Car washing robot control system and intelligent bus washing robot

Abstract

The utility model introduces a car washing robot control system and an intelligent bus washing robot, the core of the system is controlled by a main controller, and the system is responsible for receiving data and sending an instruction; the positioning function is jointly completed by a laser radar navigation module and an inertial measurement unit IMU, and it is ensured that the robot can perform automatic path planning and high-precision positioning at a bus stop; the safety unit guarantees the safety of the robot during walking through multiple mechanisms such as laser radar obstacle avoidance and ultrasonic induction; the man-machine interaction module realizes visual operation and state display through equipment such as a touch screen and a warning lamp; the power supply unit not only stably supplies power, but also supports automatic charging; the execution unit is composed of a walking motor driving module, a steering motor driving module and a working motor driving module to ensure efficient execution of the robot; in conclusion, the control system shows obvious advantages in positioning, safety, interaction, power supply and execution efficiency, and makes an important contribution to promoting the car washing robot technology and improving the user experience.

Description

Technical Field

[0001] The utility model belongs to the technical field of car washing robots, and in particular relates to a car washing robot control system and an intelligent car washing robot for buses. Background Art

[0002] Buses are the main carrier of urban transportation operations. The cleanliness of the vehicle surface represents the appearance of a city. Generally, bus stations will conduct timely surface cleaning of vehicles that enter the station for a short stay every day to ensure that the vehicles in daily operation are in a clean state.

[0003] Most of the traditional bus cleaning modes still use manual cleaning, that is, manual wiping with a long mop dipped in water. However, due to the high body of the bus, this traditional handheld mop cleaning method is time-consuming and labor-intensive, with poor cleaning effect and extremely low car washing efficiency.

[0004] The existing alternative to manual mopping is a manually-towed mobile cleaning machine, which has wheels installed under the chassis and a certain type of cleaning roller brush installed on the upper part of the chassis. The entire cleaning machine is manually towed and controlled to move and turn around the bus to clean the outer skin. Although this method has changed the traditional mode of manual direct wiping, it still requires full human participation, and during the cleaning process, water mist will splash onto the operator, resulting in a poor working environment.

[0005] With the decline of the demographic dividend, it has become difficult to hire workers for some jobs with poor working environment and repetitive labor-intensive jobs. Therefore, the demand for intelligent and unmanned bus cleaning equipment that can completely replace manual labor is extremely urgent. Currently, there are two types of patents that have been published: fixed gantry automatic cleaning machines and self-propelled car washing machines, but both have major disadvantages and limitations. Although the fixed gantry type automatic washing machine can realize the whole process of automatic washing, it occupies a huge area, especially for buses with longer and wider bodies. Compared with family cars, the gantry type washing machine requires a larger area, which is particularly unsuitable for bus stops with relatively compact area. In addition, the gantry type automatic washing machine consumes a large amount of water and requires a wastewater collection system. The installation and construction of the overall equipment are relatively complicated, so it is rarely used in the bus washing industry. For the self-propelled car washing machines currently disclosed, their function is only to complete the walking around the vehicle according to the set program. Their structural design is to rely solely on the distance measuring sensor to maintain the distance from the vehicle body during the walking process. Due to the limitations of their structure, the unmanned and autonomous operation of the overall device cannot be fully realized, and they must be manually pulled to the designated position to realize semi-automatic operation.

[0006] With the rapid development of science and technology, intelligence and automation have become important development trends in the modern car wash industry. Traditional car washing methods, such as manual car washing or simple mechanized car washing, can no longer meet the high requirements of efficiency and quality in the modern car wash industry. Therefore, it is particularly important to develop an efficient, intelligent and automated car wash robot control system.

[0007] The control systems of early car wash robots often had a variety of problems. For example, the positioning accuracy was not high, which resulted in the robot being unable to accurately aim at different parts of the vehicle during the car wash process; the obstacle avoidance function was imperfect, which could cause safety issues; and the human-machine interaction interface was unfriendly, making the operation process complicated and difficult to master. In addition, the instability of the power supply system and the inefficiency of the actuator unit were also major problems faced by early car wash robots.

[0008] In recent years, although some car wash robot control systems have been improved in some aspects, there are still many shortcomings. Especially in the complex car wash environment, how to achieve high-precision positioning, intelligent obstacle avoidance, friendly human-computer interaction and stable power supply are all problems that need to be solved in the current car wash robot control system. Utility Model Content

[0009] In view of the problems existing in the prior art, the utility model provides a car washing robot control system and an intelligent car washing robot for buses.

[0010] The utility model is implemented as follows: a car washing robot control system, characterized in that it includes:

[0011] A main controller, used for receiving data signals and issuing corresponding control instructions;

[0012] A positioning unit, including a laser radar navigation module, which is connected to the main controller and is used to realize automatic path planning of the robot at the bus stop and send path planning instructions to the main controller;

[0013] The inertial measurement unit (IMU) is connected to the main controller and combines with the lidar navigation module to achieve high-precision mapping and positioning, and sends the positioning information to the main controller;

[0014] The safety unit is used to avoid obstacles safely during the robot's autonomous walking and backward movement, and send obstacle information to the main controller; it at least includes a laser radar obstacle avoidance module, an ultrasonic radar sensing module, a safety touch edge, and an emergency stop button connected to the main controller;

[0015] The human-machine interaction module is used to display the operating status of the robot, receive manual control signals of the robot, and send them to the main controller; it at least includes a display touch screen, a warning light, a control button, and a voice announcer connected to the main controller.

[0016] The power supply unit is connected to the main controller and each module to provide power to the robot and realize charging according to the control instructions of the main controller;

[0017] It also includes an execution unit for realizing walking, steering and working control, including a walking motor drive module and a steering motor drive module connected to the main controller, a working motor drive module and an automatic water-saving drainage control module.

[0018] Preferably, the laser radar navigation module includes a front laser radar and a rear laser radar installed on the chassis of the car washing robot. The front laser radar and the rear laser radar are connected to the main controller. The front laser radar is mainly used to detect obstacles in front of the vehicle and provide real-time road condition information for the automatic driving system; the rear laser radar can detect obstacles behind the vehicle and provide safety protection for reversing, changing lanes, etc.

[0019] Preferably, the ultrasonic radar sensing module is installed on four ultrasonic sensors on the side of the car washing robot body cover facing the bus. The ultrasonic sensors are connected to the main controller and are used to sense a fixed distance from the bus during the cleaning process and to feed back the distance information to the main controller in real time.

[0020] Preferably, the safety touch edge includes a front safety touch edge and a rear safety touch edge installed in the forward and backward directions of the car washing robot. The front safety touch edge and the rear safety touch edge are used to prevent the robot from colliding with obstacles by sensing whether there are obstacles during the forward and backward process of the car washing robot, thereby protecting the robot and the vehicle being washed from damage.

[0021] Preferably, the emergency stop button includes three emergency stop button switches installed on the front and sides of the car washing robot body cover.

[0022] Preferably, the power supply unit includes a battery fixed on the chassis frame, a contactless charging plate and / or a wired charging connector fixed on the facade of the vehicle body cover.

[0023] The utility model also provides an intelligent car washing robot for buses having the above-mentioned car washing robot control system.

[0024] Advantages and technical effects of the utility model: Combining the above content, the advantages of the control system of the utility model can be summarized as follows:

[0025] High-precision positioning capability: Through the combination of the laser radar navigation module and the inertial measurement unit IMU, the utility model achieves high-precision mapping and positioning. This ensures that the car washing robot can accurately align different parts of the vehicle during work, thereby improving the quality and efficiency of car washing.

[0026] Intelligent and comprehensive safety obstacle avoidance: The safety unit uses multiple safety mechanisms such as laser radar obstacle avoidance module, ultrasonic radar sensing module, and safety edge touch to ensure that the robot can safely avoid obstacles during autonomous walking and retreating. This not only reduces operational risks, but also improves the safety of the car washing process.

[0027] Friendly human-computer interaction interface: The design of the human-computer interaction module makes the operation easier and more intuitive. Through the display touch screen, warning lights, control buttons, voice announcer and other devices, users can easily understand the operating status of the robot and perform manual control, which improves the user experience.

[0028] Stable and reliable power supply system: The power supply unit not only provides a stable power supply for the robot, but also can realize automatic charging according to the instructions of the main controller, ensuring that the car washing robot can work continuously and stably.

[0029] Efficient execution unit: By optimizing the walking motor drive module, the steering motor drive module and the working motor drive module, the control system of the utility model realizes the rapid response and precise execution of the car washing robot, further improving the efficiency and quality of car washing.

[0030] To sum up, the control system of the utility model shows significant advantages in positioning accuracy, safety, human-computer interaction, power supply stability and execution efficiency, and has made important contributions to the technological progress and user experience improvement of the car wash robot industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is the principle diagram of the utility model system;

[0032] Figure 2 This is a schematic diagram of the structure of the utility model intelligent car washing robot for buses;

[0033] Figure 3 yes Figure 2 Rear view of

[0034] Figure 4 yes Figure 2 A top view of

[0035] Figure 5 It is a schematic diagram of the three-dimensional structure of the intelligent bus washing robot.

[0036] 1- chassis; 101- driving wheel; 102- load-bearing wheel; 103- chassis frame;

[0037] 2-frame; 201-column; 202-transverse connecting frame; 203-frame top plate;

[0038] 3-body cover;

[0039] 4-frame cover;

[0040] 5-spraying system; 501-holding box; 502-water pump; 503-nozzle;

[0041] 6-cleaning system; 601-roller; 602-brush;

[0042] 7- Main controller;

[0043] 8-power supply module; 801-battery; 802-contactless charging board;

[0044] 9-Navigation module;

[0045] 10- Security module;

[0046] 1001-front laser radar;

[0047] 1002-rear laser radar;

[0048] 1003-front safety edge;

[0049] 1004-rear safety touchdown;

[0050] 1005-ultrasonic sensor;

[0051] 1006- Emergency stop switch;

[0052] 11-Human-computer interaction module;

[0053] 1101-display touch screen;

[0054] 1102-screen mounting frame;

[0055] 1103- warning light;

[0056] 1104-control button;

[0057] 1105- Voice player;

[0058] 12-Automatic water connection and drainage module;

[0059] 1201-automatic water inlet; 1202-water channel; 1203-automatic drain;

[0060] 13-Execution Unit DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail in combination with the embodiments below. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not used to limit the utility model.

[0062] See also Figure 1, a car washing robot control system, including: a main controller, used to receive data signals and issue corresponding control instructions, for example, the controller model is selected as Wenxin ReiZ X20;

[0063] The positioning unit includes a laser radar navigation module, which is connected to the main controller and is used to realize automatic path planning of the robot at the bus stop and send path planning instructions to the main controller; the inertial measurement unit IMU is connected to the main controller and combines with the laser radar navigation module to realize high-precision mapping and positioning, and send positioning information to the main controller;

[0064] The safety unit is used to avoid obstacles safely during the robot's autonomous walking and backward movement, and send obstacle information to the main controller; it at least includes a laser radar obstacle avoidance module, an ultrasonic radar sensing module, a safety touch edge, and an emergency stop button connected to the main controller;

[0065] Further preferably, the laser radar obstacle avoidance module includes at least a front laser radar 1001 and a rear laser radar 1002 installed on the chassis. The laser radar navigation module and the laser radar obstacle avoidance module can be an integrated laser radar, such as a laser radar of model Livox MID-360; front safety touch edge 1003 and rear safety touch edge 1004 installed on chassis frame 103 in forward and backward directions, to achieve automatic stop when hitting obstacles; four ultrasonic sensors 1005 installed on the side of the body cover 3 facing the bus, to maintain a fixed distance between the robot and the bus cleaning surface during the cleaning process, and also to achieve safety monitoring, and to feed back the distance information to the main controller in real time; three emergency stop button switches 1006 installed on the front and side of the body cover 3, to stop the robot in an emergency. Multi-line laser radar is used to achieve autonomous navigation path planning of the bus cleaning robot, without the need for manual pulling of the robot to the starting point of bus cleaning, and during the cleaning process, the robot can identify the protruding structures of the bus body such as the rearview mirror to avoid them, which can truly achieve unmanned operation.

[0066] The human-computer interaction module is used to display the running status of the robot, receive manual control signals of the robot, and send them to the main controller; it at least includes a display touch screen, a warning light, a control button and a voice announcer connected to the main controller; the human-computer interaction component 11 includes a display touch screen 1101, and the display touch screen 1101 is installed on a touch screen mounting frame 1102, and the touch mounting frame is installed on the body cover 3; a warning light 1103, the warning light is installed on the touch mounting frame or the body cover 3 or the rack cover 4 on one side of the display touch screen 1101, and different colors are displayed to indicate different states of the robot, including working, charging, moving, etc.; the control button 1104 is installed on the body in front of the display touch screen, generally including a start button, a stop button, a reset button, a charging button, a water filling and drainage button and other controls; the voice player 1105 is installed on the side of the rack cover 4.

[0067] The application effect of the human-computer interaction component 11 in the bus washing robot is remarkable, which greatly improves the user experience and operation convenience.

[0068] As the core component of human-machine interaction, the display touch screen 1101 is cleverly mounted on the touch screen mounting frame 1102 and integrated into a suitable position of the vehicle body cover 3. This design allows the user to intuitively view the robot's various parameters, working status, and car washing progress. At the same time, through the touch screen, the user can easily make various settings and adjustments, realizing barrier-free communication between humans and robots.

[0069] The setting of the warning light 1103 provides intuitive visual feedback for the user. It is installed on the touch mounting frame or the body cover 3 or the rack cover 4 on one side of the display touch screen 1101, and changes color and flashing frequency according to the working state of the robot. For example, when the robot is working normally, the warning light may be green and always on; when the robot fails or has an abnormal situation, the warning light will turn red and flash to remind the user to check and deal with it in time.

[0070] The control buttons 1104 are mounted on the exterior of the vehicle body in front of the display touch screen, providing the user with another mode of operation. These buttons are usually used to perform some common or emergency operations, such as start, stop, emergency stop, etc. This design allows the user to react faster in certain situations, improving the safety and convenience of operation.

[0071] The voice player 1105 is installed on the side of the frame cover 4 and is used to play voice prompts and warning information. Through the voice player, the robot can convey important information to the user at critical moments, such as car washing completion, fault warning, etc. This audio feedback method not only enriches the form of human-computer interaction, but also enables the user to receive feedback from the robot in a noisy environment.

[0072] In summary, the human-machine interaction component 11 provides a comprehensive, intuitive and convenient human-machine interaction experience for the bus washing robot through the organic combination of display touch screen, warning light, control button and voice player. These designs not only improve the usability and safety of the robot, but also enable the robot to better adapt to various practical application scenarios.

[0073] The power supply unit is connected to the main controller and each module to provide power for the robot and realize automatic charging according to the control instructions of the main controller; further preferably, the power supply module 8 includes a battery 801 fixed on the chassis frame 103 to power the chassis drive motor, water pump motor, roller motor, radar, sensor, etc., and a non-contact charging plate 802 and / or a wired plug fixed on the vertical surface of the vehicle body cover 3; it provides a flexible and efficient energy solution for the bus washing robot.

[0074] In the contactless charging mode, charging is performed through the contactless charging plate 802, and this design brings multiple advantages. First, it eliminates the problems of plug-in wear and poor contact that may occur in the traditional wired charging method, thereby improving the reliability of charging and the service life of the device. Secondly, the contactless charging method has higher safety and convenience because it avoids exposed wires and plugs, reducing the risk of electric shock and short circuit. In addition, contactless charging can better adapt to adverse weather conditions, such as rainy days or humid environments, ensuring that the car washing robot can be stably charged in all weathers.

[0075] At the same time, the power supply module 8 also retains the charging method of a wired plug as an alternative. This dual design ensures charging flexibility and compatibility, allowing the robot to be used in an environment equipped with contactless charging facilities, and can also be charged through traditional wired methods when necessary. This design is particularly suitable for areas or places where contactless charging technology has not yet been popularized.

[0076] In summary, the power supply module 8 provides an efficient, safe and flexible charging solution for the bus washing robot by combining non-contact charging and wired charging, ensuring the stable operation of the robot in various environments and conditions.

[0077] It also includes an execution unit for realizing walking, steering, automatic drainage and car washing operation control, including a walking motor drive module and a steering motor drive module connected to the main controller and a working motor drive module; the walking motor drive module is responsible for driving the robot's walking wheel assembly, so that the robot can move freely in the bus station. By receiving the instructions issued by the chassis motion control unit, the walking motor can accurately control the robot's travel speed and direction, ensuring that the robot can stably and accurately move to the designated position according to the preset path for car washing operations; the steering motor drive module controls the robot's steering function. When the robot needs to change the direction of travel, the steering motor will adjust the robot's steering angle according to the instructions of the main controller, so that it can flexibly respond to various complex car washing scenarios; the working motor drive module is a key component for driving the washing system and the spray system. During the car washing process, the working motor will drive the spray system and related equipment of the washing system, such as water pumps, electric rollers and brushes, according to the instructions issued by the washing unit, to ensure comprehensive and efficient cleaning of the bus surface.

[0078] In summary, the execution unit realizes the robot's precise movement, flexible steering and efficient cleaning during the car washing process through these motor drive modules, thereby greatly improving the automation and efficiency of the car washing operation.

[0079] The above car washing robot control system is used for bus intelligent car washing robot. Figures 2 to 5 A bus intelligent car washing robot comprises a chassis 1, a body cover 3 for protecting components installed on the chassis is installed on the upper part of the chassis; a running wheel assembly is used to drive the chassis to walk, and the running wheel assembly is installed on the lower surface of the chassis; a frame 2 is vertically installed on one side of the chassis, and a frame cover 4 is installed on the frame near the body side; the frame cover is an open structure facing outward;

[0080] The spray system 5 is used to spray water or cleaning liquid on the surface of the bus; the spray system includes a storage box for spraying water or cleaning liquid installed on the chassis, the storage box is connected to a water pump fixedly installed in the storage box or on the chassis, the outlet of the water pump is connected to a spray pipe, the spray pipes extend to both sides of the frame respectively, and a plurality of nozzles are arranged on the spray pipes along the height direction on both sides of the frame;

[0081] The cleaning system 6 is used to clean the sides of the bus. The cleaning system is installed on the frame inside the frame cover. The cleaning system includes an electric roller 601, on the surface of which a brush 602 is installed, and the outer edge of the brush is located outside the frame cover.

[0082] Further preferably, the walking wheel assembly includes two sets of driving wheels 101 and two sets of load-bearing wheels 102; the two sets of driving wheels 101 are connected to the bottom of the chassis frame 103 of the chassis, and are arranged diagonally symmetrically, and the two sets of load-bearing wheels 102 are connected to the bottom of the chassis frame 103, and are arranged diagonally symmetrically. Each set of driving wheels 101 includes a walking motor and a steering motor, which respectively realize walking and steering; the load-bearing wheels 102 are universal wheels. The two sets of driving wheel systems arranged diagonally and the two sets of universal load-bearing wheel systems arranged diagonally are used for the walking of the bus cleaning robot, and the robot can be fully turned on the ground.

[0083] Further preferably, the rack 2 includes three vertical chassis frame columns 201 connected to the chassis, a rack top plate 203 installed on the upper ends of the columns, and the rack top plate 203 is connected to the columns 201 and the rack cover 4 to form a main frame structure. The above rack has the following advantages:

[0084] Strong structural stability: The frame 2 is firmly connected to the chassis 1 through three vertical columns 201 of the chassis frame, forming a stable supporting structure. This design not only ensures the stability of the robot during work, but also effectively resists external interference, ensuring the smooth progress of the car washing operation.

[0085] Modular design: The frame top plate 203 is connected with the column 201 and the frame cover 4 to form a main frame structure. This modular design simplifies the assembly and maintenance process of the robot. Each component is tightly connected, but can be disassembled independently, which is convenient for daily maintenance and replacement.

[0086] Protection of internal components: The connection between the rack top plate 203 and the rack cover 4 forms a relatively closed space, which provides good protection for the components installed inside the rack. This design can effectively prevent the intrusion of external pollutants such as water and dust, and prolong the service life of the internal components.

[0087] Strong scalability: Since the rack adopts a modular design, if new functional modules need to be added or upgraded in the future, it can be easily expanded on the existing framework without making large-scale changes to the entire rack.

[0088] Beautiful and practical: The overall design of the frame is not only structurally stable, but also neat and beautiful in appearance, which meets the aesthetic requirements of modern industrial design. At the same time, its practicality is also very strong, which can meet the working needs of bus washing robots in various environments.

[0089] Further preferably, a transverse connecting frame 202 is provided on the column in the height direction. The transverse connecting frame 202 is added to be connected to the column in the height direction mainly to enhance the structural stability and overall rigidity of the frame, disperse the load, and facilitate installation and maintenance. These measures jointly improve the performance and reliability of the bus washing robot.

[0090] Preferably, the automatic water inlet and drainage assembly 12 includes an automatic water inlet 1201 and a water guide trough 1202 installed on the vehicle body cover 3 , wherein the water guide trough is connected to the storage box through a water pipe; and an automatic drain port 1203 installed at the bottom of the chassis frame 103 .

[0091] The automatic water collection and drainage component 12 plays a vital role in the bus washing robot. Its practicality and efficiency are fully reflected in the actual application scenarios, as follows:

[0092] The automatic water inlet 1201 is installed on the car body cover 3 and can automatically connect to the water supply system to achieve rapid water collection. This design not only saves the tedious steps of manual water collection, but also greatly improves the accuracy and efficiency of water collection. Before the car wash operation begins, the automatic water inlet can quickly replenish the required amount of water for the holding box to ensure that the car wash process is continuous and uninterrupted.

[0093] The water guide 1202 is connected to the water pipe, which ingeniously guides water into the holding box and is used to buffer the water flow during the automatic water addition process. This design effectively avoids the waste and splashing of water resources, ensuring the cleanliness and safety of the car washing site. At the same time, the smooth design of the water guide also ensures the smooth flow of water, improving the efficiency of the overall car washing operation.

[0094] The automatic drain port 1203 at the bottom of the chassis frame 103 is responsible for automatically draining the used water after the car wash is completed. This design not only prevents the accumulation of sewage inside the machine, but also effectively avoids the pollution of the environment by sewage. The efficient drainage capacity of the automatic drain port ensures that the car wash robot can complete the drainage operation in a short time and prepare for the next car wash operation.

[0095] In summary, the automatic water receiving and drainage component 12 realizes the functions of automatic water receiving, smooth water guiding and efficient water drainage through the synergistic effect of the automatic water inlet, the water guide groove and the automatic drainage outlet. In actual application scenarios, these designs greatly improve the working efficiency and user experience of the car washing robot, and also help protect the environment and save water resources.

[0096] Further preferably, the opening and closing of the automatic water inlet 1201 is a mechanical spring structure, and the opening and closing of the automatic drain outlet 1203 is controlled by an electrical signal.

[0097] The design of the automatic water inlet 1201 and the automatic drain 1203 demonstrates excellent practicality and convenience in the bus washing robot, as follows: The automatic water inlet 1201 adopts a mechanical spring structure to control opening and closing. This design has shown high reliability and stability in practical applications. When water is needed, the water inlet is automatically opened by a spring mechanism and connected to the water source to achieve fast and automatic water supply. This mechanical operation reduces the use of electronic components, thereby reducing the failure rate and enhancing the durability of the equipment. After the car washing operation is completed, the water inlet will automatically close to prevent the waste of water and the entry of external impurities.

[0098] At the same time, the opening and closing of the automatic drain 1203 is controlled by electrical signals, showing a high degree of intelligence and flexibility. When the car wash operation is completed, the control system will send an electrical signal to command the drain to open and quickly drain the used water. This design not only ensures the timeliness of drainage, but also effectively prevents sewage from staying inside the robot for a long time, reducing the risk of bacterial growth and equipment corrosion. The accuracy of electrical signal control also ensures that the drain is accurately opened and closed when needed, further improving the efficiency and safety of the car wash operation.

[0099] In summary, in actual application scenarios, the mechanical spring structure of the automatic water inlet 1201 and the electrical signal control design of the automatic drain outlet 1203 together provide a stable and intelligent water resource management service for the bus washing robot. These designs not only improve the automation level of the car washing operation, but also effectively save water resources and make positive contributions to environmental protection.

[0100] Working principle: The laser radar navigation module and the inertial measurement unit IMU communicate with the main controller through Ethernet, the ultrasonic sensor, touch screen, and brush motor driver communicate with the main controller through the RS-485 bus, the water pump, warning light, button, and safety edge communicate with the main controller through DGIO (DGIO: Digital IO) digital signals, and the walking wheel driver communicates with the main controller through CAN. This application does not involve improvements in methods and software. The system greatly improves the working efficiency and washing quality of the car washing robot by integrating a high-precision positioning unit, a comprehensive safety unit, an intuitive and easy-to-use human-computer interaction module, and a stable and reliable power supply unit. At the same time, by optimizing the execution units, including the walking motor drive module, the steering motor drive module, and the working motor drive module, the precise movement and efficient cleaning of the car washing robot are achieved. The design of this control system not only improves the intelligence level of the car washing robot, but also provides strong support for its application in complex car washing environments.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A car washing robot control system, characterized in that: include: A main controller, used for receiving data signals and issuing corresponding control instructions; A positioning unit, including a laser radar navigation module, which is connected to the main controller and is used to realize automatic path planning of the robot at the bus stop and send path planning instructions to the main controller; The inertial measurement unit (IMU) is connected to the main controller and combines with the lidar navigation module to achieve high-precision mapping and positioning, and sends the positioning information to the main controller; The safety unit is used to avoid obstacles safely during the robot's autonomous walking and backward movement, and send obstacle information to the main controller; it at least includes a laser radar obstacle avoidance module, an ultrasonic radar sensing module, a safety touch edge, and an emergency stop button connected to the main controller; The human-machine interaction module is used to display the operating status of the robot, receive manual control signals of the robot, and send them to the main controller; it at least includes a display touch screen, a warning light, a control button, and a voice announcer connected to the main controller. The power supply unit is connected to the main controller and each module to provide power to the robot and realize charging according to the control instructions of the main controller; It also includes an execution unit for realizing walking, steering and working control, including a walking motor drive module and a steering motor drive module connected to the main controller, a working motor drive module and an automatic water-saving drainage control module.

2. The car washing robot control system according to claim 1, characterized in that: The laser radar navigation module comprises a front laser radar (1001) and a rear laser radar (1002) installed on the chassis of the car washing robot. The front laser radar (1001) and the rear laser radar (1002) are connected to a main controller. The front laser radar (1001) is mainly used to detect obstacles in front of the vehicle and provide real-time road condition information for the automatic driving system; the rear laser radar (1002) can detect obstacles behind the vehicle and provide safety protection for reversing and changing lanes.

3. The car washing robot control system according to claim 1, characterized in that: An ultrasonic radar sensing module, comprising four ultrasonic sensors (1005) installed on the side of the car washing robot body cover (3) facing the bus, the ultrasonic sensors being connected to the main controller and used for sensing a fixed distance from the bus during the washing process and feeding back the distance information to the main controller in real time.

4. The car washing robot control system according to claim 1, characterized in that: The safety touch edges include a front safety touch edge (1003) and a rear safety touch edge (1004) installed on the car washing robot in the forward and backward directions. The front safety touch edge (1003) and the rear safety touch edge (1004) are used to prevent the robot from colliding with obstacles by sensing whether there are obstacles during the forward and backward processes of the car washing robot, thereby protecting the robot and the vehicle being washed from damage.

5. The car washing robot control system according to claim 1, characterized in that: The emergency stop button comprises three emergency stop button switches (1006) installed on the front and side of the car body cover (3) of the car washing robot.

6. The car washing robot control system according to claim 1, characterized in that: The power supply unit (8) comprises a battery (801) fixed on the chassis frame (103), and a contactless charging plate (802) and / or a wired charging connector fixed on the vertical surface of the vehicle body cover (3).

7. An intelligent bus washing robot, characterized in that: A car washing robot control system having any one of claims 1 to 6.

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