Control method, device and system of car washing robot and car washing robot

Abstract

This application discloses a control method, device, system, and car wash robot, relating to the field of automotive control technology. Its main purpose is to address the problems of limited applicability, high maintenance costs, and inability to meet the demands of highly intelligent car washes in existing car wash robots. The method includes: the car wash robot acquiring car wash order information and controlling its movement to the target parking space according to the order information; after confirming the vehicle's identity at the target parking space, determining the car wash robot's deformation posture information based on the vehicle information, and determining the car wash mode based on the order information. The car wash mode characterizes different car wash steps and cleaning parameters configured for different cleaning components, and the deformation posture information characterizes the spatial position of the car wash robot's lifting cylinder, telescopic rod, and robotic arm; after controlling the car wash robot to deform according to the deformation posture information, the target vehicle is washed according to the car wash mode.

Description

Technical Field

[0001] This application relates to the field of automotive control technology, and in particular to a control method, device, system, and car wash robot for a car wash robot. Background Technology

[0002] With the increasing demand for car-related services, intelligent car wash equipment has become an important area of ​​research and development. Currently, existing car wash equipment is typically a fixed gantry-style machine, requiring users to drive their vehicles under it and activate the machine's controls to achieve the desired intelligent car wash. However, existing car wash equipment usually occupies a large space, is limited by the available space, and cannot be used in parking lots, small car wash booths, or other confined areas. It also has high maintenance costs and cannot meet the more intelligent car wash needs such as unmanned operation and a fully automated process. Summary of the Invention

[0003] In view of this, this application provides a control method, device, system and car wash robot for a car wash robot, with the main purpose of solving the problems of limited applicable scenarios, high maintenance costs and inability to meet the needs of highly intelligent car washes in existing car wash robots.

[0004] According to one aspect of this application, a control method for a car wash robot is provided, comprising: Obtain car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; After confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information of the target vehicle, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod and robotic arm of the car wash robot. After the car wash robot is controlled to deform according to the deformation posture information, it performs car wash control on the target vehicle according to the car wash mode.

[0005] According to one aspect of this application, another method for controlling a car wash robot is provided, comprising: In response to a car wash order request for a target vehicle, the system generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the equipment status information of at least one car wash robot is obtained; The target car wash robot is determined based on the equipment status information, and the car wash order information is sent to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

[0006] According to one aspect of this application, a control device for a car wash robot is provided, comprising: The acquisition module is used to acquire car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; The determination module is used to determine the deformation posture information of the car wash robot based on the vehicle information of the target vehicle after completing the vehicle identity verification at the target parking space, and to determine the car wash mode based on the car wash order information. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod and robotic arm of the car wash robot. The control module is used to control the car wash robot to deform according to the deformation posture information and then control the car wash to wash the target vehicle according to the car wash mode.

[0007] According to one aspect of this application, another control device for a car wash robot is provided, comprising: The generation module is used to respond to the car wash order request of the target vehicle, generate car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and output the car wash order payment information; The acquisition module is used to generate car wash order information and acquire the device status information of at least one car wash robot after the order transaction is completed based on the car wash order payment information. The determination module is used to determine the target car wash robot based on the device status information and send the car wash order information to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

[0008] According to one aspect of this application, a car wash robot is provided, comprising: Two movable bases; The mounting platform is positioned above the two movable bases; The cleaning assembly includes two side cleaning assemblies and a top cleaning assembly. The side cleaning assemblies are respectively disposed on the two movable bases and located on both sides of the mounting platform. The top cleaning assembly is disposed on the mounting platform and includes a robotic arm and a roller brush disposed at the end of the robotic arm. The roller brush is used to perform cleaning operations. A lifting cylinder is installed on the movable base, and the output end of the lifting cylinder is connected to the installation platform; it is used to drive the installation platform and the top cleaning component to lift. A telescopic rod, installed on the mounting platform, is used to drive the two side cleaning components to move closer or further apart from each other; The controller is connected to the lifting cylinder, the telescopic rod, and the robotic arm via signals. It is used to adjust the lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm based on the acquired vehicle information, so as to control the car wash.

[0009] According to one aspect of this application, a car wash robot is provided, comprising: Two movable bases; The mounting platform is positioned above the two movable bases; The cleaning assembly includes two side cleaning assemblies and a top cleaning assembly. The side cleaning assemblies are respectively disposed on the two movable bases and located on both sides of the mounting platform. The top cleaning assembly is disposed on the mounting platform and includes a robotic arm and a roller brush disposed at the end of the robotic arm. The roller brush is used to perform cleaning operations. A lifting cylinder is installed on the movable base, and the output end of the lifting cylinder is connected to the installation platform; it is used to drive the installation platform and the top cleaning component to lift. A telescopic rod, installed on the mounting platform, is used to drive the two side cleaning components to move closer or further apart from each other; The controller is connected to the lifting cylinder, telescopic rod, and robotic arm via signals, and is used to execute the steps of the control method for the car wash robot.

[0010] According to one aspect of this application, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction that causes a processor to perform operations corresponding to the control method for the car wash robot described above.

[0011] According to one aspect of this application, a computer device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the control method for the car wash robot.

[0012] According to one aspect of this application, another computer-readable storage medium is provided, on which a computer program / instructions are stored, which, when executed by a processor, implement the steps of the control method for the car wash robot.

[0013] According to one aspect of this application, another computer device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the control method for the car wash robot.

[0014] According to one aspect of this application, a control system for a car wash robot is provided, comprising: The server responds to car wash order requests from target vehicles by generating car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputting the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the device status information of at least one car wash robot is obtained. Based on the device status information, the car wash robot to be washed is determined, and the car wash order information is sent to the car wash robot. A car wash robot is used to acquire the car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; after confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the car wash robot's lifting cylinder, telescopic rod, and robotic arm; after controlling the car wash robot to deform according to the deformation posture information, the car wash robot performs car wash control on the target vehicle according to the car wash mode.

[0015] By employing the above technical solutions, the technical solutions provided in the embodiments of this application have at least the following advantages: This application provides a control method, device, system, and car wash robot for a car wash robot. Compared with the prior art, the embodiments of this application obtain car wash order information through the car wash robot and control the car wash robot to move to the target parking space according to the car wash order information. After confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information of the target vehicle, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod, and robotic arm of the car wash robot. After controlling the car wash robot to deform according to the deformation posture information, the car wash robot controls the washing of the target vehicle according to the car wash mode, realizing the purpose of full-process automation of car washing. By controlling the car wash robot to move to the target vehicle position, the impact of limited car wash space is greatly reduced, the maintenance cost of car wash space is reduced, the occurrence of long queues for car wash is avoided, and the flexible car wash needs of different times and different modes are met.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart illustrating a control method for a car wash robot according to an embodiment of this application is shown. Figure 2 This illustration shows a schematic diagram of the hardware structure of a car wash robot according to an embodiment of this application; Figure 3 This illustration shows a schematic diagram of a deformable and unfoldable car wash robot structure provided in an embodiment of this application; Figure 4 This paper shows a schematic diagram of another car wash robot hardware structure provided in an embodiment of this application; Figure 5 A flowchart illustrating another control method for a car wash robot provided in an embodiment of this application is shown; Figure 6 This illustration shows a timing diagram of instruction interaction provided in an embodiment of this application; Figure 7 This paper shows a block diagram of the control device for a car wash robot according to an embodiment of the present application; Figure 8 This invention provides a block diagram illustrating the control device composition of another car wash robot according to an embodiment of the present application. Figure 9 This paper shows a schematic diagram of a car wash robot structure provided in an embodiment of this application; Figure 10 This application provides a schematic diagram of another car wash robot structure according to an embodiment of the present application. Figure 11 This paper shows a schematic diagram of another car wash robot structure provided in an embodiment of this application; Figure 12 This paper shows a schematic diagram of another car wash robot structure provided in an embodiment of this application; Figure 13 This illustration shows a structural schematic diagram of a computer device provided in an embodiment of this application; Figure 14A schematic diagram of the structure of another computer device provided in an embodiment of this application is shown.

[0018] in, Figure 2 , 4 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1. Mobile base, 2. Mounting platform, 3. Cleaning assembly, 4. Side cleaning assembly, 5. Top cleaning assembly, 6. Robotic arm, 7. Roller brush, 8. Lifting cylinder, 9. Telescopic rod; Figures 9 to 12 The correspondence between the reference numerals and component names in the attached drawings is as follows: 100 Mobile base, 110 Mounting platform, 120 Side cleaning assembly, 122 Elastic roller brush, 130 Top cleaning assembly, 132 Robotic arm, 134 Cleaning brush, 136 Magnetic brush head, 138 End effector, 139 Gripper, 140 Lifting cylinder, 150 Telescopic rod, 160 Radar detection assembly, 162 Contour measurement assembly, 170 Spray head, 172 Wastewater tank, 174 Scraper, 180 Cleaning tank, 182 Rotary brush holder, 190 Vacuuming assembly, 192 Blower assembly, 200 Foaming assembly, 220 Spray assembly, 240 Force control sensor, 210 Clean water tank, 230 Omnidirectional wheel assembly. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0020] It should be noted that the terms "first," "second," etc., used in the specification and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] This application provides a control method for a car wash robot, such as... Figure 1 As shown, the method includes: 101. Obtain car wash order information and control the car wash robot to move to the target parking space according to the car wash order information.

[0022] In this embodiment, the current execution end, as the control execution body of the car wash robot, can be a controller embedded in the car wash robot to control various functional components within it. It can also be a remote server controlling the car wash robot; this embodiment does not impose specific limitations. The car wash order information is generated after the user places an order for the vehicle to be cleaned through the server and completes payment. It can include vehicle information, car wash mode, target cleaning time, vehicle identity information, and target parking space. Vehicle information can be the vehicle model and name of the target vehicle to be cleaned. The car wash mode represents different car wash steps and cleaning parameters configured for different cleaning components. The target cleaning time is the car wash time specified by the user. The vehicle identity information is the license plate information of the target vehicle. The target parking space is the location information of the target vehicle, such as a parking space number in a parking lot; this embodiment does not impose specific limitations.

[0023] In addition, when the current execution terminal controls the car wash robot to move to the target parking space, since the target parking space is the location information of the target vehicle, when controlling the car wash robot to move to the target parking space, the current execution terminal can generate path information to the target parking space based on the map information, so that the current execution terminal can control the car wash robot to move to the target parking space according to this path information. At this time, the drive motor in the car wash robot can be controlled to move through the omnidirectional wheel set.

[0024] In the embodiments of this application, such as Figure 2 The car wash robot structure shown includes: two movable bases 1; a mounting platform 2, disposed above the two movable bases 1; and a cleaning assembly 3, which includes two side cleaning assemblies 4 and a top cleaning assembly 5. The side cleaning assemblies 4 are respectively disposed on the two movable bases 1 and located on both sides of the mounting platform 2. The top cleaning assembly 5 is disposed on the mounting platform 2 and includes a robotic arm 6 and a roller brush 7 disposed at the end of the robotic arm. The roller brush is used to perform cleaning operations.

[0025] The dual-mobile base, formed by the mobile platform, provides stable support and a solid foundation for movement, allowing the car wash robot to move and position flexibly in various locations. The lifting cylinder drives the mounting platform and its top cleaning components for raising and lowering operations. Simultaneously, a telescopic rod on the mounting platform controls the two side cleaning components to move closer or separate. The controller precisely adjusts the lifting cylinder's range of motion and the telescopic rod's extension distance based on vehicle information. This allows the car wash robot to flexibly adapt to vehicles of different heights and widths, achieving comprehensive and efficient cleaning for everything from small sedans to large SUVs, significantly improving the versatility and adaptability of the car wash service. Furthermore, the side cleaning components fit snugly against the sides of vehicles of varying widths, enabling thorough cleaning without blind spots and providing high-quality side cleaning services for all types of vehicles.

[0026] The controller, acting as the current execution unit, is connected to the robotic arm and can adjust the arm's extension posture based on vehicle information. This allows the cleaning brushes to precisely reach various parts of the vehicle's roof, performing cleaning operations at appropriate angles and pressures, effectively improving cleaning results while preventing damage to the vehicle due to improper cleaning. The entire cleaning process is uniformly coordinated and controlled by the controller, which automatically adjusts the parameters of each component based on vehicle information, achieving automation and intelligence in car washing operations, reducing manual intervention, and improving car washing efficiency and quality.

[0027] The car wash robot proposed in this application can efficiently, adaptively and comprehensively complete vehicle washing tasks, realize all-round automated adjustment of the washing process, and greatly improve the adaptability and efficiency of the operation while ensuring high washing quality. It has high practicality and wide promotion value.

[0028] It should be noted that the target vehicle that the user needs to clean in this application embodiment may include, but is not limited to, sedans, SUVs, etc. of different models and lengths. This application embodiment does not make any specific limitations.

[0029] 102. After confirming the vehicle's identity at the target parking space, determine the deformation posture information of the car wash robot based on the vehicle information of the target vehicle, and determine the car wash mode based on the car wash order information.

[0030] In this embodiment, when the car wash robot arrives at the target parking space, to ensure that the vehicle parked there is the target vehicle, vehicle identification is performed, such as verifying the correctness of the vehicle's license plate. After vehicle identification is completed at the target parking space, the current execution terminal determines the deformation posture information of the car wash robot based on the vehicle information. At this time, the deformation posture information is used to characterize the spatial position state of the car wash robot's lifting cylinder, telescopic rod, and robotic arm. Specifically, corresponding deformation posture information can be pre-configured based on different vehicle information. For example, if the vehicle information is a certain model of a Mazda sedan, the corresponding deformation posture information is the lifting height 'a' of the lifting cylinder, the extension length 'b' of the telescopic rod, and the extension posture 'c' of the robotic arm. This embodiment does not impose specific limitations.

[0031] In this embodiment of the application, when determining the car wash mode, it can be based on the car wash order information and the car wash mode selected and paid for by the user. At this time, the car wash mode includes at least three car wash modes, such as light cleaning mode, medium cleaning mode and deep cleaning mode. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components, so as to directly control the cleaning components to clean the target vehicle according to the determined cleaning mode.

[0032] 103. After the car wash robot is controlled to deform according to the deformation posture information, the target vehicle is washed according to the car wash mode.

[0033] In this embodiment of the application, after determining the deformation posture information, the shape of the car wash robot changes as follows: Figure 2 The first posture shown is transformed into a second posture that allows the target vehicle to be positioned below it, as shown below. Figure 3 As shown. At this time, the car wash robot's cleaning components include two side cleaning components and a top cleaning component. The side cleaning components are respectively mounted on the movable bases of the two car wash robots and located on both sides of the car wash robot's mounting platform. The top cleaning component is mounted on the mounting platform and includes a robotic arm and a roller brush located at the end of the robotic arm. The roller brush is used to perform cleaning operations. Therefore, when controlling the car wash of a target vehicle according to the car wash mode, the side cleaning components and the top cleaning component can be controlled to clean the target vehicle according to the car wash mode.

[0034] It should be noted that, as Figure 4As shown, the car wash robot in this embodiment also includes a lifting cylinder 8 and a telescopic rod 9. The lifting cylinder is mounted on the mobile base of the car wash robot, and its output end is connected to the mounting platform to drive the mounting platform and the top cleaning assembly to rise and fall. Simultaneously, the telescopic rod is mounted on the mounting platform to drive the two side cleaning assemblies to move closer or further apart. Therefore, when controlling the car wash robot to deform according to the deformation posture information, the deformation of the lifting cylinder, the telescopic rod, and the robotic arm is controlled according to the lifting height of the lifting cylinder, the telescopic length of the telescopic rod, and the extension posture of the robotic arm in the deformation posture information.

[0035] In another embodiment of this application, for further definition and explanation, the step of determining the deformation posture information of the car wash robot based on the vehicle information of the target vehicle includes: Query the exterior model information that matches the vehicle information; The lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm are determined based on the vehicle appearance information.

[0036] To achieve the shape transformation of the car wash robot, allowing it to move to the target parking space and change its shape to perfectly match the vehicle's appearance, the current execution end first queries the vehicle model information that matches the vehicle information when determining the deformation posture information. Specifically, it queries pre-configured vehicle model information based on the vehicle model. For example, for a certain Ford H-series vehicle, the corresponding vehicle model information includes length, width, and height a, b, and c, respectively. This embodiment does not impose specific limitations. Then, based on the vehicle model information, the lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm are determined. At this point, the current execution end can pre-build a mapping relationship between different vehicle model information and different lifting heights of the lifting cylinder, extension lengths of the telescopic rod, and extension postures of the robotic arm for querying and determination.

[0037] It should be noted that the lifting height can be set for different vehicle models, the extension length can be set for different vehicle models, and the extension posture of the robotic arm can be the three-dimensional direction of the robotic arm during the car washing process determined based on the three-dimensional contour information of the vehicle. It can be set based on different three-dimensional contours, and this application embodiment does not make specific limitations.

[0038] In another embodiment of this application, for further definition and explanation, the steps also include: When no matching vehicle model information is found, the vehicle detection component of the car wash robot scans the three-dimensional outline information of the target vehicle. The lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm are determined based on the three-dimensional contour information.

[0039] To achieve car wash compatibility for modified vehicles, if the current execution terminal cannot find matching vehicle information (e.g., the vehicle information is a modified vehicle), it indicates that the target vehicle is not a vehicle with a conventional appearance. Therefore, the vehicle detection component of the car wash robot scans the three-dimensional contour information of the target vehicle. The vehicle detection component may include a radar detection component and a contour measurement component. The radar detection component is mounted on the mobile base of the car wash robot and is used to scan and acquire the overall external dimensions and position information of the vehicle. The contour measurement component is mounted on the mobile base and / or mounting platform and is used to acquire the three-dimensional surface topography information of the vehicle. This allows for the integration of the overall external dimensions and position information and the surface three-dimensional topography information into three-dimensional contour information. This application does not impose specific limitations on the embodiments described.

[0040] It should be noted that after obtaining the three-dimensional contour information, the current execution end can determine the lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm based on the three-dimensional contour information. At this time, a query can be performed based on the pre-configured mapping relationship, that is, the mapping relationship includes the correspondence between different three-dimensional contour information and different lifting heights of the lifting cylinder, extension lengths of the telescopic rod, and extension postures of the robotic arm. This application embodiment does not make specific limitations.

[0041] In another embodiment of this application, for further definition and explanation, after determining the car wash mode based on the car wash order information, the method further includes: The lifting cylinder, the telescopic rod, and the robotic arm are controlled to deform according to the lifting height, the telescopic length, and the extension posture, respectively.

[0042] In order to enable the deformable car wash robot to adapt to the target vehicle and meet the car wash needs of different car models, the current execution end, after determining the car wash mode, controls the lifting cylinder, telescopic rod and robotic arm to deform according to the lifting height, telescopic length and extension posture matched with the vehicle information, so as to achieve the purpose of adapting the car wash robot to the shape of the target vehicle.

[0043] Correspondingly, to achieve full automation of car washing, the car wash robot also includes a spray head, a scraper, a vacuuming assembly, a blower assembly, and a self-cleaning spin-drying assembly. The process of controlling the washing of the target vehicle according to the stated car wash mode includes: The car wash mode controls at least one of the following components to perform a car wash: the spray head, the cleaning assembly, the scraper, the vacuum assembly, the blower assembly, and the self-cleaning spin-drying assembly.

[0044] In this embodiment, different car wash steps and cleaning parameters are configured for different car wash modes with different cleaning components. At this time, the cleaning parameters are used to constrain the force, cleaning time, etc. of the roller brush, spray head, scraper, vacuum component, blower component and self-cleaning spin-drying component in the top cleaning component and side cleaning component in different car wash modes, so as to achieve the cleaning purpose in different modes.

[0045] In some embodiments, three car wash modes include a normal cleaning mode, a standard cleaning mode, and a deep cleaning mode. Normal cleaning is a simple wash, consisting of vacuuming, rinsing with water, lathering, wiping, rinsing with water, and drying, with a total time of 3 minutes. Therefore, the vacuuming unit, spray head, lathering component on the robotic arm of the cleaning unit, elastic roller brush, spray head, and blower can be controlled sequentially to wash the target vehicle. Standard cleaning is a regular wash, consisting of vacuuming, rinsing with water, lathering, wiping, rinsing with water, lathering, wiping, rinsing with water, and drying, with a total time of 6 minutes. Therefore, the vacuuming unit, spray head, lathering component on the robotic arm of the cleaning unit, elastic roller brush, spray head, lathering component on the robotic arm of the cleaning unit, elastic roller brush, spray head, and blower can be controlled sequentially to wash the target vehicle. The deep cleaning mode is a heavy cleaning mode, which includes the following steps: vacuuming, water spraying, foaming, wiping, water spraying, foaming, wiping, cleaning key stains, water spraying, air drying, and waxing. The total time is 10 minutes. Therefore, the vacuuming component, spray head, foam spraying component on the robotic arm in the cleaning component, elastic roller brush in the cleaning component, spray head, foam spraying component on the robotic arm in the cleaning component, elastic roller brush in the cleaning component, spray head, blower component, and waxing roller brush on the robotic arm in the cleaning component can be controlled in sequence to perform waxing, so as to complete the fully automatic car wash.

[0046] In this embodiment, the car wash robot includes two movable bases and a mounting platform, positioned above the two movable bases. Two side cleaning components are respectively mounted on the two movable bases and located on either side of the mounting platform; a top cleaning component is mounted on the mounting platform, including a robotic arm and a roller brush at the end of the robotic arm, the roller brush being used to perform cleaning operations. The side cleaning components include a guide rail, an elastic roller brush, and a drive mechanism. The guide rail is mounted on the side wall of the movable base; the elastic roller brush is slidably mounted on the guide rail to conform to the side curvature of the vehicle during cleaning; the drive mechanism is connected to the elastic roller brush for driving the elastic roller brush to move along the guide rail. Specifically, the roller brush includes a magnetic brush head, and the car wash robot also includes a self-cleaning and spin-drying system. The self-cleaning and spin-drying system includes a cleaning tank, a rotating brush holder, and a first drive motor. The cleaning tank is mounted on a movable base and has water spray holes. The rotating brush holder is rotatably mounted within the cleaning tank, with a transmission gear on its outer periphery and a magnetic ring embedded in its inner wall. The first drive motor is mounted on the movable base, and its output is connected to the transmission gear. Furthermore, the magnetic brush head can be magnetically attached to the inner wall of the rotating brush holder, and the first drive motor drives the transmission gear to rotate both the rotating brush holder and the magnetic brush head.

[0047] In some embodiments, a spray head, disposed on the movable base and facing the elastic roller brush, is used to spray water onto the brush body of the elastic roller brush; a wastewater tank, disposed inside the movable base and located below the elastic roller brush, is used to collect wastewater generated during the washing process; a scraper, disposed on the movable base, has one end in contact with the brush body of the elastic roller brush and the other end extending above the wastewater tank, used to scrape the wastewater on the elastic roller brush into the wastewater tank. Additionally, the car wash robot may also include a crushing device disposed in the wastewater tank, used to crush solid debris flowing into the wastewater tank.

[0048] In some embodiments, the vacuuming assembly and the blowing assembly may each include at least three sets, i.e., at least three sets of vacuuming assemblies, respectively disposed on the robotic arm and the two movable bases, for removing dust and particulate matter from the vehicle surface and crevices; and at least three sets of blowing assemblies, respectively disposed on the robotic arm and the two movable bases, for blowing airflow onto the vehicle surface to assist in drying or removing residual water stains.

[0049] In some embodiments, the robotic arm includes a robotic arm body and an end effector. The robotic arm body includes multiple arm segments connected sequentially via rotary joints; the end effector is rotatably connected to one end of the robotic arm body. The end effector is equipped with a spray assembly, a misting assembly, a force control sensor, and a roller brush. The force control sensor detects the washing pressure exerted by the roller brush on the vehicle surface and dynamically adjusts the output force of the robotic arm based on the pressure feedback signal from the force control sensor. The spraying directions of the spray assembly and the misting assembly deviate from the axial direction of the end effector.

[0050] In some embodiments, the car wash robot further includes a gripper disposed at one end of the end effector of the robotic arm; wherein the gripper has a quick-change interface, and the roller brush is detachably connected to the gripper through the quick-change interface, allowing the roller brush to be disassembled by controlling the movement of the robotic arm, for example, to be replaced with a new roller brush. Additionally, for different cleaning modes, the robotic arm can be controlled to change roller brushes of different materials to achieve different friction intensities and different waxing materials for car washing purposes.

[0051] In another embodiment of this application, for further definition and explanation, the step of controlling the car wash robot to move to the target parking space according to the car wash order information includes: The system analyzes the target cleaning time, vehicle identification information, and target parking space in the car wash order information. Generate path information based on the target parking space and the area map information; The car wash robot is controlled to move to the target parking space according to the target cleaning time and the path information. To automate the entire car wash process by automatically moving the car wash robot to the target parking space, the current execution terminal first parses the target cleaning time, vehicle identity information, and target parking space from the car wash order information. The target cleaning time can be either the user-specified cleaning time or the order placement time; this embodiment does not impose a specific limitation. Next, the current execution terminal generates path information based on the target parking space and the area map information. The area map information can be a parking lot map or a parking environment map, which can be pre-loaded to generate path information according to the target parking space. The path information can be generated by processing the environment map and historical trajectory data using a convolutional neural network (CNN) or a recurrent neural network (RNN) to predict the optimal route; this embodiment does not impose a specific limitation. Then, the current execution terminal controls the car wash robot to move to the target parking space according to the target cleaning time and path information. Furthermore, when encountering other vehicles during the target vehicle's movement, an obstacle avoidance method can be added to allow the target vehicle to continue moving to the target parking space after the other vehicles have passed.

[0052] Correspondingly, the steps in the embodiments of this application further include: Obtain the identity image information of the target vehicle located in the target parking space, and verify the vehicle's identity information based on the identity image information.

[0053] To ensure the target vehicle is the one ordered, the current execution unit can also take a picture of the vehicle's license plate using a camera in the vehicle detection component when controlling the car wash robot to move to the target parking space, obtaining identification image information. Then, the identification image information is compared and verified with the vehicle identification information in the car wash order information to confirm that the target vehicle's identity is correct.

[0054] In this embodiment, the vehicle detection component configured in the car wash robot may include a radar detection component, a contour measurement component, and a camera. The radar detection component is mounted on the movable base and is used to scan and acquire the overall external dimensions and position information of the vehicle. The contour measurement component is mounted on the movable base and / or the mounting platform and is used to acquire the three-dimensional shape information of the vehicle surface. The movable base includes a seat, an omnidirectional wheel assembly, an infrared sensor, and a second drive motor. The omnidirectional wheel assembly is located at the bottom of the seat and is used to support and move the seat. The infrared sensor is located on the omnidirectional wheel assembly and is used to detect obstacles on the movement path. The second drive motor is connected to the omnidirectional wheel assembly and is used to drive the omnidirectional wheel assembly to rotate. The second drive motor can adjust the motion state of the omnidirectional wheel assembly according to the detection signal from the infrared sensor.

[0055] In another embodiment of this application, for further definition and explanation, after the step of controlling the car wash of the target vehicle according to the car wash mode, the method further includes: After the car wash is completed according to the described car wash mode, order completion information is generated and output. Control the target vehicle to move to the car wash robot refueling area so that the car wash robot can be refueled.

[0056] To achieve fully automated and streamlined car washing, after the target vehicle has finished washing, the current execution terminal generates and outputs order completion information. If a user requests an order through the client, the order completion information is sent to the client; if the user requests an order through the service terminal, the order completion information is output to the service terminal's interface. This embodiment does not impose specific limitations. Furthermore, after the car wash robot finishes washing, it can be controlled to return to the refueling area according to the path information. New path information can also be generated in real time to control the car wash robot to return to the refueling area for refueling.

[0057] It should be noted that the replenishment in this embodiment refers to replenishing the car wash robot's battery, detergent, water, etc., which can be done manually or automatically. The car wash robot also includes a battery, a clean water tank, a heating device, and a temperature sensor. The clean water tank, located inside the movable base, stores the cleaning water. The heating device, located on the movable base and connected to the outlet pipe of the clean water tank, heats the cleaning water flowing to the spray and misting components. The temperature sensor, located at the outlet of the heating device, detects the water temperature. In the deep wash mode, when the clean water is set to a specific temperature, it can be heated using an instant heating device and measured by the temperature sensor to heat the water in the clean water tank, achieving deep cleaning.

[0058] In a specific example, a user places an order via mobile phone or base station, entering their parking space number and license plate number in the garage area, the cleaning start time, and clicking "place order." The robot receives the instructions and, if congestion occurs on its way to the destination parking space (autonomously planning its route and actively avoiding people, vehicles, and obstacles), it will proactively implement the optimal solution, such as queuing, driving out of the congested area, or yielding to other vehicles. Once the robot arrives at the destination parking space and confirms the employer's vehicle information, it performs a 360° environmental scan. If other vehicles are approaching, it will actively avoid them. After the surrounding environment is safe, the robot unfolds, transforming into an arch-shaped structure. The robot uses 3D scanning of the vehicle model to determine the cleaning trajectory, which will inform the extension posture of the robotic arm during the cleaning process. At this point, a logic algorithm adapted to the vehicle's appearance can be edited, such as for modified vehicles with appearances different from factory-installed vehicles. During the washing process, the car wash robot performs a powerful, three-sided circular vacuuming of the entire vehicle to remove surface dust and particulate matter, according to the predetermined washing mode. It then sprays detergent and dissolving agents, using a slow, even spraying motion to apply the agents twice, followed by a one-minute pause. Next, it sprays high-foam, again using a slow, even spraying motion. Then, the dual-side roller brushes and robotic arm roller brushes activate, performing two passes of scrubbing according to a pre-set logic. The scrubbing process includes the robot first using a coarse-bristled rotating brush to clean the large metal panels and glass surfaces. After one pass, it switches to a fine-bristled brush to clean crevices and corners. Following this, the robot applies a micro-water spray, using high-pressure aerosol to remove impurities from the metal panels, glass, and crevices. Depending on the current washing mode, the robot can also switch to a cotton cloth absorbent brush head to remove dirty foam and water, wiping away any remaining impurities. Finally, the entire vehicle is dried with powerful hot air circulating from three sides, while the ground is also dried. A 40° hot air blower dries the water on the vehicle surface and any remaining water on the ground using airflow from three sides. After the car wash is completed and the order is confirmed, a command is sent to the user. Once the machine detects that the surrounding environment is safe, it returns to its original shape and automatically returns to the recharge station for energy replenishment, awaiting the next order, including water, car wash solution, and battery power.

[0059] This application provides a control method for a car wash robot. Compared with the prior art, this application obtains car wash order information through the car wash robot and controls the car wash robot to move to the target parking space according to the car wash order information. After confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information of the target vehicle, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod, and robotic arm of the car wash robot. After controlling the car wash robot to deform according to the deformation posture information, the car wash control is performed on the target vehicle according to the car wash mode, realizing the purpose of full-process automation of car washing. By controlling the car wash robot to move to the target vehicle position, the impact of limited car wash space is greatly reduced, the maintenance cost of car wash space is reduced, the occurrence of long queues for car wash is avoided, and the flexible car wash needs of different times and different modes are met.

[0060] This application provides another control method for a car wash robot, such as... Figure 5 As shown, the method includes: 201. In response to a car wash order request for the target vehicle, generate car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and output the car wash order payment information.

[0061] In this embodiment, the current execution terminal, acting as the control entity for the car wash robot, can be a remote server or a service terminal, such as an order placement server located in a parking lot. This embodiment does not impose specific limitations. The user sends a car wash order request for the target vehicle through a client. Upon receiving this request, the current execution terminal generates car wash order payment information based on the vehicle information carried in the request and the car wash mode selected by the user, instructing the user to complete the payment.

[0062] It should be noted that since the current execution end can be a remote server or a service terminal, after generating the car wash order payment information, outputting this car wash order payment information can either directly display the payment code and other content corresponding to the car wash order payment information on the front-end interface, or send the car wash order payment information to the client so that the user can complete the payment through the client. This application embodiment does not make specific limitations.

[0063] 202. After the order transaction is completed based on the car wash order payment information, generate car wash order information and obtain the equipment status information of at least one car wash robot.

[0064] In this embodiment of the application, after the user completes the order transaction based on the output car wash order payment information, the current execution terminal generates car wash order information and obtains the equipment status information of at least one car wash robot. At this time, the equipment status information may include the battery status, detergent quantity, water quantity, etc. of the car wash robot. Each car wash robot can be uniformly docked in the supply base station or robot docking bay, and the equipment status information of each car wash robot is recorded in real time.

[0065] 203. Determine the target car wash robot based on the equipment status information, and send the car wash order information to the target car wash robot.

[0066] In this embodiment, the current execution terminal filters for target car wash robots that are idle and have optimal power and water levels based on the device status information of multiple car wash robots. This filtering can be done by sorting, and this embodiment does not impose specific limitations. Then, the current execution terminal sends the car wash order information to the target car wash robot, such as... Figure 6 The interactive timing diagram shown enables the target car wash robot to control the washing of the target vehicle according to the car wash order information.

[0067] In another embodiment of this application, for further definition and explanation, the step of generating car wash order information includes: Car wash order information is generated based on the vehicle information, car wash mode, target cleaning time, vehicle identity information, and target parking space carried in the car wash order request.

[0068] To meet the needs of fully intelligent car wash processes, the current execution terminal generates car wash order information based on the vehicle information, car wash mode, user-selected target cleaning time, vehicle identification information, and target parking space carried in the car wash order request. Specifically, the vehicle information can be the vehicle model and name of the target vehicle to be cleaned; the car wash mode represents the different car wash steps and parameters configured for different cleaning components; the target cleaning time is the car wash time specified by the user; the vehicle identification information is the license plate information of the target vehicle; and the target parking space is the location information of the target vehicle, such as a parking space number, etc. This embodiment does not impose specific limitations on these details.

[0069] This application provides another control method for a car wash robot. Compared with the prior art, this application responds to a car wash order request from a target vehicle, generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information; after the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the device status information of at least one car wash robot is obtained; the target car wash robot is determined based on the device status information, and the car wash order information is sent to the target car wash robot, so that the target car wash robot controls the car wash of the target vehicle according to the car wash order information, realizing the purpose of full-process automation of car washing. By controlling the car wash robot to move to the location of the target vehicle, the impact of limited car wash space is greatly reduced, the maintenance cost of car wash space is reduced, the occurrence of long queues for car wash is avoided, and the flexible car wash needs of different times and different modes are met.

[0070] Furthermore, as a response to the above Figure 1 The implementation of the method shown in this application provides a control device for a car wash robot, such as... Figure 7 As shown, the device includes: The acquisition module 31 is used to acquire car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; The determination module 32 is used to determine the deformation posture information of the car wash robot based on the vehicle information of the target vehicle after completing the vehicle identity confirmation at the target parking space, and to determine the car wash mode based on the car wash order information. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod and robotic arm of the car wash robot. Control module 33 is used to control the car wash robot to deform according to the deformation posture information and then control the car wash to wash the target vehicle according to the car wash mode.

[0071] Furthermore, the determining module is specifically used to query the appearance model information that matches the vehicle information; and to determine the lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm based on the appearance model information.

[0072] Furthermore, the device also includes: The scanning module is used to scan the three-dimensional contour information of the target vehicle based on the vehicle detection component of the car wash robot when no matching vehicle model information is found; and to determine the lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm based on the three-dimensional contour information.

[0073] Furthermore, the control module is also used to control the lifting cylinder, the telescopic rod, and the robotic arm to deform according to the lifting height, the telescopic length, and the extension posture, respectively; The car wash robot also includes a spray head, a scraper, a vacuuming assembly, a blower assembly, and a self-cleaning spin-drying assembly. The control module is also used to control at least one of the spray head, the cleaning component, the scraper, the vacuuming component, the blower component, and the self-cleaning spin-drying component to perform car washing according to the car wash mode.

[0074] Furthermore, The acquisition unit is specifically used to parse the target cleaning time, vehicle identity information, and target parking space in the car wash order information; generate path information based on the target parking space and area map information; and control the car wash robot to move to the target parking space according to the target cleaning time and path information. The acquisition unit is further configured to acquire the identity image information of the target vehicle located in the target parking space, and verify the vehicle identity information based on the identity image information to confirm that the vehicle identity of the target vehicle is correct. The identity image information is acquired based on the vehicle detection component of the car wash robot.

[0075] Furthermore, the device also includes: The output module is used to generate and output order completion information after the car wash is completed according to the car wash mode; and to control the target vehicle to move to the car wash robot refueling area so as to control the car wash robot to refuel.

[0076] This application provides a control device for a car wash robot. Compared with the prior art, this application obtains car wash order information through the car wash robot and controls the car wash robot to move to the target parking space according to the car wash order information. After confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information of the target vehicle, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod, and robotic arm of the car wash robot. After controlling the car wash robot to deform according to the deformation posture information, the car wash control is performed on the target vehicle according to the car wash mode, realizing the purpose of full-process automation of car washing. By controlling the car wash robot to move to the target vehicle position, the impact of limited car wash space is greatly reduced, the maintenance cost of car wash space is reduced, the occurrence of long queues for car wash is avoided, and the flexible car wash needs of different times and different modes are met.

[0077] Furthermore, as a response to the above Figure 5 To implement the method shown, this application provides another control device for a car wash robot, such as... Figure 8 As shown, the device includes: The generation module 41 is used to respond to the car wash order request of the target vehicle, generate car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and output the car wash order payment information; The acquisition module 42 is used to generate car wash order information and acquire the device status information of at least one car wash robot after the order transaction is completed based on the car wash order payment information. The determination module 43 is used to determine the target car wash robot based on the equipment status information and send the car wash order information to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

[0078] Furthermore, the generation module is specifically used to generate car wash order information based on the vehicle information, car wash mode, target cleaning time, vehicle identity information, and target parking space carried in the car wash order request.

[0079] This application provides another control device for a car wash robot. Compared with the prior art, this application responds to a car wash order request from a target vehicle, generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the device status information of at least one car wash robot is obtained. Based on the device status information, a target car wash robot is determined, and the car wash order information is sent to the target car wash robot, so that the target car wash robot controls the car wash of the target vehicle according to the car wash order information, realizing the purpose of full-process automation of car washing. By controlling the car wash robot to move to the location of the target vehicle, the impact of limited car wash space is greatly reduced, the maintenance cost of car wash space is reduced, the occurrence of long queues for car wash is avoided, and the flexible car wash needs of different times and modes are met.

[0080] Furthermore, as an implementation of the above method, embodiments of this application provide a car wash robot, such as... Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the system includes: two movable bases 100; a mounting platform 110 disposed above the two movable bases 100; two side cleaning assemblies 120 respectively disposed on the two movable bases 100 and located on both sides of the mounting platform 110; a top cleaning assembly 130 disposed on the mounting platform 110, the top cleaning assembly 130 including a robotic arm 132 and a cleaning brush 134 disposed at the end of the robotic arm 132, the cleaning brush 134 being used to perform cleaning operations; and a lifting cylinder 140 disposed on the movable bases 100. The output end of the lifting cylinder 140 is connected to the mounting platform 110; it is used to drive the mounting platform 110 and the top cleaning component 130 to rise and fall; the telescopic rod 150 is set on the mounting platform 110 and is used to drive the two side cleaning components 120 to move closer or further apart; the controller is connected to the lifting cylinder 140, the telescopic rod 150 and the robotic arm 132 by signal, and the controller is configured to adjust the lifting height of the lifting cylinder 140, the telescopic length of the telescopic rod 150 and the extension posture of the robotic arm 132 according to the acquired vehicle information.

[0081] The lifting cylinder 140 drives the mounting platform 110 and its top cleaning component 130 to lift and lower. Simultaneously, the telescopic rod 150 on the mounting platform 110 controls the two side cleaning components 120 to move closer together or separate. The controller precisely adjusts the lifting amplitude of the lifting cylinder 140 and the extension distance of the telescopic rod 150 based on the acquired vehicle information. In this way, the car wash robot can flexibly adapt to vehicles of different heights and widths, achieving comprehensive and thorough cleaning for everything from small sedans to large SUVs, significantly improving the versatility and adaptability of the car wash service. Furthermore, the side cleaning components 120 closely conform to the sides of vehicles of different widths, enabling thorough cleaning without blind spots and providing high-quality side cleaning services for all types of vehicles.

[0082] The controller is connected to the robotic arm 132 via signal, and can adjust the extension posture of the robotic arm 132 according to vehicle information. This allows the cleaning brush 134 to accurately reach various parts of the vehicle's roof surface, performing cleaning operations at appropriate angles and pressures, effectively improving the cleaning effect while avoiding damage to the vehicle due to improper cleaning. The entire cleaning process is uniformly coordinated and controlled by the controller, which automatically adjusts the parameters of each component according to vehicle information, realizing the automation and intelligence of car washing operations, reducing manual intervention, and improving car washing efficiency and quality.

[0083] The car wash robot proposed in this application can efficiently, adaptively and comprehensively complete vehicle washing tasks, realize all-round automated adjustment of the washing process, and greatly improve the adaptability and efficiency of the operation while ensuring high washing quality. It has high practicality and wide promotion value.

[0084] like Figure 10As shown in the embodiment of this application, the car wash robot further includes a vehicle detection component, which includes: a radar detection component 160, disposed on the mobile base 100, for scanning and acquiring the overall outline size and position information of the vehicle; and a contour measurement component 162, disposed on the mobile base 100 and / or the mounting platform 110, for acquiring the three-dimensional shape information of the vehicle surface. The controller is configured to adjust the lifting height of the lifting cylinder 140 and the extension length of the telescopic rod 150 based on the overall outline size and position information of the vehicle, and to adjust the extension posture of the robotic arm 132 based on the three-dimensional shape information of the vehicle surface.

[0085] In this embodiment, the vehicle detection component includes a radar detection component 160 and a contour measurement component 162. The radar detection component 160, mounted on the movable base 100, can scan and acquire the overall external dimensions and position information of the vehicle from all directions, providing basic data for subsequent adjustments. The contour measurement component 162, arranged on the movable base 100 and / or the mounting platform 110, can acquire three-dimensional morphological information of the vehicle surface, providing a comprehensive and detailed understanding of the vehicle's exterior features, accurately capturing both the concave and convex surfaces of the body and special shaped parts.

[0086] Based on the overall dimensions and position information of the vehicle, the controller automatically and precisely adjusts the lifting height of the lifting cylinder 140 and the extension length of the telescopic rod 150, enabling the side cleaning assembly 120 and the top cleaning assembly 130 to quickly reach the appropriate positions to adapt to different vehicle models. At the same time, based on the three-dimensional topography information of the vehicle surface, the controller flexibly adjusts the extension posture of the robotic arm 132, allowing the roller brush to closely conform to the vehicle body surface for targeted cleaning.

[0087] By accurately acquiring information and making intelligent adjustments, the top cleaning component 130 and the side cleaning component 120 are perfectly matched with the vehicle, ensuring thorough cleaning without any blind spots and improving cleaning quality. Moreover, the entire process is automated, eliminating the need for repeated manual adjustments, effectively shortening car wash time, improving efficiency, and providing car owners with a higher quality and faster car wash service.

[0088] In practical applications, the radar detection component 160 can be a lidar, and the contour measurement component 162 can be a 3D line laser contour measuring instrument.

[0089] like Figure 9 As shown in the embodiment of this application, the side cleaning assembly 120 includes: a guide rail disposed on the side wall of the movable base 100; an elastic roller brush 122 slidably disposed on the guide rail for conforming to the side curved surface of the vehicle during cleaning; and a drive mechanism connected to the elastic roller brush 122 for driving the elastic roller brush 122 to move along the guide rail.

[0090] In this embodiment, the side cleaning assembly 120 includes a guide rail, an elastic roller brush 122, and a drive mechanism. The elastic roller brush 122 is slidably mounted on the guide rail, and its inherent elasticity allows it to closely conform to the side curvature of the vehicle during the cleaning process. Regardless of whether the vehicle side is a regular flat surface or a curved surface with a certain curvature, the elastic roller brush 122 can adaptively adjust to ensure full contact with the vehicle body, effectively removing dirt and dust, and improving the cleanliness of the cleaning.

[0091] The drive mechanism is connected to the elastic roller brush 122, enabling the elastic roller brush 122 to move stably along the guide rail. This allows the elastic roller brush 122 to perform all-around cleaning on the side of the vehicle, from the front to the rear, from top to bottom, leaving no part untouched, avoiding cleaning dead spots, and ensuring the integrity and uniformity of cleaning the side of the vehicle.

[0092] The guide rail is set on the side wall of the movable base 100, providing a stable running track for the elastic roller brush 122, so that the side cleaning assembly 120 can adapt to vehicles of different heights and widths, with strong versatility and adaptability, and can meet diverse car washing needs.

[0093] like Figure 9 and Figure 11 As shown in this embodiment, the car wash robot further includes: a spray head 170, disposed on the movable base 100 and facing the elastic roller brush 122, for spraying water onto the brush body of the elastic roller brush 122; a wastewater tank 172, disposed inside the movable base 100 and located below the elastic roller brush 122, for collecting wastewater generated during the washing process; a scraper 174, disposed on the movable base 100, one end of the scraper 174 contacting the brush body of the elastic roller brush 122, and the other end extending above the wastewater tank 172, for scraping the wastewater on the elastic roller brush 122 into the wastewater tank 172; and a crushing device, disposed in the wastewater tank 172, for crushing solid debris flowing into the wastewater tank 172.

[0094] In this embodiment, the car wash robot also includes a spray head 170, a wastewater tank 172, a scraper 174, and a crushing device. The spray head 170 is positioned on the movable base 100 and faces the elastic roller brush 122, allowing it to precisely spray water onto the brush body before the elastic roller brush 122 contacts the vehicle, thus fully wetting the brush body. This not only helps to better dissolve and remove dirt from the vehicle surface but also reduces friction between the brush body and the vehicle body, preventing scratches to the paint and improving the cleaning effect while protecting the vehicle's appearance.

[0095] The wastewater tank 172 is located below the elastic roller brush 122, which can collect the wastewater generated during the washing process in a timely manner, preventing wastewater from flowing everywhere and keeping the car wash environment clean. At the same time, it avoids wastewater from re-contaminating the vehicle, ensuring the hygiene and efficiency of the washing process.

[0096] One end of the scraper 174 contacts the brush body of the elastic roller brush 122, and the other end extends above the sewage tank 172. During the rotation of the elastic roller brush 122, it can scrape off the sewage remaining on the brush body in time and guide it into the sewage tank 172, further reducing the sewage residue on the brush body and ensuring that the elastic roller brush 122 can continue to perform cleaning operations in a relatively clean state, thereby improving cleaning efficiency and quality.

[0097] like Figure 9 and Figure 12 As shown in this embodiment, the cleaning brush 134 includes a magnetic brush head 136, and the car wash robot also includes a self-cleaning spin-drying system. The self-cleaning spin-drying system includes: a cleaning tank 180, disposed on a movable base 100, with water spray holes provided in the cleaning tank 180; a rotating brush holder 182, rotatably disposed in the cleaning tank 180, with a transmission gear on the outer periphery of the rotating brush holder 182 and a magnetic ring embedded in the inner wall of the rotating brush holder 182; and a first drive motor, disposed on the movable base 100, with its output end connected to the transmission gear. The magnetic brush head 136 can be attracted and fixed to the inner wall of the rotating brush holder 182, and the first drive motor drives the rotating brush holder 182 and the magnetic brush head 136 to rotate by driving the transmission gear.

[0098] In this embodiment, the cleaning brush 134 includes a magnetic brush head 136, and the self-cleaning spin-drying system includes a cleaning tank 180, a rotating brush holder 182, a transmission gear, and a first drive motor.

[0099] The cleaning brush 134 uses a magnetic brush head 136, which is magnetically attached to the inner wall of the rotating brush base 182. This makes the installation and removal of the brush head extremely simple, without the need for complicated tools and cumbersome operations. Staff can quickly replace the brush head, saving time and improving the operational efficiency of the car wash robot. It is especially suitable for high-frequency car wash scenarios.

[0100] The self-cleaning spin-drying system features a cleaning tank 180 with spray nozzles inside that spray water during cleaning, providing a comprehensive rinse to the magnetic brush head 136. Simultaneously, the first drive motor drives the rotating brush holder 182 and brush head to rotate at high speed via transmission gears. Under centrifugal force, dirt and water on the brush head are quickly flung off, achieving deep cleaning and spin-drying, ensuring the cleanliness of the brush head for the next use and preventing secondary contamination of the vehicle.

[0101] The rotating brush holder 182 is rotatably mounted inside the cleaning tank 180. The outer peripheral transmission gear is connected to the output end of the first drive motor. The inner wall is embedded with a magnetic ring to firmly adsorb the brush head. The operation is stable and can withstand long-term, high-intensity use, which reduces the equipment failure rate, extends the service life of the car wash robot, and reduces maintenance costs.

[0102] In practical applications, the cleaning tank 180 is also equipped with a squeezing disc, on which multiple water-permeable holes are evenly distributed. By applying pressure to the squeezing disc with the help of the robotic arm 132, the water adsorbed on the cleaning brush 134 can be effectively squeezed out, thereby achieving the dehydration treatment of the cleaning brush 134.

[0103] like Figure 9 and Figure 12 As shown in the embodiment of this application, the car wash robot further includes: at least three sets of vacuuming components 190, respectively disposed on the robotic arm 132 and two movable bases 100, for removing dust and particulate matter from the surface and crevices of the vehicle; and at least three sets of blowing components 192, respectively disposed on the robotic arm 132 and two movable bases 100, for blowing airflow onto the surface of the vehicle to assist in drying or removing residual water stains.

[0104] In this embodiment, at least three sets of vacuuming components 190 are respectively mounted on the robotic arm 132 and two movable bases 100, enabling comprehensive coverage of the vehicle's surface and crevices. The vacuuming components 190 on the robotic arm 132 can flexibly adjust their angle and position to reach deep into the vehicle's uneven parts and narrow crevices, effectively removing dust and particles; the vacuuming components 190 on the movable bases 100 can thoroughly clean the sides of the vehicle, ensuring thorough cleaning of all parts of the vehicle and improving overall cleanliness.

[0105] Similarly, at least three sets of air-blowing components 192 are distributed on the robotic arm 132 and the movable base 100, which can blow a strong airflow onto the vehicle surface. After washing, this can quickly assist in drying the vehicle, shorten drying time, and improve car washing efficiency. At the same time, the airflow can also effectively remove residual water stains on the vehicle surface, preventing water stains from leaving marks after drying, making the vehicle cleaner after washing.

[0106] The integration of vacuuming and blowing functions gives the car wash robot more comprehensive cleaning and care capabilities, providing car owners with a one-stop high-quality car wash service and improving the convenience and user experience of car washing.

[0107] like Figure 9 and Figure 12 As shown in this embodiment, the robotic arm 132 includes: a main body of the robotic arm 132, comprising multiple arm segments connected sequentially via rotating joints; and an end effector 138 rotatably connected to one end of the main body of the robotic arm 132. The end effector 138 is equipped with a spray assembly 200, a spray component 220, a force control sensor 240, and a cleaning brush 134. The force control sensor 240 detects the washing pressure exerted by the cleaning brush 134 on the vehicle surface and dynamically adjusts the output force of the robotic arm 132 based on the pressure feedback signal from the force control sensor 240. The spraying directions of the spray assembly 200 and the spray component 220 deviate from the axial direction of the end effector 138.

[0108] In this embodiment, the robotic arm 132 includes a robotic arm 132 body and an end effector 138. The robotic arm 132 body is composed of multiple arm segments connected in sequence by rotating joints, which makes the robotic arm 132 highly flexible and capable of performing complex and precise movements in three-dimensional space. It can easily reach various parts of the vehicle surface, whether it is a flat area of ​​the vehicle body or a special location such as a dent or corner, and can perform detailed cleaning, thereby improving the coverage and accuracy of cleaning.

[0109] The force control sensor 240 installed on the end effector 138 can detect the washing pressure of the cleaning brush 134 on the vehicle surface in real time, and dynamically adjust the output force of the robotic arm 132 according to the feedback signal, ensuring that the washing pressure is always within a suitable range, which can effectively remove dirt and avoid damage to the paint due to excessive pressure, thus realizing intelligent and safe cleaning operation.

[0110] The spray direction of the foam assembly 200 and the spray assembly 220 is not along the axis of the end effector 138, but at a certain angle, typically 90 degrees. By rotating the end effector 138, the orientation of the foam assembly 200 and the spray assembly 220 can be flexibly adjusted to precisely align them with the vehicle, and the cleaning brush 134 can also be turned towards the vehicle. In this way, the foam and mist water can be sprayed onto the vehicle surface at a more suitable angle, effectively expanding the coverage area and allowing the cleaning medium to adhere more evenly to the vehicle body. This not only significantly enhances the cleaning effect but also reduces unnecessary waste of the cleaning medium, greatly improving resource utilization efficiency.

[0111] In practical applications, the side cleaning assembly 120 is equipped with a spray assembly 200 and a misting assembly 220 on both sides.

[0112] like Figure 11 As shown, in some embodiments provided in this application, the car wash robot further includes: a clean water tank 210, disposed inside the movable base 100, for storing cleaning water; a heating device, disposed on the movable base 100 and connected to the outlet pipe of the clean water tank 210, for heating the cleaning water flowing to the spray assembly 200 and the mist assembly 220; and a temperature sensor, disposed at the outlet of the heating device, for detecting the water temperature.

[0113] In this embodiment, the car wash robot also includes a clean water tank 210, a heating device, and a temperature sensor. The clean water tank 210 is located inside the movable base 100 and can stably store a large amount of washing water, ensuring continuous car wash operations. The heating device heats the washing water flowing towards the spray assembly 200 and the misting assembly 220. Warm water can better dissolve and remove oil, dust, and other dirt from the vehicle surface, significantly improving the cleaning effect compared to cold water washing, especially effective for removing stubborn stains.

[0114] A temperature sensor is located at the water outlet of the heating device, which can accurately detect the water temperature in real time. Based on the feedback water temperature information, the water temperature can be controlled within a suitable range to avoid damage to the vehicle paint due to excessively high water temperature or affecting the cleaning effect due to excessively low water temperature, ensuring that the car wash operation is both safe and of high quality.

[0115] Washing your car with warm water offers a more considerate service in cold weather, reducing discomfort caused by cold water. At the same time, its efficient cleaning power allows the vehicle to recover its cleanliness more quickly, saving owners time and enhancing the overall car wash experience.

[0116] like Figure 9 As shown, in some embodiments provided in this application, the robotic arm 132 further includes a gripper 139 disposed at one end of the end effector 138; wherein the gripper 139 has a quick-change interface, and the cleaning brush 134 is detachably connected to the gripper 139 through the quick-change interface.

[0117] In this embodiment, the gripper 139 is located at one end of the end effector 138 and can move and rotate flexibly with the robotic arm 132. It can accurately reach various parts of the vehicle and adapt to the operational needs of different shapes and positions. Whether it is a flat surface of the vehicle body or a complex curved surface, it can effectively grasp or operate related parts, thereby enhancing the working range and flexibility of the robotic arm 132.

[0118] The gripper 139 has a quick-change interface through which the cleaning brush 134 is detachably connected. This allows for quick replacement during car washing when the cleaning brush 134 wears out or when a different type of cleaning brush 134 needs to be used for different types of stains. This eliminates the need for complicated tools and lengthy adjustments, effectively reducing equipment downtime and improving car washing efficiency.

[0119] The quick-change interface facilitates the individual maintenance and replacement of the cleaning brush 134 without requiring large-scale disassembly of the entire robotic arm 132 or the end effector 138, reducing maintenance difficulty and cost, while also extending the overall service life of the robotic arm 132.

[0120] like Figure 9 and Figure 10 As shown, in some embodiments provided in this application, the movable base 100 includes: a base body; an omnidirectional wheel assembly 230 disposed at the bottom of the base body for supporting and moving the base body; an infrared sensor disposed on the omnidirectional wheel assembly 230 for detecting obstacles on the moving path; and a second drive motor connected to the omnidirectional wheel assembly 230 for driving the omnidirectional wheel assembly 230 to rotate; wherein the second drive motor can adjust the motion state of the omnidirectional wheel assembly 230 according to the detection signal of the infrared sensor.

[0121] In this embodiment, the mobile base 100 includes a base body, an omnidirectional wheel assembly 230, an infrared sensor, and a second drive motor.

[0122] The omnidirectional wheel assembly 230 is located at the bottom of the seat, enabling omnidirectional movement and allowing for complex actions such as forward, backward, left and right translation, and rotation in place within a plane. This flexibility allows the car wash robot to easily navigate the car wash area, quickly reach various locations around the vehicle, adapt to the needs of different car models and car wash scenarios, and improve the convenience and efficiency of car washing.

[0123] Infrared sensors are mounted on the omnidirectional wheel assembly 230, enabling real-time detection of obstacles along the movement path. Once an obstacle is detected, the second drive motor can quickly adjust the movement state of the omnidirectional wheel assembly 230 based on the detection signal from the infrared sensor, such as decelerating, turning, or stopping, effectively avoiding collisions with obstacles, ensuring the safety of the car wash robot itself, and preventing damage to the vehicle and the surrounding environment.

[0124] By working in concert with the infrared sensor and the second drive motor, precise control of the moving base 100 is achieved, ensuring the stability and accuracy of movement during the car wash process and helping to improve the overall quality of the car wash.

[0125] According to one embodiment of this application, a storage medium is provided, the storage medium storing at least one executable instruction that can execute the control method of the car wash robot in any of the above method embodiments.

[0126] Figure 13 The diagram shows a structural schematic of a computer device according to one embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the terminal.

[0127] like Figure 13 As shown, the terminal may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.

[0128] The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608.

[0129] Communication interface 604 is used to communicate with other network elements such as clients or other servers.

[0130] The processor 602 is used to execute program 610, specifically to execute the relevant steps in the above-described embodiment of the control method for the car wash robot.

[0131] Specifically, program 610 may include program code that includes computer operation instructions.

[0132] The processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The terminal includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0133] Memory 606 is used to store program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0134] Specifically, program 610 can be used to cause processor 602 to perform the following operations: In response to a car wash order request for a target vehicle, the system generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the equipment status information of at least one car wash robot is obtained; The target car wash robot is determined based on the equipment status information, and the car wash order information is sent to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

[0135] According to one embodiment of this application, a storage medium is provided, the storage medium storing at least one executable instruction that can execute the control method of the car wash robot in any of the above method embodiments.

[0136] Figure 14 The diagram shows a structural schematic of a terminal according to one embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the terminal.

[0137] like Figure 14 As shown, the terminal may include: a processor 702, a communications interface 704, a memory 706, and a communications bus 708.

[0138] The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0139] The communication interface 704 is used to communicate with other network elements such as clients or other servers.

[0140] The processor 702 is used to execute program 710, specifically to execute the relevant steps in the above-described embodiment of the control method for the car wash robot.

[0141] Specifically, program 710 may include program code that includes computer operation instructions.

[0142] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The terminal includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0143] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0144] Specifically, program 710 can be used to cause processor 702 to perform the following operations: In response to a car wash order request for a target vehicle, the system generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the equipment status information of at least one car wash robot is obtained; The target car wash robot is determined based on the equipment status information, and the car wash order information is sent to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

[0145] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0146] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a car wash robot, characterized in that, include: Obtain car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; After confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information of the target vehicle, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod and robotic arm of the car wash robot. After the car wash robot is controlled to deform according to the deformation posture information, it performs car wash control on the target vehicle according to the car wash mode.

2. The method according to claim 1, characterized in that, The determination of the deformation posture information of the car wash robot based on the vehicle information of the target vehicle includes: Query the exterior model information that matches the vehicle information; The lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm are determined based on the vehicle appearance information.

3. The method according to claim 2, characterized in that, The method further includes: When no matching vehicle model information is found, the vehicle detection component of the car wash robot scans the three-dimensional outline information of the target vehicle. The lifting height of the lifting cylinder, the extension length of the telescopic rod, and the extension posture of the robotic arm are determined based on the three-dimensional contour information.

4. The method according to claim 3, characterized in that, After determining the car wash mode based on the car wash order information, the method further includes: The lifting cylinder, the telescopic rod, and the robotic arm are controlled to deform according to the lifting height, the telescopic length, and the extension posture, respectively. The car wash robot further includes a spray head, a scraper, a vacuuming assembly, a blower assembly, and a self-cleaning spin-drying assembly. The car wash control of the target vehicle according to the car wash mode includes: The car wash mode controls at least one of the following components to perform a car wash: the spray head, the cleaning assembly, the scraper, the vacuum assembly, the blower assembly, and the self-cleaning spin-drying assembly.

5. The method according to claim 1, characterized in that, The step of controlling the car wash robot to move to the target parking space according to the car wash order information includes: The system analyzes the target cleaning time, vehicle identification information, and target parking space in the car wash order information. Generate path information based on the target parking space and the area map information; The car wash robot is controlled to move to the target parking space according to the target cleaning time and the path information. The method further includes; The system acquires the identity image information of the target vehicle located in the target parking space, and verifies the vehicle identity information based on the identity image information to confirm that the vehicle identity of the target vehicle is correct. The identity image information is acquired based on the vehicle detection component of the car wash robot.

6. The method according to claim 1, characterized in that, After controlling the car wash of the target vehicle according to the car wash mode, the method further includes: After the car wash is completed according to the described car wash mode, order completion information is generated and output. Control the target vehicle to move to the car wash robot refueling area so that the car wash robot can be refueled.

7. A control method for a car wash robot, characterized in that, include: In response to a car wash order request for a target vehicle, the system generates car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputs the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the equipment status information of at least one car wash robot is obtained; The target car wash robot is determined based on the equipment status information, and the car wash order information is sent to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

8. The method according to claim 7, characterized in that, The generated car wash order information includes: Car wash order information is generated based on the vehicle information, car wash mode, target cleaning time, vehicle identity information, and target parking space carried in the car wash order request.

9. A control device for a car wash robot, characterized in that, include: The acquisition module is used to acquire car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; The determination module is used to determine the deformation posture information of the car wash robot based on the vehicle information of the target vehicle after completing the vehicle identity verification at the target parking space, and to determine the car wash mode based on the car wash order information. The car wash mode is used to characterize the different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the lifting cylinder, telescopic rod and robotic arm of the car wash robot. The control module is used to control the car wash robot to deform according to the deformation posture information and then control the car wash to wash the target vehicle according to the car wash mode.

10. A control device for a car wash robot, characterized in that, include: The generation module is used to respond to the car wash order request of the target vehicle, generate car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and output the car wash order payment information; The acquisition module is used to generate car wash order information and acquire the device status information of at least one car wash robot after the order transaction is completed based on the car wash order payment information. The determination module is used to determine the target car wash robot based on the device status information and send the car wash order information to the target car wash robot so that the target car wash robot can control the car wash of the target vehicle according to the car wash order information.

11. A car wash robot, characterized in that, include: Two movable bases; The mounting platform is positioned above the two movable bases; The cleaning assembly includes two side cleaning assemblies and a top cleaning assembly. The side cleaning assemblies are respectively disposed on the two movable bases and located on both sides of the mounting platform. The top cleaning assembly is disposed on the mounting platform and includes a robotic arm and a roller brush disposed at the end of the robotic arm. The roller brush is used to perform cleaning operations. A lifting cylinder is installed on the movable base, and the output end of the lifting cylinder is connected to the installation platform; it is used to drive the installation platform and the top cleaning component to lift. A telescopic rod, installed on the mounting platform, is used to drive the two side cleaning components to move closer or further apart from each other; The controller is signal-connected to the lifting cylinder, the telescopic rod, and the robotic arm, and is used to execute the steps of the method according to any one of claims 1-6.

12. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-6.

13. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 7-8.

14. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 7-8.

15. A control system for a car wash robot, characterized in that, include: The server responds to car wash order requests from target vehicles by generating car wash order payment information based on the vehicle information and car wash mode of the target vehicle, and outputting the car wash order payment information. After the order transaction is completed based on the car wash order payment information, car wash order information is generated, and the device status information of at least one car wash robot is obtained. Based on the device status information, the car wash robot to be washed is determined, and the car wash order information is sent to the car wash robot. A car wash robot is used to acquire the car wash order information and control the car wash robot to move to the target parking space according to the car wash order information; after confirming the vehicle identity at the target parking space, the deformation posture information of the car wash robot is determined based on the vehicle information, and the car wash mode is determined based on the car wash order information. The car wash mode is used to characterize different car wash steps and cleaning parameters configured for different cleaning components. The deformation posture information is used to characterize the spatial position state of the car wash robot's lifting cylinder, telescopic rod, and robotic arm; after controlling the car wash robot to deform according to the deformation posture information, the car wash robot performs car wash control on the target vehicle according to the car wash mode.

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