The working end extends horizontally to both sides of the portal frame, and an axial fluid passage with a diameter of 50 mm is arranged inside. The passage is in communication with a parallel pipeline system. On the outer side wall of the telescopic arm, a group of spray head 105 mounting holes is arranged every 30 cm along the length direction, each group containing three spray heads 105 with different angles (horizontal, upward 30°, and downward 30°), forming a matrix layout. Its function is to adjust the coverage width through telescopic adjustment to adapt to different vehicle models (such as a car with a width of 1.8 meters to a truck with a width of 2.5 meters), and the matrix spray head 105 can clean the side, top, and bottom of the vehicle body at the same time. The spray head 105 is a detachable stainless steel part connected with the mounting hole of the multi-stage telescopic arm assembly 104 through threads, and a single device is configured with not less than 20 spray heads 105. According to different functions, the spray head 105 can be divided into three types: high-pressure direct jet nozzle (aperture 1.5 mm, working pressure 15-20 MPa), used for removing stubborn stains on the vehicle body; fan-shaped nozzle (angle 60°, aperture 2 mm), used for large-area flushing; wide-angle fan-shaped nozzle (angle 120°), when connected with the compressed air pipe 106 or the steam tracing pipe, it can realize blow-drying or low-temperature anti-freezing. During use, the corresponding spray head 105 can be quickly replaced according to the cleaning stage (such as pre-flushing, foam cleaning, high-pressure flushing, and blow-drying), solving the problem of single function of traditional equipment. The parallel pipeline system is integrated in the accommodating cavity of the modular portal frame 102, including three parallel main pipelines: a high-pressure water pipe 107 (diameter 80 mm, made of high-pressure resistant rubber pipe), a compressed air pipe 106 (diameter 50 mm, made of galvanized steel pipe), and a steam tracing pipe (diameter 20 mm, made of stainless steel corrugated pipe). The three pipelines are fixed inside the cavity through pipe clamps, and the ends are gathered to a rotary gas-liquid linkage valve. The valve is controlled by an electric actuator, and can selectively connect high-pressure water, compressed air, or steam to the fluid passage of the multi-stage telescopic arm assembly 104. Among them, the steam tracing pipe is tightly attached to the outer wall of the high-pressure water pipe 107, which is used to prevent the water pipe from freezing in winter; the compressed air pipe 106 can not only blow-dry the vehicle body, but also provide power for the self-cleaning device of the sensing system.The perception system includes radar sensors 108 and imaging cameras 109; the radar sensors 108 can be installed in the middle and / or both sides of the crossbeam of the modular gantry 102, and can scan the vehicle by emitting millimeter waves to obtain three-dimensional size data of the vehicle body length, width, etc., with a scanning frequency of 10 Hz and a measurement error of ≤5 cm; the imaging cameras 109 (resolution 20 million pixels, with infrared night vision function) can be installed in the middle and both sides of the crossbeam of the modular gantry 102, a total of 3 groups, which can take real-time images of the vehicle body surface and analyze the degree of dirt (classified as mild, moderate, and severe) through image recognition algorithms; the data of the two types of sensors are transmitted to the central controller, which provides the basis for the movement of the mobile support, telescopic arm, and pipeline system, and realizes intelligent dynamic control.

[0023] For example, when a vehicle enters the cleaning area, the radar sensor 108 at the entrance immediately scans the vehicle size, and the three imaging cameras 109 simultaneously take images of the vehicle body. After the data is transmitted to the central controller, the system quickly analyzes the vehicle length, width, and dirt distribution. The controller drives the mobile support to move along the horizontal slide rail 103 to the corresponding position, controls the multi-stage telescopic arm assembly 104 to extend to the appropriate length according to the vehicle width, and adjusts the angle through the hinge to make the spray head 105 close to the vehicle body (distance kept at 30-50 cm); then, the rotary gas-liquid linkage valve first connects the high-pressure water pipe 107, and the matrix spray head 105 sprays high-pressure water to wash the vehicle body; according to the image recognition result, the spray head 105 in the heavy dirt area enhances the water pressure and spraying frequency through the pulse modulation module, while the spray head 105 in the light dirt area reduces the intensity to save water resources; after cleaning is completed, the linkage valve switches to the compressed air pipe 106, and the wide-angle fan nozzle sprays high-speed airflow to dry the vehicle body; if the environmental temperature is lower than 5℃, the steam tracing pipe is started synchronously to keep the high-pressure water pipe 107 warm and prevent freezing. The whole process does not require manual intervention, and realizes full automation from identification to cleaning and drying.

[0024] In summary, the embodiment of the present application sets the movable base 101 which can be towed or self-propelled, so that the car washer can be flexibly moved between different places, breaking the problem of limited application scene of traditional fixed car washer, and improving the mobility and adaptability of the equipment; the modular gantry 102 structure is adopted, the gantry is convenient to disassemble and install, and convenient to transport; the inside of the cross beam is a cavity and forms a sealed containing cavity, which is used for integrating the parallel pipeline system, effectively improving the compactness and overall stability of the structure, and avoiding abrasion or icing caused by exposed pipeline, and improving the durability of the equipment; the horizontal slide rail 103 is arranged at the bottom of the cross beam of the gantry, and the movable support driven by the servo motor is combined, so that the multi-stage telescopic arm assembly 104 can be accurately moved in the transverse direction, so that the spray head 105 can cover vehicles of different widths and sizes, and the adaptation ability of the equipment to various vehicle types can be improved; the fluid passage is arranged in the multi-stage telescopic arm assembly 104, and the spray head 105 is arranged in a matrix manner on the outer side wall, so that different spray heads 105 can be flexibly selected to open, and targeted cleaning can be performed according to the actual dirt condition of the vehicle, which improves the cleaning effect and reduces water resource waste; meanwhile, the telescopic arm can be retracted and hidden, reducing the floor area; the parallel pipeline system integrates the high-pressure water pipe 107, the compressed air pipe 106 and the steam tracing pipe, and is communicated with the telescopic arm fluid passage through the rotary gas-liquid linkage valve, realizing multi-mode switching such as cleaning, drying and anti-freezing, one machine with multiple functions, improving the working efficiency and environmental adaptability of the device, especially suitable for use in cold regions; the sensing system includes an entrance radar sensor 108 and an imaging camera 109, which can identify the size and dirt degree of the vehicle, and transmit the identification result to the control system, so as to realize intelligent adjustment of the moving range, water pressure and cleaning mode of the spray head 105, improve the automation level, and improve the cleaning efficiency and energy-saving effect. In summary, the mobile car washer 10 provided by the embodiment of the present application realizes the beneficial effects of mobile flexibility, multi-vehicle type adaptation, energy saving and environmental protection, winter anti-freezing and efficient intelligent cleaning through the comprehensive design of the movable base 101, the modular gantry 102, the multi-stage telescopic spray arm, the parallel pipeline system and the intelligent sensing control.

[0025] In some embodiments, the multi-stage telescopic arm assembly 104 includes a first telescopic arm and a second telescopic arm arranged side by side and controlled independently of each other, and the working end of the second telescopic arm is a V-shaped bifurcated structure, forming a first spray head 105 group and a second spray head 105 group which are simultaneously directed to both sides.

[0026] In some examples, the first telescopic arm is a single-section multi-stage nested structure made of high-strength aluminum alloy profiles. The main body is composed of a fixed section, a first telescopic section, and a second telescopic section. The sections are connected by sealed guide sleeves, and there are independent hydraulic oil circuits and fluid channels inside. The root of the fixed section is hinged to the moving bracket through a pin shaft, and an angle adjusting oil cylinder is configured at the hinge to achieve a ±10° pitch angle adjustment. The maximum extension length of the first telescopic arm is 4 meters. The telescopic action is driven by double-acting hydraulic cylinders, and the telescopic speed (0.5-1 m / s) is controlled by electromagnetic reversing valves. The outer wall is uniformly arranged with 12 spray head 105 mounting seats along the length direction, which are adapted to high-pressure straight jet nozzles. The distance between adjacent mounting seats is 30 cm, and the nozzle axis and the arm axis form a 45° angle. It is mainly used to cover the main cleaning area of the side of the vehicle. The second telescopic arm can be arranged parallel to the first telescopic arm, and the distance between them is 50 cm. It is also made of aluminum alloy and consists of a fixed section, a first telescopic section, and a V-shaped bifurcated section at the end. The connection method of the fixed section and the moving bracket, as well as the hydraulic drive system, is the same as that of the first telescopic arm. The maximum extension length is 3.5 meters, which is slightly shorter than that of the first telescopic arm. The core feature is the V-shaped bifurcated structure at the working end. The bifurcated section is formed by integral casting process, with a bifurcated angle of 90° and two branch arms of 80 cm in length. The internal fluid channels are divided into two paths according to the bifurcated structure and connected to the two groups of spray heads 105 on the sides, respectively. The bifurcated section is connected to the second telescopic section through a rotary joint, which can realize a ±30° horizontal rotation to adapt to the contour radius of different vehicle models. The first group of spray heads 105 is installed on the inner branch of the V-shaped bifurcated section of the second telescopic arm (close to the side of the first telescopic arm) and consists of 6 fan-shaped nozzles with a nozzle diameter of 2 mm and a spray angle of 90°, arranged equidistantly along the length direction of the branch arm (with a distance of 15 cm). The nozzles are connected to the fluid channels inside the branch arm through quick connectors, and the spray direction forms a 60° angle with the branch arm axis, pointing obliquely to the inside of the vehicle (such as the inside of the tires of a truck, the connection between the vehicle body and the carriage, etc.). This group of spray heads 105 is mainly adapted to medium-pressure water flow (5-10 MPa) and is used to clean the gaps and recessed areas of the vehicle that are difficult to cover by the first telescopic arm, such as mud between the tires and mudguards, stains at the bottom of the vehicle doors, etc. The second group of spray heads 105 is arranged on the outer branch of the V-shaped bifurcated section of the second telescopic arm (away from the side of the first telescopic arm) and consists of 4 combined nozzles, including 2 high-pressure rotary nozzles (working pressure 15 MPa) and 2 low-pressure fan-shaped nozzles (working pressure 2 MPa), alternately arranged on the branch arm. The high-pressure rotary nozzle can generate a 360° rotary jet for cleaning stubborn mud on the surface of the tires; the low-pressure fan-shaped nozzle has a spray angle of 120° for covering the large area of the skirt, steps, etc. on the outside of the vehicle. The fluid channels of this group of spray heads 105 are selectively connected to the steam tracing pipes, which can be switched to steam spraying in low-temperature environments, avoiding the icing of residual water stains and softening oil stains to improve cleaning effect.

[0027] For example, when the perception system identifies that the vehicle to be cleaned is a large truck (with double tires), the central controller sends control instructions to the first and second telescopic arms respectively; the first telescopic arm extends to 3.8 meters and the angle is adjusted to horizontal, aligning with the main body of the cargo box on the side of the truck, and performing longitudinal washing through high-pressure direct nozzles; after the second telescopic arm extends to 3 meters, the V-shaped bifurcated segment rotates 15°, so that the first group of nozzles 105 are close to the gap between the inner side tires, and the connection part of the tires and the carriage is cleaned by medium-pressure fan-shaped jets, while the high-pressure rotating nozzles of the second group of nozzles 105 are aligned with the outer side tire surface, and the low-pressure fan-shaped nozzles cover the skirt of the frame. During the cleaning process, the two telescopic arms independently adjust the telescopic speed according to the dirty data feedback by the camera: the first telescopic arm moves at a speed of 1 m / s in the middle of the cargo box where the dirt is lighter, and the second telescopic arm moves at a low speed of 0.5 m / s in the tire area, ensuring that stubborn stains are fully removed and achieving no dead angle coverage.

[0028] Through the implementation of the above embodiments, the multi-stage telescopic arm adopts a double-arm design controlled independently, wherein the V-shaped bifurcated nozzles 105 group are arranged at the end of the second telescopic arm, which can be expanded on both sides of the vehicle at the same time, realizing a larger range of coverage and cleaning; in actual application, the cleaning range can be flexibly adjusted according to the width and height of the vehicle, solving the problem of fixed cleaning range of traditional equipment and poor adaptability of different vehicle models, and being particularly suitable for large truck and multi-lane parallel cleaning scenarios.

[0029] In some embodiments, the steam tracing pipe is a cladding type pipe, and the pipe wall of the steam tracing pipe is attached to and wound around the outer wall of the high-pressure water pipe 107.

[0030] In some examples, the cladded pipeline is a structure of the steam heat tracing pipe, which can adopt a corrugated pipe made of 304 stainless steel material, the pipe body wall thickness is 0.8 mm, the inner diameter is 15 mm, the outer diameter is 18 mm, and has good flexibility and corrosion resistance; a 0.2 mm thick aluminum foil heat conducting layer is attached to the inner side of the pipe wall, and a layer of aluminum silicate insulation cotton (thickness 5 mm) is wrapped outside, and a layer of flame-retardant PVC protective sleeve (thickness 1 mm) is further sleeved outside the insulation cotton. This multi-layer structure not only ensures efficient heat transfer from the steam to the high-pressure water pipe 107, but also reduces heat loss to the external environment, and at the same time makes the pipeline have certain bending performance, which can adapt to the layout of the high-pressure water pipe 107. The connection between the steam heat tracing pipe and the high-pressure water pipe 107 is realized by spiral winding, the high-pressure water pipe 107 is a high-pressure rubber pipe (inner diameter 50 mm, outer diameter 60 mm), and the steam heat tracing pipe is spirally wound along the outer wall of the high-pressure water pipe 107 with a pitch of 100 mm. In the winding process, the aluminum foil heat conducting layer on the inner side of the pipe wall is tightly attached to the outer wall of the high-pressure water pipe 107, and the contact rate of the attached surface is not less than 90%. Every 1 meter length is fixed once by using a stainless steel strap (width 8 mm), and the strap spacing is 500 mm, which ensures that the pipeline does not loosen when the high-pressure water pipe 107 stretches or vibrates. For the right-angle bending of the high-pressure water pipe 107, the steam heat tracing pipe adopts a 90° elbow transition to maintain the attached state with the outer wall of the high-pressure water pipe 107, avoiding the increase of gap caused by bending. This winding structure makes the heat of the steam heat tracing pipe evenly transmitted to the whole section of the high-pressure water pipe 107, solving the problem of uneven heat transfer of the traditional parallel arrangement of the heat tracing pipe.

[0031] For example, when the environmental temperature sensor detects that the working environment temperature of the car washer is lower than 5℃, the central controller automatically starts the steam generator, and the steam enters the steam heat tracing pipe through the pipeline; the high-temperature steam (temperature 120℃) flows in the cladded pipeline, and the heat is transferred to the high-pressure water pipe 107 in contact through the aluminum foil heat conducting layer, so that the temperature of the water in the pipe is maintained at 10-15℃, avoiding freezing; in the process of washing large trucks, the high-pressure water pipe 107 is stretched or bent due to the action of the multi-stage telescopic arm, the steam heat tracing pipe deforms synchronously with the high-pressure water pipe 107, and the stainless steel strap ensures that the two are always tightly attached, and the heat transfer is not affected; when the cleaning operation is completed, the steam heat tracing pipe continues to operate for 5 minutes, and the residual water in the high-pressure water pipe 107 is heated to 20℃ by using the residual heat, preventing the pipeline from freezing after stopping, and ensuring the reliability of the next start.

[0032] Through the implementation of the above examples, the steam heat tracing pipe adopts a cladded structure and is tightly wound around the outer wall of the high-pressure water pipe 107, so that the high-pressure water pipe 107 is continuously heated in winter environment, preventing the water body from freezing or the nozzle 105 from being blocked; this design simplifies the anti-freezing measures, ensures the stable operation of the equipment in low temperature environment, and solves the technical problem of poor winter operation stability of the prior art.

[0033] In some embodiments, a heat exchanger is connected to the inlet end of the steam tracing pipe, which is used to pre-heat the cold water in the high-pressure water pipe 107 using compressed air in the compressed air pipe 106.

[0034] In some examples, the heat exchanger adopts a brazed plate structure, the main body is formed by alternately stacking 304 stainless steel thin plates (thickness 0.3 mm), forming independent cold fluid channels and hot fluid channels. The overall size of the heat exchanger is 200 mm x 150 mm x 80 mm, the heat exchange area is 1.2 m2, the design working pressure is 1.6 MPa, and it is suitable for working temperature range of -20°C to 150°C; It is internally provided with a turbulent flow enhancement structure, which forms a turbulent flow state of the fluid by setting micro convex points (height 1 mm, spacing 5 mm) in the channel, and the heat exchange efficiency is increased to more than 90%; The heat exchanger is wrapped with a 5 mm thick polyurethane insulation layer to reduce heat loss, and its interface includes four: hot medium inlet (connected to compressed air pipe 106), hot medium outlet (connected to atmospheric or secondary utilization pipeline), cold medium inlet (connected to external cold water source), and cold medium outlet (connected to high-pressure water pipe 107). Each interface adopts a quick plug-in connector for easy installation and maintenance. The compressed air (pressure 0.8-1.0 MPa) flowing in the compressed air pipe 106 will generate waste heat due to air compression work conversion during preparation, and its temperature is usually 30-50°C higher than the ambient temperature (for example, when the ambient temperature is 5°C, the compressed air temperature can reach 35-55°C); The heat exchanger realizes energy recovery through heat exchange principle: compressed air as a hot medium enters the hot fluid channel of the heat exchanger from the hot medium inlet, cold water as a cold medium enters the cold fluid channel from the cold medium inlet, and the two fluids flow in opposite directions on both sides of the thin plate. The waste heat in the compressed air is transferred to the cold water through the stainless steel thin plate; After heat exchange, the cooled compressed air (temperature drops to near ambient temperature) is discharged from the hot medium outlet and can be used for pneumatic components (such as self-cleaning rotary arms) that do not require heating; The heated cold water (temperature increased by 15-25°C) flows into the high-pressure water pipe 107 from the cold medium outlet, completing the pre-heating process. This design does not require additional energy consumption, and the waste heat of compressed air is recovered to warm up the cold water, which not only improves the winter cleaning efficiency (warm water has stronger decontamination ability), but also reduces the heating load of the steam tracing pipe.

[0035] For example, when the device starts and detects that the ambient temperature is 0°C, the central controller synchronously starts the compressed air system and the cold water supply; the compressed air (temperature 40°C) enters the heat medium channel of the heat exchanger through the pipeline, and the external cold water (temperature 2°C) enters the cold medium channel at the same time, and the heat exchange is completed in the reverse flow process, and the cold water temperature is heated to 22°C and then enters the high-pressure water pipe 107; at this time, the steam tracing pipe only needs to maintain the water temperature from 22°C to above 15°C (not from 2°C to heat), and the steam consumption is reduced by 60%. In the cleaning operation, if the imaging camera 109 identifies that there is frozen oil on the vehicle body, the controller can adjust the compressed air flow (increased to 1.2 m 3 / min) to raise the preheated water temperature to 30°C, and cooperate with the pulse jet of the high-pressure nozzle 105 to quickly dissolve the oil; after cleaning, the heat exchanger still maintains the working state to heat the remaining cold water to 25°C, avoiding the freezing of low-temperature accumulated water in the pipeline.

[0036] Through the implementation of the above embodiment, the steam tracing pipe inlet end is connected with the heat exchanger, the air waste heat in the compressed air pipe 106 can be used to preheat the cold water, further reducing the steam consumption and energy loss; the structure realizes the comprehensive utilization of resources, so that the device has higher energy efficiency ratio while preventing freezing, which is conducive to ensuring the stability and economy of the system for a long time.

[0037] In some embodiments, the valve core of the rotary air-liquid linkage valve is integrated with a pulse modulation module, which is used to convert continuous fluid into pulse jet and is sprayed out by the nozzle 105.

[0038] In some examples, the rotary gas-liquid linkage valve is a multi-pass switching device, the main body is made of forged steel material and is integrally forged, the valve body is cylindrical, the diameter is 120 mm, the height is 80 mm, a cylindrical valve core (diameter 100 mm) is arranged inside, dynamic sealing is realized between the valve core and the valve body through a silicon nitride ceramic sealing ring, and the working pressure resistance reaches 30 MPa. The valve body is circumferentially distributed with four interfaces: three input interfaces (connected with a high-pressure water pipe 107, a compressed air pipe 106, and a steam heat tracing pipe, respectively), and one output interface (connected with a fluid channel of a multi-stage telescopic arm assembly 104 through a high-pressure hose); the central axis of the valve core extends to the outside of the valve body and is connected with a servo motor (power 200W, rotating speed 300r / min) through a shaft coupling, when the motor drives the valve core to rotate, the flow guide hole inside the valve core can selectively connect a certain input interface with the output interface, so that the switching of the fluid medium is realized (switching response time ≤0.5s); the outer wall of the valve body is integrated with a pressure sensor and a position encoder, which can feed back the current pass state and fluid pressure in real time, and the data is transmitted to the central controller to realize closed-loop control. The pulse modulation module is integrated in the valve core of the rotary gas-liquid linkage valve and is composed of an electromagnetic driving assembly, a throttling valve core and a return spring. The electromagnetic driving assembly includes a ring-shaped electromagnet (voltage 24VDC) and an armature, the armature is rigidly connected with the throttling valve core, a conical sealing surface (taper 60°) is arranged at the end of the valve core, and the conical sealing surface cooperates with a flow-through hole (diameter 15 mm) inside the valve core to form an opening and closing structure; the return spring (stiffness coefficient 5N / mm) is sleeved outside the throttling valve core, so that the valve core is always kept in a closed state; the pulse modulation module is provided with a high-frequency driving circuit (frequency adjustment range 10-50Hz), after receiving the PWM signal of the central controller, the electromagnetic iron is periodically turned on and off to drive the throttling valve core to move back and forth at a high frequency (stroke 3mm), so that the continuous flow of fluid is periodically cut off to form a pulse jet. The built-in temperature compensation circuit of the module ensures that the pulse frequency accuracy deviation is ≤1Hz in the environment of-10℃ to 60℃.

[0039] For example, when the imaging camera 109 identifies that there is heavy mud (area ≥0.5㎡) on the side of the truck carriage, the central controller sends an instruction to the rotary gas-liquid linkage valve: the servo motor drives the valve core to rotate to the high-pressure water pipe 107 interface communication state, and at the same time the pulse modulation module receives a 30Hz driving signal; the high-pressure water (pressure 18MPa) enters the linkage valve and is cut off by the throttling valve core of the pulse modulation module at a high frequency to form a pulse jet with a pulse interval of 20ms, which is transmitted to the matrix spray head 105 through the fluid channel of the multi-stage telescopic arm; at this time, the mobile support drives the telescopic arm to move slowly at a speed of 0.3m / s, and the pulse jet is impacted by high-frequency impact to separate the mud from the vehicle body, so that the cleaning efficiency is improved compared with the continuous jet; when the camera identifies that the stains are removed, the controller reduces the pulse frequency to 10Hz, and at the same time the mobile support is accelerated to 1m / s to reduce water consumption and realize targeted cleaning.

[0040] Through the implementation of the above-mentioned embodiments, the valve core of the rotary gas-liquid linkage valve integrates a pulse modulation module, which can convert continuous fluid into high-energy pulse jet flow, and the jet flow can produce a stronger impact cleaning effect when sprayed on the vehicle body. This design not only improves the cleaning efficiency, but also ensures the cleaning quality while reducing water consumption, achieving a balance between cleaning and energy saving, and making up for the problem of water resource waste in the traditional direct-flow washing mode.

[0041] In some embodiments, the mobile base 101 is provided with hydraulic leveling legs and universal rollers at the four corners of the bottom. The hydraulic leveling legs are used to lift the universal rollers off the ground to stably support the mobile car washer 10 on uneven ground.

[0042] In some examples, the hydraulic leveling legs are the support and leveling components of the device, and each group of legs is composed of a double-acting hydraulic cylinder, a piston rod, an anti-skid base, and a hydraulic lock. The hydraulic cylinder body can be made of a 45# seamless steel pipe (outer diameter 100 mm, wall thickness 10 mm), and the internal piston rod is a chromium-plated round steel (diameter 60 mm). The maximum extension stroke is 200 mm, and the rated load capacity of a single leg is up to 8 tons. The anti-skid base is a circular steel plate (thickness 15 mm) with a diameter of 200 mm, and the bottom is welded with diamond pattern anti-skid teeth. The teeth are connected with the end of the piston rod through a spherical hinge, and can adaptively adjust the fitting angle (±5°) according to the slope of the ground. The hydraulic leveling legs are bolted to the reinforced rib plates at the four corners of the bottom of the mobile base 101 through flanges. Each leg is independently connected to the shunt valve of the hydraulic system, and the extension amount is controlled by a proportional electromagnet. In combination with the inclination sensor (measurement accuracy ±0.1°) at the top of the base, closed-loop leveling is achieved. The core function of the hydraulic leveling legs is to keep the base level after the device is moved into position by selective extension, while lifting the universal rollers off the ground to ensure the stability of the device during cleaning operation and avoid shaking or tilting due to uneven ground. The universal rollers are the moving components of the device, and are made of heavy-duty industrial-grade structure. Each group of rollers is composed of a roller frame, a roller body, a rotating shaft, and a brake device. The roller frame is made of cast steel (grade QT450) and has a U-shaped structure. It is connected to the bottom of the mobile base 101 through a vertical rotating shaft and can rotate horizontally by 360° (rotational resistance ≤50 N). The roller body is made of polyurethane (hardness 85 Shore A) with a diameter of 250 mm and a width of 80 mm. Double-row tapered roller bearings are embedded inside to withstand a maximum load of 5 tons, meeting the rolling requirements of rough ground (such as gravel and dirt road). The brake device is a foot-operated mechanical brake structure, which achieves locking by friction between the brake pad and the side of the roller body. After braking, the rotating angle of the roller body is not more than 5°. The universal rollers are installed on the inner side of the four corners of the bottom of the mobile base 101 (close to the center of the base) and are diagonally distributed with the hydraulic leveling legs, with a distance of 150 mm between them to ensure that the legs do not interfere with each other when they are extended. The function of the universal rollers is to carry the overall weight when the device needs to be moved, and to realize flexible steering through 360° rotation, in combination with the traction device or self-propelled power unit to complete short-distance displacement or long-distance transfer.

[0043] For example, when the mobile car washer 10 is towed to a work site parking lot (the ground has a 2° slope and is partially concave), the operator starts the leveling program, and the inclination sensors on the top of the base immediately detect the horizontal deviation; the central controller calculates the extension amount of each foot according to the sensor data: the left front foot is extended by 120 mm, the right rear foot is extended by 80 mm, and the right front and left rear feet remain at the initial length (50 mm). The piston rod pushes the anti-skid base to tightly adhere to the ground. As the feet are extended, the universal rollers gradually lift off the ground, and finally the gap from the ground reaches 60 mm. The inclination sensors feedback that the horizontal error of the base is ≤0.5°, and the leveling is completed. At this time, the operator steps on the brake device of the universal roller to lock it, and the equipment is stably supported on the uneven ground by the four hydraulic leveling feet, ensuring that the movement trajectory of the modular gantry 102 and the multi-stage telescopic arm remains accurate during subsequent cleaning operations, and the distance between the spray head 105 and the vehicle body is always consistent (deviation ≤10 mm).

[0044] Through the implementation of the above embodiments, the mobile base 101 is provided with hydraulic leveling feet and universal rollers at the bottom, which can maintain flexibility when the equipment is moving and be stably landed on the ground during operation. Especially in the scene of uneven ground such as factory yard, this design ensures the stable support of the car washer, avoids the decline of the cleaning accuracy of the spray head 105 due to the shaking of the equipment, and thus improves the reliability of operation.

[0045] In some embodiments, the modular gantry 102 is composed of multiple standard segments connected by bolts, and the standard segments of the cross beam of the modular gantry 102 are pre-buried with standardized interfaces connected with the horizontal slide rail 103 and the parallel pipeline system.

[0046] In some examples, the standard segment is a basic unit constituting the modular gantry 102, which is formed by welding low-alloy high-strength steel, and is divided into two types of beam segments and column segments; the beam segment is a rectangular hollow structure, with a single segment length of 2 meters or 3 meters, and a uniform cross-sectional size of 400 mm x 300 mm (width x height), with a 10 mm thick flange plate welded at both ends, and 12 M20 bolt holes (hole pitch 50 mm) evenly distributed circumferentially on the flange plate for splicing adjacent segments; a transverse reinforcing rib (pitch 500 mm) is welded inside the segment to enhance torsional strength; a slide rail mounting groove (width 100 mm, depth 50 mm) is provided at the bottom, with a T-shaped bolt hole preset in the groove for fixing the horizontal slide rail 103; the column segment is a square steel tube (cross-section 300 mm x 300 mm) with a height of 2.5 meters, a bottom flange plate matched with bolt holes of the mobile base 101, and a top connected with the end flange plate of the beam segment by bolts. The surface of the standard segment is treated by sandblasting and epoxy primer to adapt to outdoor humid environments, and the weight of a single beam segment is controlled to be less than 500 kg for easy manual or small mechanical handling. The standardized interface is a functional connection structure embedded in the beam standard segment, including mechanical and fluid interfaces; the mechanical interface is a slide rail connection structure located in the mounting groove at the bottom of the beam segment, with a set of positioning pin holes (diameter 12 mm) and fastening screw holes (M16) set every 500 mm along the groove length, with a hole position error controlled within ±0.5 mm to ensure that the joint gap between adjacent segments after slide rail splicing is ≤1 mm, ensuring smooth sliding of the mobile support; the fluid interface is a pipeline connection structure embedded in the receiving cavity of the beam segment, including three parallel quick plug pipe joints (corresponding to high-pressure water pipe 107, compressed air pipe 106, and steam tracing pipe), with brass material (surface plated with chromium), and uniform interface specifications of DN50 (high-pressure water), DN32 (compressed air), and DN20 (steam), with O-shaped sealing rings (temperature resistance 200°C) provided at the end of the joint, and the pipe joints of adjacent segments connected by a clamp type connection sleeve, with a plug force ≤500 N to ensure sealing performance (pressure resistance ≥25 MPa). All interfaces are provided with dust covers to maintain sealing when not connected to prevent foreign matter from entering.

[0047] For example, when a super-long semi-trailer (12 meters long) needs to be cleaned, the operator selects four 3-meter standard sections of the cross beam according to the vehicle parameters, sequentially splices them through the flange bolts, forms a 12-meter-long cross beam main body, and during the splicing process, the mechanical interfaces of adjacent sections are precisely aligned through the positioning pins, the T-shaped bolts are inserted into the screw holes of the slide rail mounting groove to fix the horizontal slide rail 103, and the gap is eliminated by using a special joint strip. Then, open the dust cover of the fluid interface in the cross beam containing cavity, clamp the main pipeline of the parallel pipeline system and the pre-buried pipe joint in the section through the connecting sleeve, and the pressure test shows that there is no leakage at the interface (pressure retention 10 MPa, 30-minute pressure drop ≤0.1 MPa). Finally, connect the column section with the flanges at both ends of the cross beam to complete the gantry assembly, and the entire process does not require on-site cutting or welding, and the adaptability and stability meet the cleaning operation requirements of super-long vehicles.

[0048] Through the implementation of the above embodiments, the modular gantry 102 adopts a standard section splicing method, and the cross beam section is pre-buried with a standardized interface for quick connection with the horizontal slide rail 103 and the pipeline system. This design enables the device to be flexibly expanded or reduced according to the cleaning channel width, has the ability to quickly install and disassemble, greatly improves the arrangement efficiency and maintenance convenience of the device, and solves the problem of poor expandability of the traditional fixed structure.

[0049] In some embodiments, the spray head 105 is a replaceable structure, and the spray head 105 includes at least one of a fan-shaped nozzle for spraying foam, a high-pressure direct jet nozzle for washing, and a fan-shaped wide-angle nozzle for blowing dry / steam.

[0050] In some examples, the replaceable structure is a connection and adaptation design of the spray head 105 and the multi-stage telescopic arm assembly 104, with a standardized interface and a quick disassembly mechanism as the core. The tail of the spray head 105 is provided with external threads, which are precisely matched with internal threads in the spray head 105 mounting hole of the outer wall of the telescopic arm. The threaded fitting section is embedded with oil and temperature resistant nitrile rubber O-ring (cross-sectional diameter 2mm), which ensures fluid sealing (pressure resistance ≥25MPa). In order to simplify the disassembly operation, a hexagonal wrench plane (opposite side distance 20mm) is arranged in the middle of the spray head 105, which can be replaced by using a hexagonal wrench or manually twisting. The disassembly time of a single spray head 105 is ≤30 seconds. Some models are optimized to be quick insertion type structure, which realizes blind insertion docking through buckles and positioning pins, and can be fixed without tools. The fan-shaped nozzle for spraying foam is a special component for foam generation and spraying, which is made of modified PP engineering plastic (temperature resistance 80℃) or 304 stainless steel, and has a streamlined structure as a whole. The nozzle is provided with a mixing chamber (volume 5mL) inside, and three spiral flow guide grooves (lead 8mm) are distributed in the chamber, which can make high-pressure water and foam liquid (mixed in a ratio of 1:10) fully rotate and emulsify in the chamber to form fine foam (bubble diameter 0.1-0.5mm). The nozzle outlet is a fan-shaped opening (hole diameter 3mm), and the spray angle is fixed at 60°. When the spray distance is 1.5-2m, the foam coverage width can reach 1.2m, and the foam spraying amount per hour is about 80L. The high-pressure straight jet nozzle for flushing is a high-strength decontamination component, which can be made of silicon carbide ceramic valve core and 316 stainless steel shell (hardness HRC45), which can withstand 15-20MPa high-pressure water flow impact, avoiding jet dispersion caused by hole diameter wear after long-term use. The nozzle inside is a straight hole type flow channel (hole diameter 1.2-1.5mm), and the inner wall of the flow channel is polished (roughness Ra≤0.8μm), which ensures that the water flow is columnar and straight (jet diffusion angle ≤5°), and the range can reach 3-4m, and the water flow impact force at a distance of 30cm from the vehicle body is ≥80N. The fan-shaped wide-angle nozzle for blowing / drying is a multi-working-condition adaptive component, which is made of 304 stainless steel by integral forging (temperature resistance 300℃), and can be compatible with compressed air and low-temperature steam (temperature ≤120℃). The nozzle inside is a gradually expanding flow channel (inlet hole diameter 8mm, outlet hole diameter 12mm), and the outlet is a fan-shaped opening with a spray angle of 120°, which ensures that the medium is sprayed in a wide-angle surface shape. When compressed air (pressure 0.6-0.8MPa) is introduced, the air flow velocity can reach 50m / s, and the blowing width at a distance of 50cm from the vehicle body is 1.8m, and the blowing time per square meter of vehicle body is ≤15 seconds. When low-temperature steam is introduced, the steam can uniformly cover the surface of the vehicle body, avoiding ice formation (winter scene) and softening stubborn dirt (auxiliary cleaning) through heat.

[0051] For example, when the sensing system identifies that the vehicle to be cleaned is a concrete mixer truck (with a large amount of dry cement and oil stains attached to the body), the operator first replaces all the nozzles 105 on the telescopic arm with foam fan nozzles, the central controller controls the high-pressure water pipe 107 to be linked with the foam liquid pipe, and the foam is uniformly sprayed to the body through the nozzles. After 3 minutes of standing for the cement to soften, all the foam nozzles are replaced with high-pressure straight jet nozzles. The controller controls the nozzles to spray at a high pressure of 20 MPa to the key areas of the dry cemented mixing tank body according to the stain distribution feedback by the camera, and to spray at a pressure of 15 MPa to the lighter oil stains on the side of the cab; after the cleaning is up to the standard, the high-pressure straight jet nozzles are replaced with fan wide-angle nozzles, the compressed air pipe 106 is connected, and the tank body maintenance hole, tire gap and other parts prone to water accumulation are quickly dried by 120° wide-angle airflow. The whole process realizes the quick switching of the nozzles 105 through the replaceable structure, without the need to stop and adjust the pipeline, and the cleaning efficiency can be effectively improved compared with the fixed nozzles 105.

[0052] Through the implementation of the above embodiments, the nozzles 105 are designed as a replaceable structure, which can be flexibly switched between foam spraying, high-pressure washing and blowing / drying / steam modes, realizing the integration of cleaning and blowing; this function effectively reduces the configuration redundancy of the equipment, so that a single device can complete multiple processes, saves the site and investment cost, and solves the problem of non-integration of cleaning and blowing in traditional systems.

[0053] In some embodiments, the outside of the imaging camera 109 is provided with a self-cleaning rotary arm driven by compressed air, which is used to periodically spray air to remove water stains and dirt on the lens.

[0054] In some examples, the self-cleaning rotary arm is an automatic cleaning device installed on the outside of the imaging camera 109, which is made of 304 stainless steel and is bent into an L-shaped structure (total length 150 mm), including a fixed seat, a rotary arm and a gas nozzle; the end of the rotary arm extends vertically downward by 50 mm, and a copper gas nozzle (hole diameter 1.5 mm) is installed at the end, the nozzle axis forms a 30° angle with the plane of the camera lens, ensuring that the airflow can cover all areas from the center to the edge of the lens; the rotary power of the rotary arm comes from a miniature pneumatic motor (working pressure 0.4-0.6 MPa) driven by compressed air, the motor is engaged with the rotary arm shaft through a gear set, driving the rotary arm to rotate at a speed of 60 r / min, and the single cleaning rotation angle is 180° (from the left side of the lens to the right side); the fixed seat is provided with an air inlet interface, which is connected with the compressed air pipe 106 of the parallel pipeline system through a PU hose (inner diameter 6 mm), and an electromagnetic control valve is arranged on the pipeline to control the opening and closing of the pipeline; the self-cleaning rotary arm is used to comprehensively remove stains on the surface of the lens through the combined action of mechanical rotation and airflow spraying, solving the problem of imaging blur caused by water mist and dirt attachment in the car washing environment.

[0055] For example, when the mobile car washer 10 is washing a dump truck, the high-pressure water stream and the splashed mud points frequently adhere to the lens of the imaging camera 109, causing the image clarity returned by the camera to decrease (pollution level up to 60%). After the central controller receives the pollution warning from the image recognition module, it immediately opens the electromagnetic control valve of the self-cleaning rotating arm, and compressed air enters the air jet nozzle through the pipeline, while the pneumatic motor drives the rotating arm to rotate from the left side of the lens to the right side at a speed of 60 r / min. The high-speed airflow peels off the mud points and water stains on the surface of the lens layer by layer during the rotation, and after 2 seconds, the rotating arm returns to the initial position, the electromagnetic control valve is closed, and the cleaning is completed. At this time, the image clarity of the camera re-taken image is restored to more than 95%, accurately identifying the remaining stubborn stain positions on the vehicle body, providing accurate data for the adjustment of the multi-stage telescopic arm spray head 105, and ensuring the pertinence and effectiveness of subsequent cleaning operations. During the continuous cleaning of 10 vehicles, the self-cleaning rotating arm triggered cleaning 12 times (including 2 forced cleanings), and the lens remained in a clear imaging state.

[0056] Through the implementation of the above embodiments, the imaging camera 109 is provided with a compressed air-driven self-cleaning rotating arm outside, which can periodically spray air to remove water stains and dirt on the lens, ensuring that the camera remains clear and clear for a long time. This measure significantly improves the stability and reliability of the perception system, avoiding the problem of decreased control accuracy caused by blocked visual recognition.

[0057] In some embodiments, a non-contact distance measuring sensor is integrated on the mobile support, which is used to monitor the distance between the non-contact distance measuring sensor and the vehicle body in real time when the multi-stage telescopic arm assembly 104 is extended, and feedback to the servo motor for anti-collision closed-loop control.

[0058] In some examples, the non-contact distance sensor is a distance detection device integrated on the mobile bracket, which adopts the laser triangulation ranging principle, and the main body is in a cylindrical structure. The outer shell is made of ABS engineering plastic (with a waterproof coating on the surface), which can withstand water mist, dust and slight vibration in the car washing environment. The front end of the non-contact distance sensor is provided with a laser emission window (wavelength 650 nm, power ≤ 1 mW) and a receiving window (equipped with a high-sensitivity CMOS image sensor). The internal signal processing chip (response time ≤ 5 ms) can output distance data (measurement accuracy ± 1 mm, resolution 0.1 mm) within a detection range of 50 mm-500 mm. The non-contact distance sensor can be fixed to the side of the mobile bracket facing the vehicle body (100 mm away from the fixed end of the multi-stage telescopic arm assembly 104) through M3 threads, and the detection axis is parallel to the extension direction of the telescopic arm, which ensures that the measurement data reflects the actual distance between the telescopic arm and the vehicle body. The non-contact distance sensor is connected to the IO interface of the central controller through a shielded cable (length 2 m), which can feedback the distance change in real time. The core function of the non-contact distance sensor is to provide accurate distance parameters for the anti-collision control, so as to avoid rigid contact between the multi-stage telescopic arm assembly 104 and the vehicle body (such as rearview mirror, side light, cargo box guardrail and other protruding parts) during extension or movement. The anti-collision closed-loop control is a dynamic adjustment system based on distance feedback, which consists of a non-contact distance sensor, a central controller, a servo motor driver and an execution mechanism (servo motor of the mobile bracket, hydraulic valve group of the multi-stage telescopic arm). Three preset safety thresholds can be set: warning distance (150 mm), deceleration distance (100 mm) and stop distance (50 mm), which can be manually adjusted through the robot interface of the controller. The non-contact distance sensor collects distance data from the vehicle body in real time and transmits it to the controller. The controller compares the measured distance with the preset threshold. If the distance is greater than the warning distance, the system remains in the current motion state (telescopic arm normally extended, mobile bracket normally moved). If the distance decreases to between the warning distance and the deceleration distance, the controller sends a deceleration command (speed reduced to 50% of the rated value) to the servo motor driver. If the distance is less than the deceleration distance and greater than the stop distance, the speed is reduced to 20% of the rated value. If the distance reaches or is less than the stop distance, the controller immediately outputs a stop signal, cutting off the power of the servo motor and the hydraulic valve group, and triggering the audible and visual alarm (buzzer ringing + warning light flashing). The system can be restarted only after the operator confirms the safety (by pressing the reset button to disable the alarm) or the distance is restored to above the warning distance due to changes in the vehicle body position.

[0059] Through implementation of the above-mentioned embodiments, the non-contact distance measuring sensor is integrated on the mobile support, the distance between the arm end and the vehicle body can be monitored in real time when the telescopic arm is extended, and the data is fed back to the servo motor for closed-loop control; the scheme effectively avoids the collision risk of the spray head 105 and the vehicle body, ensures the operation safety, improves the precision and intelligent level of the telescopic arm control, and solves the problem of insufficient intelligent control of the traditional equipment.

[0060] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A mobile car wash machine, characterized in that, include: A mobile base that can be towed or self-propelled; A modular gantry frame is fixedly installed on the mobile base. The crossbeam of the modular gantry frame has a hollow structure inside, forming a sealed accommodating cavity. A pair of horizontal slide rails are installed parallel to each other at the bottom of the gantry beam; At least one pair of movable supports driven by servo motors, the movable supports being slidably connected to the horizontal slide rail via sliders; A multi-stage telescopic boom assembly, the fixed end of which is hinged to the movable support, the working end of which extends horizontally to both sides of the modular gantry, the interior of which is provided with a fluid channel, and multiple nozzles arranged in a matrix on the outer side wall of which are multi-stage telescopic boom assembly. A parallel piping system is integrated into the accommodating cavity of the modular gantry. The parallel piping system includes a high-pressure water pipe, a compressed air pipe, and a steam tracing pipe. The parallel piping system is selectively connected to the fluid channel of the multi-stage telescopic boom assembly through a rotary pneumatic-hydraulic linkage valve. The sensing system includes radar sensors and imaging cameras mounted on the modular gantry.

2. The mobile car wash machine according to claim 1, characterized in that, The multi-stage telescopic arm assembly includes a first telescopic arm and a second telescopic arm arranged side by side and controlled independently. The working end of the second telescopic arm has a V-shaped forked structure, forming a first nozzle group and a second nozzle group facing both sides simultaneously.

3. The mobile car wash machine according to claim 1, characterized in that, The steam tracing pipe is a covered pipe, and the pipe wall of the steam tracing pipe is attached to and wrapped around the outer wall of the high-pressure water pipe.

4. The mobile car wash machine according to claim 3, characterized in that, The inlet end of the steam tracing pipe is connected to a heat exchanger, which is used to preheat the cold water entering the high-pressure water pipe using compressed air from the compressed air pipe.

5. The mobile car wash machine according to claim 1, characterized in that, The rotary gas-liquid linkage valve has a valve core integrated with a pulse modulation module, which is used to convert continuous fluid into a pulse jet and eject it from the nozzle.

6. The mobile car wash machine according to claim 1, characterized in that, The mobile base is equipped with hydraulic leveling feet and omnidirectional rollers at its four corners. The hydraulic leveling feet are used to lift the omnidirectional rollers off the ground, thus stably supporting the mobile car wash machine on uneven ground.

7. The mobile car wash machine according to claim 1, characterized in that, The modular gantry frame is assembled from multiple standard sections by bolts. The standard sections of the modular gantry frame beam have pre-embedded standardized interfaces for connecting with the horizontal slide rail and the parallel pipeline system.

8. The mobile car wash machine according to claim 1, characterized in that, The nozzle is a replaceable structure and includes at least one of a fan-shaped nozzle for spraying foam, a high-pressure direct nozzle for rinsing, and a fan-shaped wide-angle nozzle for drying / steaming.

9. The mobile car wash machine according to claim 1, characterized in that, The imaging camera is equipped with a self-cleaning rotating arm driven by compressed air on its outer side, which is used to periodically spray air to remove water stains and dirt from the lens.

10. The mobile car wash machine according to claim 1, characterized in that, The mobile support is equipped with a non-contact distance sensor, which is used to monitor the distance between the non-contact distance sensor and the vehicle body in real time when the multi-stage telescopic arm assembly extends, and feeds back to the servo motor for anti-collision closed-loop control.

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