Self-driving car washing method, device and equipment

Abstract

The application provides an unmanned vehicle washing method, device and equipment, comprising the following steps: according to a vehicle washing mode, the vehicle is driven to a washing position corresponding to a washing machine and / or the washing machine is moved to a washing position corresponding to the vehicle; a washing confirmation signal of the vehicle and the washing machine is acquired; the vehicle is informed to enter a washing state, and the washing machine is informed to clean the vehicle, so that the vehicle is cleaned by the washing machine. The vehicle can be efficiently and quickly cleaned, and the efficiency of unmanned vehicle washing is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus and equipment for unmanned car washing. Background Technology

[0002] Vehicle cleaning not only affects the vehicle's appearance but also the detection accuracy of sensors such as LiDAR and cameras. For example, for autonomous vehicles, environmental perception relies on these sensors. Any obstructions, dirt, or coverings can cause sensor malfunctions, target recognition errors, or positioning deviations, thus affecting driving safety and potentially leading to serious accidents. Currently, vehicle washing mainly relies on manual washing. Manual washing is inefficient, costly, and fails to meet the high-frequency, rapid, and standardized cleaning requirements of autonomous vehicles, impacting overall vehicle operational efficiency. Therefore, how to achieve efficient and rapid vehicle washing for autonomous driving scenarios is the technical problem this application aims to solve. Summary of the Invention

[0003] This application provides a method, apparatus, and equipment for unmanned car washing, which can achieve efficient and fast vehicle cleaning and improve the efficiency of unmanned car washing.

[0004] In a first aspect, this application provides an unmanned car washing method for a vehicle, comprising: driving the vehicle to the car washing position corresponding to the car washing machine and / or moving the car washing machine to the car washing position corresponding to the vehicle according to the vehicle's car washing mode; acquiring car washing confirmation signals from the vehicle and the car washing machine respectively; notifying the vehicle to enter the car washing state and notifying the car washing machine to clean the vehicle, so as to clean the vehicle by the car washing machine.

[0005] Secondly, this application provides an unmanned car wash device for vehicles, comprising: a first communication module, used to drive the vehicle to the car wash position corresponding to the car wash machine and / or move the car wash machine to the car wash position corresponding to the vehicle according to the vehicle's car wash mode; a signal acquisition module, used to acquire car wash confirmation signals from the vehicle and the car wash machine respectively; and a second communication module, used to notify the vehicle to enter the car wash state and notify the car wash machine to clean the vehicle, so as to clean the vehicle through the car wash machine.

[0006] Thirdly, this application provides an electronic device, including: a processor and a memory, the memory for storing a computer program, and the processor for calling and running the computer program stored in the memory to perform the methods as described in the first aspect or its various implementations.

[0007] Fourthly, this application provides a computer-readable storage medium for storing a computer program that causes a computer to perform the methods described in the first aspect or its various implementations.

[0008] Fifthly, this application provides a computer program product including computer program instructions that cause a computer to perform the methods as described in the first aspect or its various implementations.

[0009] Sixthly, this application provides a computer program that causes a computer to perform the methods described in the first aspect or its various implementations.

[0010] The technical solution of this application enables a vehicle to drive to the corresponding car wash location and / or the car wash machine to move to the corresponding car wash location, based on the vehicle's car wash mode. It acquires car wash confirmation signals from both the vehicle and the car wash machine, notifying the vehicle to enter the car wash state and instructing the car wash machine to clean the vehicle. In this process, not only can the "vehicle finds car wash machine" and / or "car wash machine finds vehicle" meet car wash needs in different scenarios, but by acquiring car wash confirmation signals from both the vehicle and the car wash machine, it ensures that both are ready before starting the car wash process, avoiding the risk of collision or car wash failure due to either the vehicle or the car wash machine not being in position, thus improving the safety and reliability of the car wash process. Therefore, it achieves efficient, fast, and reliable vehicle washing, improving the efficiency of unmanned car washing.

[0011] Other technical features and effects involved in the technical solution of this application will be described in subsequent embodiments, and will not be repeated here to avoid repetition. Attached Figure Description

[0012] The accompanying drawings used in the following description of the embodiments are introduced.

[0013] Figure 1 A flowchart illustrating an unmanned car washing method for a vehicle, provided as an embodiment of this application; Figure 2A A schematic diagram of an unmanned car washing method provided in an embodiment of this application; Figure 2B A schematic diagram of another driverless car washing method for a vehicle provided in an embodiment of this application; Figure 3A A schematic diagram of another driverless car washing method for a vehicle provided in an embodiment of this application; Figure 3B A schematic diagram of another driverless car washing method for a vehicle provided in an embodiment of this application; Figure 4 A schematic diagram of another driverless car washing method for a vehicle provided in an embodiment of this application; Figure 5 A schematic diagram of an unmanned car wash device for a vehicle provided in an embodiment of this application; Figure 6 A schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying 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 server 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 devices.

[0016] In one embodiment, the technical solution of this application can be used in vehicle washing scenarios. For example, it can be applied to washing scenarios for unmanned vehicles, or it can be applied to washing scenarios for manned vehicles. In addition, it can be specifically applied to scenarios where a collaborative car wash machine is used for vehicle washing, but it is not limited thereto. The car wash machine can refer to equipment used for washing (or automatically washing) vehicles. For example, it can automatically clean the exterior of a vehicle using roller brushes, water spray devices, and drying devices. It may also include a communication device for communicating with the vehicle and the station management system.

[0017] In one embodiment, the solution provided in this application can be executed by any electronic device with data processing capabilities. For example, the electronic device can be a server, specifically a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Alternatively, the electronic device can be a terminal device, specifically a tablet computer, laptop computer, or desktop computer. Furthermore, the electronic device can be a combination of a server and a terminal device, wherein the server and terminal device in the combination can communicate wirelessly or via wired means. This application does not impose specific limitations on the electronic device.

[0018] In addition, the electronic device can also be a station management system or a vehicle operation platform. The station management system or vehicle operation platform is used to communicate with vehicles and car wash machines. For example, it can receive status information, location information, fault information and car wash confirmation signals sent by vehicles and car wash machines, and issue car wash tasks, control instructions and scheduling information to vehicles and car wash machines to achieve centralized monitoring and unified scheduling of the vehicle washing process.

[0019] Alternatively, the electronic device can be a combination of a station management system (or vehicle operation platform), vehicles, and car wash machines. The station management system can receive and issue car wash tasks, verify the status information of vehicles and car wash machines, and perform global scheduling. Vehicles can act as execution units, receiving car wash tasks, driving to a designated location, entering car wash mode, and reporting their own status and fault information in real time during the car wash process. Car wash machines can act as another execution unit, receiving car wash tasks, adjusting to their initial position or moving to the vehicle's location, performing the washing operation, and reporting their working status and fault information in real time during the car wash process. The station management system, vehicles, and car wash machines interact with each other via wireless or wired communication to collaboratively complete the automatic car wash process. This application does not limit the specific type and communication method of each device in the above combination.

[0020] It should be noted that all technical solutions in this application can be combined in any way to form optional embodiments of this application. To avoid repetition, these will not be elaborated upon.

[0021] Furthermore, the specific embodiments of this application involve data, information, or instructions such as car wash confirmation signals, fault information, and car wash location. When the embodiments of this application are applied to specific products or technologies, user permission, consent, or authorization is required, and the collection, use, and processing of related data must comply with relevant laws, regulations, and standards.

[0022] The technical solution of this application will be described in detail below: It should be noted that the following embodiments will introduce the technical solution of this application from the perspective of a station management system or a vehicle operation platform. When the technical solution of this application is executed by a vehicle or a car wash machine, the corresponding embodiments are similar to those below. To avoid repetition, this application will not elaborate on them.

[0023] In one embodiment, Figure 1 This is a flowchart illustrating an unmanned car washing method provided in an embodiment of this application. The method can be executed by the aforementioned electronic equipment, for example, by a site management system or a vehicle operation platform, but is not limited thereto. Figure 1 As shown, the method may include S110-S130.

[0024] Before introducing S110-S130, let's first introduce some terms used in this application: For example, parking spaces and vehicle stop lines can be set up first. For instance, parking spaces and vehicle stop lines (or stop lines, vehicle stop positions) can be set up in front of the car wash machine. The parking spaces are used for precise vehicle positioning, adjusting the vehicle's posture to ensure the front of the car is facing the car wash machine entrance. This serves as a preparation position and a waiting position before the vehicle enters the car wash machine. The vehicle stop lines are used to determine the final parking position of the vehicle (e.g., through visual recognition), confirming that the vehicle has arrived at the car wash machine's designated area, serving as a safety confirmation position before starting the car wash process.

[0025] For example, such as Figure 2A As shown, in Figure 2A The floor plan of the car wash machine shows parking spaces and vehicle stop lines in front of it.

[0026] For example, a car wash machine can be set to its origin (or initial position) and working position. It should be understood that autonomous vehicles typically perceive the car wash machine's support column as an obstacle, stopping upon detection and disrupting the normal car wash process. Therefore, for autonomous vehicles, the car wash machine can remain at its origin before washing; after washing, it can pause at its working position to avoid autonomous vehicles, returning to its origin after the vehicle has driven away.

[0027] For example, the origin point can refer to the initial position of the car wash machine. At this position, all mechanical parts of the car wash machine (such as roller brushes, water spray devices, drying devices, etc.) are in a retracted state and do not exceed the basic outline of the car wash machine. This ensures that when an autonomous vehicle approaches, it will not be identified as an obstacle, providing an interference-free passage for the vehicle to drive safely.

[0028] The working position can refer to the working position of the car wash machine when performing the cleaning operation. In this position, the mechanical parts of the car wash machine (such as roller brush, water spray device, air drying device, etc.) can be unfolded to a preset posture close to the car body to complete the normal cleaning work. After the car wash is completed, the car wash machine can be temporarily kept in this position to leave a safe space for the vehicle to drive away, and then return to the original position after the vehicle has completely driven away.

[0029] For example, the origin and working positions of a car wash machine can be as follows: Figure 2B As shown.

[0030] For example, a car wash machine can be configured with a dedicated car wash mode according to vehicle needs. A dedicated car wash mode can refer to a mode specifically designed for washing vehicles. For instance, in a dedicated car wash mode, the car wash machine can maintain its original position (e.g., the car wash machine remains in its original position, with its columns and rollers retracted) before the vehicle enters a parking space or stop line, or before washing the vehicle, to avoid being mistaken for an obstacle by the vehicle. For example, after washing, an obstacle avoidance program can be activated; that is, the car wash machine can pause at its working position and automatically return to its original position after the vehicle has driven away, ensuring a clear path for the vehicle. For example, the roller height, water pressure, and washing path can be automatically adjusted according to the vehicle model to adapt to different car wash parameters. Subsequent embodiments will describe this in detail.

[0031] Introducing S110-S130: S110: Based on the vehicle's car wash mode, drive the vehicle to the car wash location corresponding to the car wash machine and / or move the car wash machine to the car wash location corresponding to the vehicle.

[0032] Prior to implementing S110, the technical solution of this application also includes: issuing a car wash task to the vehicle and the car wash machine, so that the vehicle drives to the parking space corresponding to the car wash machine and the car wash machine generates a car wash order.

[0033] For example, the vehicle may be an autonomous vehicle, and this application does not limit this.

[0034] For example, the car wash mode may include a first car wash mode and a second car wash mode, wherein the first car wash mode is a mode in which the vehicle drives to the corresponding position of the car wash machine for vehicle washing (i.e., the vehicle seeks out the car wash machine for washing); and the second car wash mode is a mode in which the car wash machine moves to the corresponding position of the vehicle for vehicle washing (i.e., the car wash machine seeks out the vehicle for washing).

[0035] The aforementioned car wash mode can be set by the vehicle, or determined by the car wash machine, station management system, or vehicle operation platform. The car wash modes of the vehicle, car wash machine, station management system, and vehicle operation platform can be synchronized with each other.

[0036] For example, when a vehicle is parked in a fixed parking space and has the ability to drive autonomously, the vehicle can be set to the first car wash mode, and the vehicle will drive itself to the location of the car wash machine to complete the cleaning; when the vehicle cannot move due to insufficient power, malfunction or scheduling restrictions, the vehicle can be set to the second car wash mode, and the mobile car wash machine will actively move to the location of the vehicle to perform the cleaning.

[0037] For example, a car wash machine can determine its wash mode based on its remaining battery power, water tank volume, current task queue length, and relative distance to the vehicle, and then synchronize the wash mode to the vehicle. When the car wash machine has sufficient battery power and no other high-priority tasks, it can select the first wash mode and wait for the vehicle to arrive automatically; when the car wash machine is low on battery power or needs to quickly respond to the vehicle's cleaning needs, it can select the second wash mode and actively move to the vehicle's location to perform the wash.

[0038] For example, a station management system or vehicle operation platform can uniformly schedule car wash modes based on parking space occupancy, vehicle distribution density, and the real-time status of car wash machines. When there are many vacant parking spaces in the area where a car wash machine is located and vehicles are easy to move, the first car wash mode can be used; when parking spaces around the car wash machine are scarce or vehicles are concentrated in a specific area, the second car wash mode can be used, with the car wash machine performing roving car wash operations. Alternatively, the car wash mode can be comprehensively determined based on the vehicle's operation plan, remaining task time windows, and the distribution of car wash resources. For vehicles about to be dispatched, the first car wash mode can be prioritized, with the vehicle proactively going to the car wash machine for a quick wash; for vehicles that have completed their operational tasks and are about to be stored, the second car wash mode can be used, with the car wash machine going to the vehicle's parking location for washing, reducing unnecessary empty mileage for vehicles.

[0039] It should be noted that the first car wash mode and the second car wash mode are not mutually exclusive and can be used in conjunction. For example, the vehicle and the car wash machine can move towards each other to a predetermined intermediate position (this intermediate position can be any coordinate point within the preset car wash area that meets the driving conditions of both the vehicle and the car wash machine, or it can be the meeting point calculated in real time based on the current positions of the vehicle and the car wash machine) to shorten the movement time before washing the car and improve the overall car wash efficiency.

[0040] For the first car wash mode, S110 may include: in response to the car wash mode being the first car wash mode, causing the vehicle to drive to the vehicle stop position corresponding to the car wash machine.

[0041] For example, the first car wash mode can be applied to fixed car wash machine scenarios, such as scenarios where the car wash machine is in a fixed location and vehicles line up to enter for washing.

[0042] For example, in the first car wash mode, the station management system can issue car wash tasks to vehicles and car wash machines. After receiving a car wash task, the vehicle can queue up and drive into the parking space of the car wash machine. Once the vehicle enters the parking space, the car wash machine can generate a car wash order. Afterward, the vehicle can report the status "vehicle entered parking space within the car wash machine" to the station management system. Then, the vehicle can continue to move forward slowly and automatically stop at the vehicle stop position through visual detection.

[0043] For example, in the first car wash mode, the station management system can issue a car wash task to the vehicle. This task can include the car wash machine's identifier, the location information of the corresponding vehicle stop, and the driving route planning information to that stop. Upon receiving the task, the vehicle can obtain the car wash machine's identifier, location information, and driving route planning information, and then drive to the designated stop according to the planned route. The stop can be marked with visual identifiers (e.g., stop lines, reflective markings, etc.), which represent the location information of the stop and the car wash machine's identifier, facilitating vehicle identification. The vehicle can identify and confirm the stop location using onboard sensors (such as cameras, radar, etc.) and park there.

[0044] In addition, as the vehicle moves to the vehicle stopping position, the station management system can simultaneously issue a preparation command to the car wash machine, causing the car wash machine to switch back to its original position, so as to avoid being mistaken for an obstacle by the vehicle and ensure the vehicle enters safely.

[0045] For the second car wash mode, S110 may include: in response to the car wash mode being the second car wash mode, moving the car wash machine to the location of the vehicle.

[0046] For example, the second car wash mode can be applied to mobile car wash scenarios such as mobile car wash machines, where vehicles can be parked in designated areas or any workable (i.e., washing) location, and the car wash machine will proactively go to provide car wash services.

[0047] For example, in the second car wash mode, the station management system can assign car wash tasks to both vehicles and car wash machines. After receiving the task, the vehicle queues and drives into a parking space within the car wash machine. Once the vehicle is in the parking space, the car wash machine generates a car wash order. The vehicle can then report its "vehicle entered a parking space within the car wash machine" status to the station management system. The station management system can then instruct the car wash machine to locate the vehicle, and the machine can slowly approach it.

[0048] For example, in the second car wash mode, the station management system can issue a car wash task to the car wash machine. This task can include the vehicle's identification, real-time location, and a planned route to that location. Upon receiving the task, the car wash machine obtains the vehicle's identification, real-time location, and route planning information, and moves to the vehicle's location according to the planned route. During its movement, the car wash machine uses onboard sensors (such as radar and cameras) to perceive its surroundings in real time, avoiding obstacles and ultimately reaching the vicinity of the vehicle. Subsequently, the car wash machine can use visual recognition or radar detection to precisely align with the vehicle and adjust its posture to ensure that the washing equipment (such as a roller brush) covers the vehicle's body.

[0049] Furthermore, as the car wash machine moves towards the vehicle, the station management system can obtain the vehicle's location in real time and adjust the machine's route planning information accordingly. Simultaneously, the station management system can instruct the vehicle to remain parked, waiting for the car wash machine to arrive before starting the washing process.

[0050] In addition, the first car wash mode and the second car wash mode can be activated simultaneously. For the corresponding embodiments, please refer to the respective embodiments of the first car wash mode and the second car wash mode. This application will not elaborate on these aspects.

[0051] In the above-described embodiment of S110, multiple car wash modes can be provided to adapt to the hardware conditions and operational needs of different car wash scenarios, thereby achieving diversified coverage of car wash scenarios and improving the convenience and adaptability of vehicle cleaning.

[0052] S120: Obtain car wash confirmation signals from both the vehicle and the car wash machine.

[0053] For example, for the first car wash mode, S120 may include: acquiring a first car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the vehicle stop position and a second car wash confirmation signal sent by the car wash machine indicating that the vehicle has been detected to have entered the vehicle stop position.

[0054] For example, in the embodiment of S110 described above, after the car wash machine detects a vehicle entering the vehicle stopping position, it can report a second car wash confirmation signal, "Vehicle in position, car wash can proceed," to the station management system. After the vehicle enters the stopping position, it can enter the car wash mode and report a first car wash confirmation signal, "Vehicle in position, car wash can proceed," to the station management system.

[0055] For example, after a vehicle drives to the vehicle stop position corresponding to the car wash machine, it can confirm that it has accurately stopped at the vehicle stop position through the on-board sensor, and then send the first car wash confirmation signal to the station management system.

[0056] For example, a car wash machine can detect a vehicle entering and parking at its stop position using inductive loops, photoelectric sensors, or visual recognition devices installed at its entrance, and then send a second car wash confirmation signal to the station management system.

[0057] For example, for the second car wash mode, S120 may include: acquiring a third car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the second car wash mode and a fourth car wash confirmation signal sent by the car wash machine indicating that the vehicle has been detected.

[0058] For example, in the embodiment of S110 described above, after the car wash machine detects a vehicle, it stops moving and notifies the station management system of the fourth car wash confirmation signal "Car wash is ready". After the vehicle enters the vehicle stop position, it enters the car wash mode and can report the third car wash confirmation signal "Vehicle has entered car wash mode" to the station management system.

[0059] For example, after a vehicle enters the parking position, it can automatically switch to car wash mode (e.g., engage parking, close doors and windows, etc.) and send a third car wash confirmation signal to the station management system.

[0060] For example, after the car wash machine moves to the location of the vehicle, it can scan and identify the vehicle using radar, vision sensors, etc. After confirming that the vehicle's position and posture meet the car wash requirements, it sends a fourth car wash confirmation signal to the station management system.

[0061] In the above-mentioned embodiment of S120, by acquiring the car wash confirmation signals sent by both the vehicle and the car wash machine, a two-way status verification before car washing is realized, ensuring that both the vehicle and the car wash machine are ready, thereby effectively avoiding safety risks such as car wash failure and equipment collision caused by unilateral failure to arrive or complete preparation.

[0062] S130: Notify the vehicle to enter the car wash state and notify the car wash machine to clean the vehicle.

[0063] For example, after receiving a notification that the vehicle has entered the car wash state, it may perform at least one of the following operations: confirm that the vehicle is in the parking position, close all windows, roll up the rearview mirrors, disable the automatic driving function (such as prohibiting unintended vehicle movement), and send a confirmation message of "entered car wash state" to the station management system to ensure that the vehicle remains stable and controllable throughout the car wash process.

[0064] For example, after receiving a notification to clean a vehicle, the car wash machine can execute the cleaning process according to the preset car wash program. For example, it can move from the original position to the working position, start the water spray system, drive the roller brush to rotate, and spray car wash liquid. In addition, it can automatically adjust the car wash parameters (such as water pressure, brushing force, and cleaning time) according to the vehicle model to achieve fine cleaning.

[0065] For example, before executing S130, the site management system can first verify the information of the vehicle and the car wash machine. After confirming that there are no errors, S130 can be executed, thereby ensuring that the car wash operation is safe and controllable.

[0066] For example, any of the following verifications can be performed, but not limited to: vehicle identification verification (e.g., verifying whether a vehicle has car wash authorization and matches the current car wash task based on its identification and model, thereby preventing task mismatch or unauthorized vehicles entering the car wash area); car wash machine identification verification (e.g., verifying the current working status of the car wash machine (e.g., whether it is idle or malfunctioning), verifying whether the car wash machine matches the current car wash task based on its identification, thereby ensuring that the car wash machine is available and suitable for cleaning the current vehicle model); and task matching for car wash tasks. Verification of matching (e.g., verifying whether the task identifier, car wash mode, appointment time, etc. of the current car wash task match the vehicle and car wash machine, thereby ensuring that the vehicle and car wash machine correspond to the same task and avoiding conflicts between different tasks) and verification of the safety conditions of the car wash task (e.g., verifying the environmental safety status of the car wash location (e.g., the vehicle stop position in the first car wash mode or the vehicle position in the second car wash mode), such as whether other vehicles or personnel have entered, whether there are obstacles around the car wash machine, etc., thereby ensuring environmental safety before starting the car wash operation).

[0067] In the above-described embodiment of S130, the unified start and coordinated control of the car wash process can be achieved by simultaneously issuing execution commands to the vehicle and the car wash machine, ensuring that the vehicle and the car wash machine enter the car wash operation state at the same time reference, and avoiding waiting or conflict caused by asynchronous commands.

[0068] In addition, in some embodiments, the technical solution of this application further includes: obtaining fault information reported by the car wash machine and / or the vehicle during the vehicle washing process; notifying the car wash machine and the vehicle to perform the processing steps corresponding to the fault information, so that the car wash machine and / or the vehicle enter the fault handling process according to the fault level.

[0069] For example, regarding vehicle-reported fault information (hereinafter referred to as vehicle fault information), when a vehicle detects a fault during the car wash process (e.g., abnormal door opening, sensor signal loss, loss of parking status, etc.), it can report the vehicle fault information to the station management system. The vehicle fault information may include fault code, fault level, fault description, etc. After receiving the vehicle fault information, the station management system can take corresponding actions according to the fault level: If the fault level is a Level 1 fault (or minor fault), such as sensor signal loss or communication interruption with the station management system, the station management system can notify the car wash machine to suspend the car wash and wait for the vehicle to recover. If the vehicle recovers within a preset time, the car wash will continue; otherwise, the fault level can be upgraded. If the fault level is a Level 2 fault (or moderate fault), such as abnormal door opening, the station management system can notify the car wash machine to move to the working position or the original position, and at the same time notify the vehicle to drive out of the car wash machine, terminating the current car wash task. If the fault level is level three (or a serious fault), such as vehicle brake failure or airbag deployment, which involves personal or equipment safety, the station management system can notify the car wash machine to immediately stop all operations (e.g., stop the roller brush and stop spraying water), move to its original position to avoid the fault, and notify the vehicle to remain stationary and wait for manual intervention.

[0070] For example, regarding fault information reported by the car wash machine (hereinafter referred to as car wash machine fault information), when the car wash machine detects a fault during the washing process (such as a stuck roller brush, abnormal water spray system, motor overload, etc.), it can report the car wash machine fault information to the station management system. After receiving the car wash machine fault information, the station management system can take corresponding actions according to the fault level: If the fault level is a Level 1 fault, such as nozzle blockage or abnormal sensor signal, the station management system can notify the car wash machine to downgrade its operation (e.g., stop using the blocked nozzles and continue washing) or pause the car wash and allow it to recover on its own. If it recovers successfully, the car wash will continue; otherwise, the fault level will be upgraded. If the fault level is a Level 2 fault, such as abnormal roller brush speed or partial functional failure but the car wash machine can still move, the station management system can notify the car wash machine to stop the washing operation and move back to its original position, while simultaneously instructing the vehicle to remain stationary or drive away slowly, thus terminating the car wash task. If the fault level is level three, such as a car wash machine malfunction, a stuck robotic arm, or an electrical leak, which involves safety, the station management system can notify the car wash machine to stop, cut off the power supply, and instruct the vehicle to remain stationary and wait for professional personnel to handle the situation.

[0071] For example, after the above-mentioned fault is resolved, the vehicle and / or car wash machine can report "fault resolved" information to the station management system.

[0072] In the above embodiments, the hierarchical fault handling mechanism can effectively deal with various abnormal situations during the car wash process, maximize the safety of vehicles, equipment and personnel, reduce process interruptions caused by minor faults, and improve the robustness and availability of the system.

[0073] In addition, in some embodiments, the technical solution of this application further includes: in response to the end of vehicle washing, stopping the car wash machine at the corresponding working position (e.g., waiting at the working position) and driving the vehicle out of the corresponding car wash position; in response to the vehicle driving out of the corresponding car wash position, moving the car wash machine to the corresponding initial position.

[0074] In the above embodiments, by setting a step-by-step exit and reset mechanism between the vehicle and the car wash machine after the car wash is completed, the safe separation of the vehicle and the car wash machine and the restoration of the equipment status are achieved, ensuring the complete closed loop of the car wash process.

[0075] In addition, in some embodiments, the technical solution of this application also includes: obtaining settlement information generated by the car wash machine based on the car wash order.

[0076] For example, after a car wash is completed, the car wash machine can generate a car wash order based on the actual service content of the wash and automatically generate settlement information based on the order. For example, the settlement information may include the following: vehicle and car wash machine identification, car wash service content (e.g., car wash time, car wash mode (first car wash mode or second car wash mode), car wash duration, actual water consumption, power consumption, whether value-added services (such as waxing, polishing, drying, etc.) are included, car wash type (e.g., basic wash, standard wash, premium wash)) and fee information.

[0077] In the above embodiments, by obtaining the settlement information generated by the car wash machine based on the car wash order, automatic billing and settlement of car wash services can be realized, thereby improving the intelligence level of car washing and the user experience.

[0078] In some embodiments, a car wash machine can be selected from multiple car wash machines based on factors such as vehicle type, degree of dirt, and machine status.

[0079] For example, a first car wash machine can be selected from multiple car wash machines based on the vehicle type. The vehicle type conditions that the first car wash machine can clean match the vehicle type (e.g., the maximum vehicle height, width, and wheelbase range supported by the first car wash machine match the vehicle type). Then, the degree of dirtiness of the vehicle can be identified, including at least one of the following: the degree of dirtiness of the front of the vehicle, the degree of dirtiness of the sides of the vehicle, the degree of dirtiness of the roof of the vehicle, and the degree of dirtiness of the rear of the vehicle. Based on the degree of dirtiness of the vehicle, a second car wash machine is determined from the first car wash machine. The cleaning ability of the second car wash machine matches the degree of dirtiness of the vehicle (e.g., the functions supported by the second car wash machine, such as high-pressure washing and multiple brushing, match the degree of dirtiness of the vehicle, for example, matching the heavy dirtiness of the sides of the vehicle). Finally, the car wash machine is determined based on the status information of the second car wash machine. For example, the status information of the second car wash machine includes at least one of the following: working status (e.g., idle, busy, malfunctioning, under maintenance), current location and estimated time to reach the vehicle's location, remaining car wash task indicators (e.g., current number of vehicles in the queue, estimated waiting time), remaining resources (e.g., remaining car wash liquid, clean water tank level, battery level, etc.), and historical car wash performance (e.g., historical car wash quality rating, failure rate, average car wash time, etc.). The quantified values ​​of each status information item can be weighted and summed to determine the second car wash machine corresponding to the optimal result.

[0080] In the above embodiments, by comprehensively considering multiple factors such as vehicle type, degree of dirt, and car wash machine status, the most suitable car wash machine can be dynamically selected from multiple available car wash machines, realizing intelligent scheduling and optimized matching of car wash resources, and improving operational efficiency and car wash service quality.

[0081] In some embodiments, the vehicle can select the cleaning content based on the cleaning area and historical car wash records, and then the car wash machine can clean the vehicle according to the cleaning content.

[0082] For example, a vehicle can use onboard sensors to scan and detect the surface of its body, identifying areas where the level of dirt exceeds a threshold, thus determining the cleaning areas. Based on historical car wash records, the time interval since the last wash can be determined to assess the cleaning intensity of the current wash and identify areas that were not properly cleaned in previous washes. Cleaning content is then generated based on the cleaning areas, cleaning intensity, and areas that were not properly cleaned. The cleaning content may include: car wash type (e.g., basic wash, standard wash, premium wash), whether any value-added services were selected (waxing, coating, drying time, etc.), and car wash parameters (e.g., water pressure of the car wash machine, brushing speed, washing time, drying time, etc.).

[0083] In the above embodiments, by introducing cleaning area recognition and historical car wash record analysis, personalized customization and precise execution of car wash content can be achieved, thereby improving the level of intelligence and user experience of car washing.

[0084] In some embodiments, the technical solution of this application will be described again below with reference to schematic diagrams.

[0085] For example, in conjunction with the above embodiments, such as Figure 3A As shown, for the first car wash mode, the station management system or vehicle operation platform issues car wash tasks to the intelligent driving vehicles (i.e., the vehicles) and simultaneously issues tasks to the car wash machines. After receiving the car wash task, the vehicles queue up and drive into the parking spaces inside the car wash machines. The car wash machines then generate an order, and the vehicles report the status "vehicle has entered a parking space inside the car wash machine" to the station management system. Next, the vehicles continue to move forward slowly and automatically stop at their designated parking positions through visual detection, achieving the "vehicle finds car wash machine" alignment process. Once in position, the car wash machine detects that a vehicle has entered its designated parking position and reports "vehicle in position, car wash can proceed." The vehicles simultaneously enter car wash mode and report the same status. The station management system receives confirmation from both the vehicle and the car wash machine. After receiving the "Car wash ready" signal, the system verifies the vehicle and car wash machine information. Once confirmed, it notifies the car wash machine to begin washing and instructs the vehicle to enter the washing state. During the washing process, fault monitoring is performed. If the vehicle or car wash machine reports a fault, the fault handling process is initiated. If there is no fault, the washing continues. After the car wash is completed, the car wash machine waits at its work position until the vehicle drives out. Then, the car wash machine returns to its zero position. Finally, the car wash machine sends a message to the station management system indicating "Car wash successful" and pushes the settlement information to the station management system, thus ending the car wash.

[0086] For example, in conjunction with the above embodiments, such as Figure 3B As shown, for the second car wash mode, the station management system or vehicle operation platform sends a car wash task to the intelligent driving vehicle and simultaneously sends the task to the car wash machine. After receiving the car wash task, the vehicle queues up and drives into the parking space inside the car wash machine. At this time, the car wash machine generates an order, and the vehicle reports the status "vehicle entered parking space inside car wash machine" to the station management system. The station management system then notifies the car wash machine to find the car. The car wash machine slowly approaches the vehicle, and at the same time, the vehicle enters the car wash mode and is synchronized to the station management system. After detecting the vehicle, the car wash machine stops and notifies the station management system. "Car wash ready"; After receiving the signal from the car wash machine, the station management system verifies the vehicle and car wash machine information. Once confirmed, it notifies the car wash machine to start washing the car and instructs the vehicle to enter the washing state. During the car wash process, if the vehicle or car wash machine reports a fault, the corresponding fault handling procedure is initiated. If there is no fault, the car wash continues. After the car wash is completed, the car wash machine waits at its work position, the vehicle drives out of the car wash machine, and then the car wash machine returns to its zero position. Finally, the car wash machine reports the car wash order to the station management system, marks "car wash successful," and pushes the settlement information, thus ending the car wash.

[0087] For example, in conjunction with the above embodiments, such as Figure 4As shown, during the car wash process, if a vehicle detects a malfunction, it can report the malfunction information to the station management system. Upon receiving the malfunction notification, the station management system instructs the car wash machine and the vehicle to handle the situation accordingly. Specifically, the car wash machine responds to the notification by slowly raising its roller brush and moving to the working position, while the vehicle slowly exits the car wash machine according to the malfunction severity level, and the car wash then terminates. If the car wash machine detects a malfunction, it reports the malfunction information to the station management system. Upon receiving the malfunction notification, the station management system instructs the car wash machine and the vehicle to handle the situation accordingly. The car wash machine slowly raises its roller brush or enters a malfunction mode according to the malfunction severity level, while the vehicle slowly drives away or waits for assistance according to the malfunction severity level, and the car wash then terminates.

[0088] Through the technical solution of this application, the station management system establishes communication connections with both the car wash machine and the vehicle, enabling direct communication with both parties and reducing the number of interaction links. Furthermore, by acquiring multiple status confirmations from both the car wash machine and the vehicle, including wash confirmation signals, verification information, and fault handling, the reliability and safety of the car wash process can be ensured.

[0089] Figure 5 This is a schematic diagram of an unmanned car wash device for a vehicle provided in an embodiment of this application. Figure 5 As shown, the driverless car wash device 500 for vehicles includes: The first communication module 510 is used to drive the vehicle to the car wash position corresponding to the car wash machine and / or move the car wash machine to the car wash position corresponding to the vehicle according to the car wash mode of the vehicle; the signal acquisition module 520 is used to acquire the car wash confirmation signals of the vehicle and the car wash machine respectively; the second communication module 530 is used to notify the vehicle to enter the car wash state and to notify the car wash machine to clean the vehicle, so as to clean the vehicle through the car wash machine.

[0090] In some embodiments, the first communication module 510 is specifically used to drive the vehicle to the vehicle stop position corresponding to the car wash machine in response to the car wash mode being the first car wash mode; the signal acquisition module 520 is specifically used to acquire the first car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the vehicle stop position and the second car wash confirmation signal sent by the car wash machine indicating that the vehicle has entered the vehicle stop position; wherein, the first car wash mode is the mode in which the vehicle drives to the position corresponding to the car wash machine for vehicle washing.

[0091] In some embodiments, the first communication module 510 is specifically used to move the car wash machine to the location of the vehicle in response to the car wash mode being the second car wash mode; the signal acquisition module 520 is specifically used to acquire a third car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the second car wash mode and a fourth car wash confirmation signal sent by the car wash machine indicating that the vehicle has been detected; wherein, the second car wash mode is a mode in which the car wash machine moves to the corresponding location of the vehicle to clean the vehicle.

[0092] In some embodiments, the first communication module 510 is further configured to send a car wash task to the vehicle and the car wash machine, so that the vehicle drives to the parking space corresponding to the car wash machine and the car wash machine generates a car wash order.

[0093] In some embodiments, the second communication module 530 is further configured to acquire settlement information generated by the car wash machine based on the car wash order.

[0094] In some embodiments, the second communication module 530 is further configured to acquire fault information reported by the car wash machine and / or the vehicle during the vehicle washing process; notify the car wash machine and the vehicle to perform the processing steps corresponding to the fault information, so that the car wash machine and / or the vehicle enter the fault handling process according to the fault level.

[0095] In some embodiments, the second communication module 530 is further configured to, in response to the end of vehicle washing, stop the car wash machine at the corresponding working position of the car wash machine and drive the vehicle out of the corresponding car wash position; and in response to the vehicle driving out of the corresponding car wash position, move the car wash machine to the corresponding initial position of the car wash machine.

[0096] It should be understood that the device embodiments and method embodiments can correspond to each other, and similar descriptions can be referred to the method embodiments. To avoid repetition, further details will not be provided here. Specifically, Figure 5 The apparatus 500 shown can execute the above-described method embodiments, and the aforementioned and other operations and / or functions of each module in the apparatus 500 are respectively for implementing the corresponding processes in the above-described methods. For the sake of brevity, they will not be described in detail here.

[0097] The apparatus 500 of this application embodiment has been described above from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that this functional module can be implemented in hardware, in software instructions, or in a combination of hardware and software modules. Specifically, the steps of the method embodiments in this application can be completed by integrated logic circuits in the processor's hardware and / or by software instructions. The steps of the method disclosed in this application embodiment can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. Optionally, the software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps in the above method embodiments.

[0098] Figure 6 A schematic diagram of an electronic device provided in an embodiment of this application.

[0099] like Figure 6 As shown, the electronic device 600 may include: The system includes a memory 610 and a processor 620. The memory 610 stores computer programs and transfers the program code to the processor 620. In other words, the processor 620 can retrieve and run the computer program from the memory 610 to implement the methods described in the embodiments of this application.

[0100] For example, the processor 620 can be used to execute the above-described method embodiments according to instructions in the computer program.

[0101] In some embodiments of this application, the processor 620 may include, but is not limited to: General-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0102] In some embodiments of this application, the memory 610 includes, but is not limited to: Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0103] In some embodiments of this application, the computer program may be divided into one or more modules, which are stored in the memory 610 and executed by the processor 620 to perform the method provided in this application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the electronic device.

[0104] like Figure 6 As shown, the electronic device may further include: Transceiver 630, which can be connected to processor 620 or memory 610.

[0105] The processor 620 can control the transceiver 630 to communicate with other devices; specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 630 may include a transmitter and a receiver. The transceiver 630 may further include antennas, and the number of antennas may be one or more.

[0106] It should be understood that the various components in the electronic device are connected through a bus system, which includes a data bus, a power bus, a control bus, and a status signal bus.

[0107] This application also provides a computer storage medium storing a computer program thereon, which, when executed by a computer, enables the computer to perform the methods of the above-described method embodiments. Alternatively, embodiments of this application also provide a computer program product containing instructions that, when executed by a computer, cause the computer to perform the methods of the above-described method embodiments.

[0108] When implemented using software, it can be implemented entirely or partially as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, the computer can perform all or part of the corresponding processes in the methods of the embodiments of this application, producing the functions achievable by the methods of the embodiments of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0109] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0111] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0112] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for unmanned car washing, characterized in that, include: According to the vehicle's car wash mode, the vehicle is driven to the car wash position corresponding to the car wash machine and / or the car wash machine is moved to the car wash position corresponding to the vehicle. Obtain the car wash confirmation signal from both the vehicle and the car wash machine; The system notifies the vehicle to enter the car wash state and instructs the car wash machine to clean the vehicle.

2. The method according to claim 1, characterized in that, According to the vehicle's car wash mode, driving the vehicle to the car wash location corresponding to the car wash machine includes: In response to the car wash mode being the first car wash mode, the vehicle is driven to the vehicle stop position corresponding to the car wash machine; Accordingly, obtaining the car wash confirmation signals for both the vehicle and the car wash machine includes: Acquire a first car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the vehicle stop position, and a second car wash confirmation signal sent by the car wash machine indicating that the vehicle has been detected to have entered the vehicle stop position. The first car wash mode is a mode in which the vehicle is driven to the corresponding position of the car wash machine for vehicle washing.

3. The method according to claim 1, characterized in that, According to the vehicle's washing mode, moving the car wash machine to the corresponding washing position for the vehicle includes: In response to the car wash mode being the second car wash mode, the car wash machine is moved to the location of the vehicle; Accordingly, obtaining the car wash confirmation signals of the vehicle and the car wash machine respectively includes: Acquire a third car wash confirmation signal sent by the vehicle indicating that the vehicle has entered the second car wash mode, and a fourth car wash confirmation signal sent by the car wash machine indicating that the vehicle has been detected. The second car wash mode is a mode in which the car wash machine moves to the corresponding position of the vehicle to wash the vehicle.

4. The method according to claim 1, characterized in that, Before driving the vehicle to the car wash location corresponding to the car wash machine and / or moving the car wash machine to the car wash location corresponding to the vehicle, according to the vehicle's car wash mode, the method further includes: A car wash task is assigned to the vehicle and the car wash machine, so that the vehicle drives to the parking space corresponding to the car wash machine and the car wash machine generates a car wash order.

5. The method according to claim 4, characterized in that, Also includes: Obtain the settlement information generated by the car wash machine based on the car wash order.

6. The method according to any one of claims 1-5, characterized in that, Also includes: During the vehicle washing process, obtain fault information reported by the car wash machine and / or the vehicle. The car wash machine and the vehicle are notified to perform the processing steps corresponding to the fault information, so that the car wash machine and / or the vehicle enter the fault handling process according to the fault level.

7. The method according to any one of claims 1-5, characterized in that, Also includes: In response to the completion of vehicle washing, the car wash machine stops at its corresponding working position and the vehicle drives out of the corresponding car wash position. In response to the vehicle leaving the corresponding car wash location, the car wash machine is moved to the corresponding initial position.

8. A driverless car wash device for vehicles, characterized in that, include: The first communication module is used to, according to the vehicle's car wash mode, cause the vehicle to drive to the car wash position corresponding to the car wash machine and / or cause the car wash machine to move to the car wash position corresponding to the vehicle. The signal acquisition module is used to acquire the car wash confirmation signals of the vehicle and the car wash machine respectively; The second communication module is used to notify the vehicle to enter the car wash state and to notify the car wash machine to clean the vehicle, so as to clean the vehicle through the car wash machine.

9. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1-7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-7.

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