Pre-arranged hidden type full-automatic intelligent cleaning mechanical device for interior trim of automobile before leaving factory and control method of pre-arranged hidden type full-automatic intelligent cleaning mechanical device

Abstract

The invention relates to the field of intelligent cleaning of automotive interiors, in particular to a concealed intelligent cleaning system for automotive interiors, which is mounted in a central armrest box of an automobile and comprises a lifter, a multi-joint mechanical arm, a multifunctional integrated cleaning actuator, a sensor and a cleaning control method. The elevator adopts a servo motor to drive a worm gear, a worm and a lead screw nut mechanism. And the mechanical arm adopts a mechanical arm with five or more shafts and an integrated joint module. The cleaning actuator comprises a cleaning wiping sponge, a structured light 3D camera, a clear water and cleaning agent spray head, a dust suction pipe and other modules. The sensors comprise a pressure sensor, a water quality cleanliness sensor, an attitude sensor and an infrared sensor. According to the cleaning control method, the controller is connected with the motors and the sensors, the mechanical arm is controlled to complete 360-degree dead-corner-free cleaning of the automotive trim according to a preset delivery path of the automobile, in-automobile space model data and a cleaning scheme generated after scanning detection, and an automobile owner can clean the automotive trim in a full-intelligent mode at any time.

Description

I. Technical Field

[0001] This invention relates to the field of automotive cleaning equipment technology, specifically to a mechanical device and its control method for a pre-installed, concealed, fully automatic intelligent cleaning system for automotive interiors. II. Background Technology

[0002] As people's living standards improve, their demands for car interior cleaning are also increasing. Currently, car interior cleaning mainly relies on manual operation, which is not only time-consuming and labor-intensive, but the cleaning effect may also vary depending on the operator's skill and diligence. Furthermore, in some special circumstances, such as when car owners do not have the time or resources for manual cleaning, the car interior cannot be cleaned promptly and effectively.

[0003] While some car interior cleaning devices have emerged on the market, most are standalone external devices that require additional carrying and installation, making them inconvenient to operate and taking up space inside the vehicle. Furthermore, these devices typically cannot effectively interact with the car's internal systems, hindering their ability to perform intelligent cleaning based on the specific conditions of the car's interior.

[0004] Therefore, developing a factory-installed, concealed, fully automatic intelligent cleaning device for automotive interiors that can automatically and intelligently clean the interior without taking up extra space and interacting well with the vehicle's systems is of significant practical importance. III. Summary of the Invention

[0005] (I) Purpose of the Invention

[0006] The purpose of this invention is to provide a fully automatic intelligent cleaning device for automotive interiors, which solves the shortcomings of existing automotive interior cleaning methods, achieves automatic, intelligent and efficient cleaning of automotive interiors, does not occupy additional interior space, and can effectively interact with the automotive internal system.

[0007] (II) Technical Solution

[0008] 1. Mechanical structure component mounting carrier: This device is installed in the center armrest box between the backrests of the driver and passenger seats in the car. It has a retractable and foldable function and can be hidden in the armrest box without taking up extra space in the car.

[0009] The lifting mechanism is driven by a servo motor, which operates a worm gear and lead screw mechanism to raise and lower the robotic arm. A guide rod provides auxiliary guidance. The servo motor is connected to the controller via a communication line to precisely control the lifting height of the robotic arm.

[0010] Water tanks: Two holes are machined on the base plate of the robotic arm to install two water tanks for cleaning and placing cleaning sponges, so that the sponges can be cleaned at any time during the cleaning process and placed after cleaning is completed.

[0011] Multi-joint robotic arm: Mounted on the robotic arm base plate, it adopts an integrated joint module with 5 or more axes. Each joint module is connected to the controller via communication lines, enabling the robotic arm to move flexibly and reach various cleaning areas inside the vehicle. Some arms are equipped with a lead screw and nut mechanism, driven by a servo motor to extend the arm's range of motion. This servo motor is also connected to the controller via communication lines.

[0012] Multifunctional integrated cleaning actuator: Located at the front end of the robotic arm, it integrates a cleaning sponge, a binocular structured light 3D camera, a water nozzle, a detergent nozzle, a vacuum hose, and other functional modules. These modules work together to achieve multiple cleaning functions for the car interior. The binocular structured light 3D camera, water nozzle motor, detergent nozzle motor, and vacuum hose motor are also connected to the controller via communication lines.

[0013] 2. Sensor Components

[0014] It includes a binocular structured light 3D camera mounted on a multi-functional integrated actuator; a pressure sensor embedded near the edge of the cleaning sponge with a waterproof isolation layer and elastic cushioning structure; a water quality sensor placed at the bottom of the cleaning and sponge placement tank; a posture sensor mounted on the multi-joint robotic arm; and infrared sensors mounted at the top and bottom points of the elevator. All sensors interact with the controller via communication lines, providing real-time data support for the cleaning process.

[0015] 3. Controller and Control Method

[0016] Located below the dashboard in the car's center console, it is connected to the aforementioned components via communication lines and executes the following control methods based on a preset program:

[0017] Start-up and preparation:

[0018] In response to the owner's one-click start of the interior cleaning operation, the screen displays a pre-set interface for selecting the cleaning areas and order of the car's interior. The owner can choose the cleaning areas and order. After the owner completes the selection, the system provides voice prompts regarding tidying up items and cleaning the door frames, allowing the owner to decide whether to clean the door frames. After the owner confirms and gets out of the car, the system begins the preparation process, opening the center console lid and raising the robotic arm via the servo motor. The servo motor stops when the arm reaches the infrared high point detection height. Then, the servo motors and reducers of each joint module of the robotic arm extend it to the working posture, while the electric cylinder at the front of the robotic arm drives the binocular structured light 3D camera to the working position.

[0019] Contamination Detection and Solution Planning:

[0020] Based on the pre-set detection and scanning path of the car and the obstacle avoidance posture of the robotic arm, the robotic arm is driven to move and scan the dirt and grime inside the car using a binocular structured light 3D camera, transmitting the data to the controller. The controller combines the received dirt and grime data with the pre-set digital model of the car's interior structure and space, material information, and conventional cleaning solutions to generate a customized cleaning plan, including but not limited to cleaning path, intensity, water and detergent usage parameters, vacuuming parameters, and special dirty area treatment strategies.

[0021] Cleaning execution and real-time adjustments:

[0022] According to the generated cleaning plan, the actuators of the robotic arm joint module motors and telescopic mechanism servo motors are driven to reach the corresponding water tank, where they are gripped by an electromagnetic chuck and moved to the cleaning position to complete the wiping action. Simultaneously, the vacuum cleaner motor, water spray motor, and cleaning agent spray motor are driven to perform vacuuming and spraying operations at designated locations. During the cleaning process, the cleaning intensity is optimized in real time based on feedback from the pressure sensor, and dangerous postures of the robotic arm are corrected using data from the attitude sensor.

[0023] Cleaning, component maintenance and replacement:

[0024] Based on preset conditions, such as the duration of sponge wiping or the degree of dirtiness, the robotic arm actuator is driven to the water tank for cleaning. The water pump controls the water tank's filling and draining processes, as well as the sponge's water absorption and squeezing processes. A water quality cleanliness sensor provides feedback to determine whether to stop cleaning. When cleaning different areas, the electromagnetic chuck is controlled to switch between a disc-type sponge and a roller-type sponge.

[0025] Follow-up and termination procedures:

[0026] After the initial cleaning, the robotic arm is activated again to inspect the interior for dirt and grime, and the cleaning process is replanned and executed as needed. A binocular structured light 3D camera on the actuator is used to check for water stains in specific areas; if any are found, the sponge is activated to wipe them again. After cleaning, the sponge is washed and wrung out in a water tank, then dried by the car's air conditioning vents and returned to the water tank. Throughout the cleaning process, the car owner can pause or stop the cleaning via voice or button. Once cleaning is complete, the robotic arm folds and retracts to a preset position, the lift descends to the lowest infrared position, and the center console lid is closed.

[0027] Equipment collaborative processing:

[0028] Connected to the car's computer, when it detects that the cleaning process triggers the activation of relevant car functions, such as air conditioning, screen, and music, it will coordinate with the car's computer to shut down the relevant functions according to a preset plan.

[0029] (III) Beneficial Effects

[0030] 1. Automatic Intelligent Cleaning: By integrating multiple sensors and intelligent control methods, it can automatically generate a cleaning plan based on the dirt level of the car interior and adjust the cleaning intensity and path in real time to achieve efficient and intelligent cleaning results.

[0031] 2. Concealed design: The device is installed inside the center armrest box, without taking up extra space in the vehicle, and has a retractable and foldable function to keep the interior of the vehicle neat and beautiful.

[0032] 3. Multifunctional integration: The multifunctional integrated actuator combines multiple cleaning function modules to meet the cleaning needs of different materials and parts of the car interior.

[0033] 4. Device Collaboration: Connects with the car's internal systems to collaboratively handle car functions triggered during the cleaning process, avoiding interference with the cleaning work and improving the user experience. IV. Description of the attached drawings

[0034] 1. Figure 1 The image shows a rendering of a robotic arm installed in the interior of a car, illustrating its placement within the center console between the driver and passenger seatbacks.

[0035] 2. Figure 2 This image shows the robotic arm in its deployed working state, illustrating the overall effect of the mechanical device after the robotic arm is deployed.

[0036] 3. Figure 3 : A perspective view of the internal structure of the robotic arm housing, showing the structure and layout of components such as the joint modules and lead screw and nut mechanisms inside the robotic arm.

[0037] 4. Figure 4 The structural diagram of the elevator shows in detail the servo motor, worm gear, lead screw and nut, and guide rod of the elevator.

[0038] 5. Figure 5 The diagram shows the structure of a multi-functional integrated cleaning actuator, illustrating the distribution and connection of functional modules such as the cleaning sponge, binocular structured light 3D camera, water nozzle, detergent nozzle, and vacuum hose on the actuator.

[0039] 6. Figure 6 Exploded diagrams of disc-type and roller-type sponges

[0040] 7. Figure 7 The image shows the device in its retracted and folded state, concealed from view.

[0041] 8. Figure 8 Diagrams of water tanks for roller-type and disc-type cleaning sponges.

[0042] 9. Figure 9The diagram shows the connection between the controller, mechanical devices, and sensors, clearly illustrating the connection relationships between the controller, mechanical components, and sensor components via communication lines.

[0043] In the diagram: 1. Lift; 2. Robotic arm; 3. Multifunctional integrated cleaning actuator; 101. Servo motor; 102. Worm gear; 103. Worm wheel; 104. Lead screw; 105. Nut; 106. Lift base; 107. Lift guide column; 108. Robotic arm base plate; 109. Roller-type sponge water tank; 110. Disc-type sponge water tank; 111. Strainer; 112. Water pipe; 113. Overflow valve; 201. Joint module one; 202. Joint module two; 203. Joint module three; 204. Lead screw and nut telescopic mechanism one; 205. Joint module four; 206. 207. Rod nut telescopic mechanism II; 301. Joint module V; 302. Actuator center seat; 303. Telescopic electric cylinder; 304. Fixed seat; 305. Mounting ring; 306. Actuator guide post; 307. Electromagnetic chuck; 308. Cleaning sponge module; 309. Binocular structured light 3D camera; 310. Water nozzle; 311. Cleaning agent nozzle; 312. Vacuum suction pipe; 313. Actuator protective cover; 314. Disc-type cleaning sponge; 315. Disc-type silicone disc; 316. Sponge fixing seat; 317. Roller-type cleaning sponge; 318. Roller-type silicone seat; 319. Sponge fixing seat V. Detailed Implementation Methods

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, not all embodiments, and do not limit the technical scope of the present invention in any way. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, replace, modify, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions are also within the scope of protection of the present invention.

[0045] (I) Implementation methods of mechanical structure components 1. Mounting carrier

[0046] The central armrest box is specially designed with sufficient internal space for installing this device. The lifting base 106 of the device is fixed to the bottom plate of the armrest box using bolts or other methods. When the device is retracted or folded (e.g., Figure 7As shown, it can be completely hidden inside the armrest box, and when the armrest box lid is closed, it blends seamlessly with the interior trim. Infrared sensors are installed on the inner side of the center armrest box at the low and high points of the lift mechanism.

[0047] 2. Elevator

[0048] A servo motor 101, fixed to the lifting platform base 106, is connected to a worm gear 103 and worm shaft 102 mechanism, as well as a lead screw 104 and nut 105 mechanism. A robotic arm base 108 is mounted above the nut 105, and two lifting platform guide columns 107 are also installed. The rated torque of the servo motor meets the load requirements for the robotic arm's lifting. The worm gear mechanism has a large reduction ratio and self-locking performance, ensuring the stability and safety of the robotic arm during lifting. The lead screw of the lead screw and nut mechanism uses a high-precision ball screw to improve transmission efficiency and accuracy. The guide rod is made of a material with high straightness and good wear resistance, and connects the lifting platform base and the robotic arm base through a guide sleeve to ensure the straightness of the robotic arm during lifting.

[0049] 3. Multi-joint robotic arm

[0050] The robotic arm employs integrated joint modules with 5 or more axes to achieve precise motion control of each joint. Internally, it houses integrated joint modules 201, 202, 203, 205, and 207, and telescopic mechanisms 204 and 206. These integrated joint modules utilize high-performance servo motors and precision reducers, such as harmonic reducers and planetary reducers, to achieve precise motion control of each joint. An encoder is integrated within the joint module to provide real-time feedback of joint angle information, facilitating precise control by the controller. The screw and nut mechanism within the arm uses a miniature ball screw, with the servo motor connected to the screw via a coupling to achieve the arm's telescopic movement, expanding the robotic arm's working range.

[0051] 4.Sink

[0052] Two water tanks 109 and 110 are installed on the robotic arm base 108 for cleaning and holding cleaning sponges. A strainer is installed about 10mm above the bottom of the water tank. The water pipes at the bottom of the water tanks are connected to the clean water tank and the dirty water tank via a water pump. An overflow valve 113 is connected to the water tank via a water pipe. When the water level exceeds the overflow valve 113, the excess water flows back to the water tank through the overflow valve.

[0053] 4. Multifunctional integrated actuator

[0054] An electromagnetic chuck 306 and a cleaning sponge module 307 are installed at the foremost end of the actuator center seat 301 at the end of the multi-axis robotic arm.

[0055] Cleaning sponge module 307 is like Figure 6 The two types shown are disc-shaped sponges and roller-shaped sponges;

[0056] The sponge fixing bases 315 and 318 have grooves to fix the disc-type silicone plate 314 and the roller-type silicone base 317.

[0057] The disc-type silicone disc 314 and the roller-type silicone seat 317 are forcibly inserted into the grooves of the sponge fixing seats 315 and 318 by bending.

[0058] Holes are made in the grooves of the sponge fixing seats 315 and 318 to facilitate the use of tools such as screwdrivers to push through the holes and remove the disc-type silicone plate 314 and the roller-type silicone seat 317 for replacement.

[0059] The sponge holders 315 and 318 are made of magnetically adsorbable materials;

[0060] The disc-shaped cleaning sponge 313 and the roller-shaped cleaning sponge 316 are respectively glued and fixed to the disc-shaped silicone disc 314 and the roller-shaped silicone base 317.

[0061] A binocular structured light 3D camera 308, a water nozzle 309, a cleaning agent nozzle 310, and a vacuum cleaner pipe 311 are distributed around the cleaning sponge module 307.

[0062] The binocular structured light 3D camera 308, the water nozzle 309, the cleaning agent nozzle 310, and the vacuum cleaner pipe 311 are mounted and fixed on the mounting ring 304.

[0063] The push rods of the two telescopic electric cylinders 302 are connected and fixed to the mounting ring 304;

[0064] The fixed base 303 and the four actuator guide posts 305 provide sliding guidance for the mounting ring 304;

[0065] Actuator guard 312 provides protection for the entire multi-functional integrated cleaning actuator;

[0066] The cleaning sponges are made of high-density, highly absorbent sponge material. Disc-type and roller-type sponges are available to suit different cleaning areas. A high-precision, high-resolution binocular structured light 3D camera is used to quickly and accurately acquire three-dimensional information of the vehicle's interior surfaces for detecting dirt and planning cleaning paths. Water and detergent nozzles feature excellent atomization, with a micro-pump controlling the water and liquid spray volume. A vacuum hose connects to a small, high-efficiency vacuum cleaner to ensure effective cleaning. All functional modules are integrated via a fixed ring, and a small linear electric cylinder precisely controls the position of the fixed ring, allowing each module to switch between working and non-working positions.

[0067] (II) Implementation of Sensor Components 1. Pressure Sensor

[0068] The pressure sensor is a waterproof, pressure-resistant thin-film pressure sensor, installed inside the cleaning sponge near the edge. A waterproof rubber membrane is adhered to the contact area between the sponge and the pressure sensor as a waterproof barrier to prevent cleaning water from entering the sensor. Simultaneously, a layer of elastic silicone material is filled around the pressure sensor as a cushioning structure to prevent damage from excessive pressure during the sponge's drying process.

[0069] 2. Binocular structured light 3D camera

[0070] The camera is mounted on a fixed ring on the outer edge of the cleaning sponge of the multi-functional integrated actuator using a dedicated camera bracket, ensuring that the camera's field of view covers the cleaning area. The camera connects to the controller via a high-speed data transmission cable, transmitting the acquired image data in real time.

[0071] 3. Water cleanliness sensor

[0072] An optical water quality cleanliness sensor is selected and installed at the bottom of the water tank. It determines the cleanliness of the water by detecting the scattering and absorption characteristics of light. The sensor is connected to the controller via a waterproof cable, providing real-time feedback of water quality data.

[0073] 4. Attitude sensor

[0074] An inertial measurement unit (IMU) is used as an attitude sensor and installed at key joints of the multi-joint robotic arm to measure the arm's attitude information in real time, including angles and angular velocities. The IMU connects to the controller via SPI or I2C bus to transmit attitude data to the controller for processing.

[0075] 5. Infrared sensor

[0076] A pair of infrared beam sensors are installed at the top and bottom of the elevator to detect the lifting position of the robotic arm. When the robotic arm rises or falls to the set position, the infrared light from the sensors is blocked or restored, resulting in a signal change. The controller then uses this signal to stop or start the elevator's servo motor.

[0077] (III) Implementation of Controller and Control Method 1. Controller Hardware

[0078] The controller boasts powerful data processing capabilities and a rich set of peripheral interfaces, enabling it to meet the communication and computational needs of various components and complex control methods. It is also equipped with a storage chip of a certain capacity to store pre-set digital models of the automotive interior structural space, material information, routine cleaning plans, and data generated during the cleaning process.

[0079] 2. Control methods

[0080] Start-up and preparation:

[0081] (1) The car owner can start the interior cleaning operation with one button;

[0082] (2) The control system triggers the screen to display the pre-set car interior cleaning area and cleaning sequence selection interface, and the car owner can select the cleaning area and cleaning sequence.

[0083] (3) After the car owner completes the selection, the control system will prompt the car owner to organize the items to avoid too many items forming obstacles and affecting the cleaning effect;

[0084] (4) The control system will prompt the car owner to open the car door to clean the door frame and to be careful to prevent the cleaning device and the door from being damaged by external force during the cleaning process. The car owner can decide whether to clean the door frame.

[0085] (5) After the vehicle owner confirms and gets out of the vehicle, the system starts the preparation process;

[0086] (6) The control system drives the central armrest box cover to open;

[0087] (7) The control system drives the servo motor of the elevator to raise the robotic arm. When the arm reaches the infrared high point detection height, the servo motor stops.

[0088] (8) The control system extends the robotic arm to its working posture by driving the motors and reducers of each joint module of the robotic arm;

[0089] (9) The control system drives the binocular structured light 3D camera to the working position through the electric cylinder at the front end of the robotic arm.

[0090] Contamination Detection and Solution Planning:

[0091] (1) The control system drives the robotic arm to move according to the detection and scanning path and obstacle avoidance posture of the robotic arm, based on the pre-set detection and scanning path of the car and the obstacle avoidance posture of the robotic arm. It drives the binocular structured light 3D camera to scan the dirt and grime inside the car and transmits the data to the controller.

[0092] (2) The control system combines the received dirt data, the pre-set digital model of the car interior structure space, material information and conventional cleaning plan to generate a customized cleaning plan, which includes cleaning path, intensity, water and cleaning agent usage parameters, vacuuming parameters and special dirt area treatment strategies.

[0093] Cleaning execution and real-time adjustments:

[0094] (1) According to the cleaning plan, the controller sends motion control commands to the servo motors of each joint module of the robotic arm and the servo motors of the telescopic mechanism, so that the actuator accurately reaches the water tank position and then magnetizes the electromagnetic chuck and grabs the disc-type cleaning sponge module.

[0095] (2) The controller drives the water pump to add water to the water tank where the disc-shaped cleaning sponge is placed, and then the sponge absorbs water and then the water is drained.

[0096] (3) The controller drives the disc-shaped cleaning sponge to press down onto the strainer and continues to press down to the preset pressure value sensed by the pressure sensor, so as to squeeze out the water from the cleaning sponge. The squeezed water flows through the strainer to the bottom of the water tank;

[0097] (4) The controller drives the water pump to continue pumping the water dry;

[0098] (5) The controller drives the cleaning sponge of the robotic arm and actuator to the cleaning area to begin cleaning;

[0099] (6) The controller sends control signals to the vacuum cleaner motor, water spray motor and cleaning agent spray motor, and performs vacuuming, water spraying and cleaning agent spraying operations according to the parameters of the cleaning plan;

[0100] (7) During the cleaning process, the pressure sensor detects the sponge wiping pressure in real time and transmits the pressure data to the controller. The controller optimizes the cleaning intensity in real time by adjusting the motion parameters of the robotic arm joint module according to the preset pressure threshold;

[0101] (8) The attitude sensor monitors the attitude of the robotic arm in real time. When a dangerous attitude that may cause a collision is detected, the controller quickly adjusts the movement of each joint of the robotic arm to correct the attitude.

[0102] Cleaning, component maintenance and replacement:

[0103] (1) The controller records the wiping time of the sponge by a timer, or scans and cleans special dirty areas to determine whether the sponge needs to be cleaned.

[0104] (2) When cleaning is required, the controller controls the robotic arm to move the actuator above the water tank. At the same time, the control system sends a command to the water pump to open the water passage between the clean water tank and the water tank, allowing water to be added to the tank. After the water has been added for the time set by the controller, the water pump stops working. If too much water is added, the water will flow out through the overflow valve.

[0105] (3) Control each joint module of the robotic arm to make the sponge soak in the water tank to absorb water.

[0106] (4) The controller controls the water pump to drain the water from the tank.

[0107] (5) By controlling the joint module of the robotic arm, the disc-shaped sponge is pressed down to the bottom of the water tank to squeeze, or the roller-shaped sponge is rolled against the side wall of the water tank to squeeze the sponge dry. The squeezed-out dirty water flows to the bottom of the water tank through the strainer.

[0108] (6) The controller restarts the water pump to discharge the dirty water.

[0109] (7) The controller controls the repeated processes of adding water, absorbing water, squeezing water, and draining water until the water quality cleanliness sensor detects that the water quality meets the standard.

[0110] (8) When cleaning different areas, the controller sends on / off magnetic signals to the electromagnetic chuck according to the cleaning plan to switch between disc sponge and roller sponge.

[0111] Follow-up and termination procedures:

[0112] (1) After the first cleaning is completed, the controller controls the binocular structured light 3D camera to scan the interior of the vehicle again to analyze whether there are still dirty areas. If so, a new cleaning plan is generated and the cleaning operation is performed until all areas inside the vehicle are clean.

[0113] (2) After cleaning, the controller controls the robotic arm to move the sponge into the water tank to clean it and squeeze it dry. Then, the controller controls the robotic arm to move the sponge to the car air conditioning vent. By communicating with the car system, the heater is turned on to dry the sponge. Finally, the sponge is put back into the water tank.

[0114] (3) During the entire cleaning process, if the car owner issues a pause or stop command through the voice recognition module or operation button, the controller will respond immediately and stop the cleaning operation that is currently being performed.

[0115] (4) After cleaning, the controller drives the robotic arm to fold and store, and sends a descent command to the elevator servo motor. When the infrared sensor at the bottom of the elevator detects that the robotic arm has descended to the set position, the controller stops sending commands and controls the central armrest box cover to close.

[0116] Equipment Collaborative Processing: The controller establishes a communication connection with the car's computer via the in-vehicle network to monitor the status of the car's internal systems in real time. When it detects that relevant car functions, such as air conditioning, screens, or music, are activated during the cleaning process, the controller sends a command to the car's computer via the in-vehicle network according to a preset processing plan to collaboratively shut down the relevant functions. Through the above specific implementation methods, the fully automatic intelligent car interior cleaning device of the present invention can achieve efficient, intelligent, and convenient car interior cleaning functions, providing users with a better driving experience.

Claims

1. A pre-installed, fully automatic intelligent interior cleaning device and control method for automobiles, characterized in that, The device includes a lift, a multi-joint robotic arm, a multi-functional integrated cleaning actuator, a cleaning water tank, various sensors, and a controller and control method for achieving intelligent cleaning control of the car interior, all installed in the center armrest box between the backrests of the driver and passenger seats in the car; the device is characterized by retracting and folding and being hidden in the car armrest box.

2. The fully automatic intelligent cleaning device and control method for the concealed interior trim pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... The cleaning device is installed entirely in the center armrest box between the backrests of the driver and passenger seats in the car, and has the characteristic of being retractable, foldable and hidden in the armrest box.

3. The fully automatic intelligent hidden interior cleaning device and control method pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... The lifting mechanism is driven by a servo motor, which drives a worm gear and lead screw nut mechanism to lift the robotic arm. A guide rod assists in guidance, and the servo motor is connected to the controller via a communication line.

4. The fully automatic intelligent hidden interior cleaning device and control method pre-installed before the car leaves the factory, as described in claim 1, is characterized in that... The multi-joint robotic arm is mounted on a robotic arm base and uses an integrated joint module with 5 or more axes. Each joint module is connected to the controller via a communication line. Some parts of the arm are equipped with a lead screw and nut mechanism, which is driven by a servo motor to extend and retract the arm to expand its stroke. This servo motor is also connected to the controller via a communication line.

5. The fully automatic intelligent cleaning device and control method for the concealed interior trim pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... The multi-functional integrated cleaning actuator is mounted on the front end of the robotic arm and integrates multiple functional modules, including cleaning sponges (including disc-type and roller-type cleaning sponges), a binocular structured light 3D camera, a water nozzle, a cleaning agent nozzle, a suction hose, a telescopic electric cylinder, an electromagnetic chuck, and other functional modules. Each functional module that needs to be controlled is connected to the controller via a communication line.

6. The fully automatic intelligent cleaning device and control method for the concealed interior trim pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... Two water tanks are installed on the base of the robotic arm, one for cleaning and holding a disc-type cleaning sponge, and the other for holding a roller-type cleaning sponge. A strainer is installed above the bottom of each water tank. Water pipes at the bottom of the tanks are connected to clean water and dirty water tanks via pumps. Overflow valves are installed on the sides of the water tanks.

7. The fully automatic intelligent hidden interior cleaning device and control method pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... The sensor assembly includes a binocular structured light 3D camera mounted on the outer ring of the cleaning sponge of the multi-functional integrated actuator, a pressure sensor embedded in the cleaning sponge, a water quality cleanliness sensor placed at the bottom of the cleaning and sponge placement tank, an attitude sensor mounted on the multi-joint robotic arm, and infrared sensors mounted at the top and bottom of the elevator respectively. All sensors interact with the controller through communication lines.

8. The fully automatic intelligent cleaning device and control method for concealed interior trim pre-installed before the vehicle leaves the factory, as described in claim 1, is characterized in that... The controller, located below the dashboard in the car's center console, is connected to the aforementioned components via communication lines. Based on a preset program, pre-stored scanning and cleaning paths, pre-stored car interior space structure models and material information, and a customized cleaning plan generated after scanning and detection, it executes the following controls: Start-up and preparation: (1) The car owner can start the interior cleaning operation with one button; (2) The control system triggers the screen to display the pre-set car interior cleaning area and cleaning sequence selection interface, and the car owner can select the cleaning area and cleaning sequence. (3) After the car owner completes the selection, the control system will prompt the car owner to organize the items to avoid too many items forming obstacles and affecting the cleaning effect; (4) The control system will prompt the car owner to open the car door to clean the door frame and to be careful to prevent the cleaning device and the door from being damaged by external force during the cleaning process. The car owner can decide whether to clean the door frame. (5) After the vehicle owner confirms and gets out of the vehicle, the system starts the preparation process; (6) The control system drives the central armrest box cover to open; (7) The control system drives the servo motor of the elevator to raise the robotic arm. When the arm reaches the infrared high point detection height, the servo motor stops. (8) The control system extends the robotic arm to its working posture by driving the motors and reducers of each joint module of the robotic arm; (9) The control system drives the binocular structured light 3D camera to the working position through the electric cylinder on the multi-functional integrated cleaning actuator. Contamination Detection and Solution Planning: (1) The control system drives the robotic arm to move according to the detection and scanning path and obstacle avoidance posture of the robotic arm, based on the pre-set detection and scanning path of the car and the obstacle avoidance posture of the robotic arm. It drives the binocular structured light 3D camera to scan the dirt and grime inside the car and transmits the data to the controller. (2) The control system combines the received dirt data, the pre-set digital model of the car interior structure space, material information and conventional cleaning plans to generate customized cleaning plans, including but not limited to cleaning path, speed, force, water and cleaning agent usage parameters, vacuuming parameters and special dirt area treatment strategies. Cleaning execution and real-time adjustments: (1) According to the cleaning plan, the controller sends motion control commands to the servo motors of each joint module of the robotic arm and the servo motors of the telescopic mechanism, so that the actuator accurately reaches the water tank position and then magnetizes the electromagnetic chuck and grabs the disc-type cleaning sponge module. (2) The controller drives the water pump to add water to the water tank where the disc-shaped cleaning sponge is placed, and then the sponge absorbs water and then the water is drained. (3) The controller drives the disc-shaped cleaning sponge to press down onto the strainer and continues to press down to the preset pressure value sensed by the pressure sensor, so as to squeeze out the water from the cleaning sponge. The squeezed water flows through the strainer to the bottom of the water tank; (4) The controller drives the water pump to continue to drain the water from the tank; (5) The controller drives the cleaning sponge of the robotic arm and actuator to the cleaning area and begins cleaning according to the generated customized cleaning plan; (6) The controller sends control signals to the vacuum cleaner motor, water spray motor and cleaning agent spray motor, and performs vacuuming, water spraying and cleaning agent spraying operations according to the parameters of the cleaning plan; (7) During the cleaning process, the pressure sensor detects the sponge wiping pressure in real time and transmits the pressure data to the controller. The controller optimizes the cleaning intensity in real time by adjusting the motion parameters of the robotic arm joint module and the telescopic mechanism according to the preset pressure threshold; (8) The attitude sensor monitors the attitude of the robotic arm in real time. When a dangerous attitude that may cause a collision is detected, the controller quickly adjusts the movement of each joint of the robotic arm to correct the attitude. Cleaning, component maintenance and replacement: (1) The controller records the wiping time of the sponge through a timer, or determines whether the sponge needs to be cleaned based on the condition of the special dirty areas cleaned. (2) When cleaning is required, the controller controls the robotic arm to move the actuator above the water tank. At the same time, the control system sends a command to the water pump to open the water passage between the clean water tank and the water tank, allowing water to be added to the water tank. After the water has been added for the time set by the controller, the water pump stops working. If too much water is added, the water will flow out into the water tank through the overflow valve. (3) The controller controls each joint module of the robotic arm to soak the sponge in the water tank until it is fully saturated with water; (4) The controller controls the water pump to drain the water from the tank; (5) The controller controls the robotic arm joint module to press the disc-shaped sponge cloth down to the bottom of the water tank to squeeze it, or to roll the roller-shaped sponge against the side wall of the water tank to squeeze out the sponge. The squeezed-out dirty water flows to the bottom of the water tank through a strainer; (6) The controller restarts the water pump to discharge the dirty water; (7) The controller controls the repeated processes of adding water, absorbing water, squeezing water, and draining water until the water quality cleanliness sensor detects that the water quality meets the standard. (8) When cleaning different areas, the controller sends on / off magnetic signals to the electromagnetic chuck according to the cleaning plan to switch between disc sponge and roller sponge.

9. Review and Termination Processing: (1) After the first cleaning is completed, the controller controls the binocular structured light 3D camera to scan the interior of the vehicle again to analyze whether there are still dirty areas. If so, the cleaning plan is regenerated and the cleaning operation is performed until all areas inside the vehicle are clean; (2) After cleaning, the controller controls the robotic arm to move the sponge into the water tank to clean it and squeeze it dry. Then, the controller controls the robotic arm to move the sponge to the car air conditioning vent. By communicating with the car system, the heater is turned on to dry the sponge. Finally, the sponge is put back into the water tank. (3) During the entire cleaning process, if the car owner issues a pause or stop command through the voice recognition module or operation button, the controller will respond immediately and stop the cleaning operation that is currently being performed. (4) After cleaning, the controller drives the robotic arm to fold and store, and sends a descent command to the elevator servo motor. When the infrared sensor at the bottom of the elevator detects that the robotic arm has descended to the set position, the servo motor stops and the central armrest box cover is closed.

10. Equipment Collaborative Processing: The controller establishes a communication connection with the car's computer via the vehicle network to monitor the status of the car's internal systems in real time. When it detects that relevant car functions, such as air conditioning, screens, or music, are activated during the cleaning process, the controller sends a command to the car's computer via the vehicle network according to a preset processing plan to collaboratively shut down the relevant functions.

11. The lifting mechanism of the fully automatic intelligent cleaning device for automotive interiors according to claim 3, characterized in that, The lifting platform employs a servo motor-driven worm gear and lead screw mechanism, supplemented by guide columns, to achieve lifting. A platform base is installed at the bottom of the platform and secured with bolts and nuts from a car floor. A robotic arm base is installed at the top of the platform.

12. As described in claim 4, characterized in that, The robotic arm is mounted on the robotic arm base plate at the top of the elevator and is fixed with bolts and nuts.

13. As described in claim 5, characterized in that, In the multi-functional integrated cleaning actuator, each functional module (including a binocular structured light 3D camera, a water nozzle, a cleaning agent nozzle, a vacuum cleaner pipe, and other modules) is distributed on a fixed ring plate around the cleaning and wiping sponge. The ring plate is driven by an electric cylinder to switch the working position and non-working position of each functional module. The electric cylinder is connected to the controller through a communication line.

14. As described in claim 11, characterized in that, The multi-functional integrated cleaning actuator uses a fixed base and multiple guide pillars to guide the forward and backward movement of the fixed ring plate.

15. As described in claim 11, characterized in that, The cleaning sponge includes disc type and roller type, which are respectively bonded to the end face of silicone disc or rubber disc. For roller type sponge, silicone or rubber pillars are added to the disc end face to assist bonding.

16. As described in claim 13, characterized in that, The silicone or rubber disc for installing the sponge is inserted into the grooved, magnetically attached mounting plate by bending and folding. The mounting plate has openings on the side for easy removal of the silicone or rubber disc for maintenance.

17. As described in claim 14, characterized in that, The grooved mounting plate is fixed to the actuator mounting base by an electromagnetic chuck. The electromagnetic chuck is connected to the controller via a communication line and is used to switch the sponge type.

18. As described in claims 9 and 10, characterized in that, The robotic arm base plate is equipped with two water tanks, one deep and one shallow, which correspond to the cleaning and placement of roller-type and disc-type sponges, respectively.

19. As described in claim 16, characterized in that, A strainer is installed above the bottom of the water tank. A water pipe is installed at the bottom of the water tank, which connects the clean water tank and the waste water tank through a water pump. The water pump is connected to the controller through a communication line.

20. As described in claim 17, characterized in that, An overflow valve is installed on the side of the water tank. When the water level exceeds the overflow valve, the excess water flows from the overflow valve into the water tank.

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