Method and apparatus for automatically controlling bristle penetration amount of side brush assembly
By testing and adjusting the brush extension angle of the car wash machine, the problem of incomplete cleaning or scratches on the car body caused by uneven bristle absorption by the side brushes was solved, achieving a more efficient train cleaning effect.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- WASHING BEIJING AUTOMATIC EQUIP
- Filing Date
- 2025-07-22
- Publication Date
- 2026-07-02
AI Technical Summary
The side brush assembly of existing car wash machines cannot precisely adjust the amount of hair picked up when cleaning trains, resulting in problems such as incomplete cleaning or scratches on the train body.
By detecting the model and width of the vehicle to be washed, the ejection angle of the first brush group is determined, and the ejection angle of the first brush group is adjusted according to the pressure value of the second brush group. By adopting a predictive and real-time adjustment strategy, the amount of hair picked up is kept within a reasonable range.
It achieves a reasonable amount of hair removal during the cleaning process, avoiding incomplete cleaning or scratches on the vehicle body and improving the cleaning effect.
Smart Images
Figure CN2025109910_02072026_PF_FP_ABST
Abstract
Description
Automatic control method and device for the amount of bristles picked up by the side brush group
[0001] Cross-reference of related applications
[0002] This application claims priority to Chinese Patent Application No. 202411438008.6, filed on October 15, 2024, entitled “Automatic Control Method and Apparatus for Hair Eating Amount of Side Brush Group”, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application relates to the field of car wash machines, and in particular to an automatic control method and device for the amount of bristles picked up by a side brush assembly. Background Technology
[0004] According to the train's return-trip maintenance requirements, trains need to be cleaned almost daily when entering or leaving the depot. The brush sets used for cleaning trains are used very frequently. However, the trains entering the depot vary greatly, with significant differences in car body width. Existing brush sets generally use a pneumatic drive with stop limiters. The amount of bristles picked up is determined by the position of the stop; if the bristles are picked up too much, the reaction force of the brush increases, and the cylinder retracts for safety protection. With this drive method, the brush set only has two positions: an initial position and a limit position, making it impossible to finely adjust the brush set's position. Therefore, when washing the sides, different parts of the car body will have different bristle pick up amounts, resulting in either incomplete cleaning or excessive bristle pick up that scratches the car body. Summary of the Invention
[0005] According to various embodiments of this application, an automatic control method and apparatus for the amount of hair picked up by a side brush group is provided.
[0006] Firstly, this application provides an automatic control method for the amount of bristles picked up by a side brush assembly. The method includes:
[0007] Determine the ejection angle of the first brush group, and eject the first brush group based on the ejection angle; and
[0008] At any moment when the vehicle to be washed passes the first brush group, a target expected adjustment strategy corresponding to the moment is determined according to the expected adjustment strategy sequence corresponding to the first brush group, and the pushing angle is adjusted according to the target expected adjustment strategy.
[0009] The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value of the second brush group as the vehicle to be washed passes through the second brush group. The second brush group is located behind the first brush group in the forward direction of the vehicle to be washed.
[0010] In one embodiment, the method further includes:
[0011] At any moment when the vehicle to be washed passes the second brush group, the pressure value of the second brush group is detected, and the real-time adjustment strategy of the second brush group for the moment is determined based on the pressure value.
[0012] The ejection angle of the second brush group is adjusted according to the aforementioned real-time adjustment strategy; and
[0013] The real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
[0014] In one embodiment, determining the real-time adjustment strategy for the second brush group based on the pressure value includes:
[0015] When the pressure value exceeds a first preset pressure threshold, the ejection angle will be reduced as a real-time adjustment strategy for the second brush group; or...
[0016] When the pressure value is less than the second preset pressure threshold, the push-out angle will be increased as the real-time adjustment strategy.
[0017] Wherein, the first preset pressure threshold is greater than the second preset pressure threshold.
[0018] In one embodiment, updating the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group includes:
[0019] Based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed, the expected execution time of the real-time adjustment strategy corresponding to the first brush group is determined; and
[0020] Based on the expected execution time, the real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
[0021] In one embodiment, the method further includes:
[0022] During the process of adjusting the ejection angle according to the target expectation adjustment strategy, the target pressure value of the first brush group is detected;
[0023] When the target expected adjustment strategy is to reduce the ejection angle and the target pressure value is greater than the first preset pressure threshold, or when the target expected adjustment strategy is to increase the ejection angle and the target pressure value is less than the second preset pressure threshold, the expected execution time corresponding to each expected adjustment strategy is advanced; or...
[0024] When the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is less than the second preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is greater than the first preset pressure threshold, the expected execution time corresponding to each expected adjustment strategy is postponed.
[0025] In one embodiment, determining the ejection angle of the first brush group includes:
[0026] Based on the width of the vehicle to be washed, the position of the vehicle track, the initial position of the first brush group, and the preset bristle intake of the first brush group for the vehicle to be washed, the target ejection distance of the first brush group is determined; and
[0027] The ejection angle of the first brush group is determined based on the target ejection distance of the first brush group and the length of the mounting rod.
[0028] In one embodiment, determining the target ejection distance of the first brush group based on the width of the vehicle to be washed, the vehicle track position, the initial position of the first brush group, and the preset hair-catching amount of the first brush group for the vehicle to be washed includes:
[0029] The position of the track center axis is determined based on the vehicle track position;
[0030] The side position of the vehicle to be washed is obtained by summing the position of the track center axis with half the width of the vehicle to be washed.
[0031] The target position of the brush group is obtained by summing the initial position of the first brush group and the preset hair-catching amount of the first brush group for the vehicle to be washed; and
[0032] The target ejection distance of the first brush group is obtained by subtracting the side position from the target position of the brush group.
[0033] In one embodiment, determining the ejection angle of the first brush group includes:
[0034] Inspect the vehicle model of the vehicle to be washed;
[0035] When the vehicle model is successfully detected, the ejection angle of the first brush group is determined based on the correspondence between the vehicle model and the ejection angle of the first brush group; and
[0036] If the vehicle model detection fails, the vehicle model with the widest body among all vehicle models will be used as the vehicle model to be washed.
[0037] In one embodiment, the top of the brush assembly is fixed to a horizontal mounting rod, the mounting rod is connected to a column, and a push rod is provided between the mounting rod and the column; the brush assembly is pushed out by the push rod pushing the mounting rod.
[0038] In one embodiment, the push rod is driven by a DC motor with an encoder, and the ejection of the first brush group based on the ejection angle of the first brush group includes:
[0039] The push rod is pushed out by the DC motor until the encoder's encoding value reaches the encoding value corresponding to the push-out angle.
[0040] In one embodiment, a pressure sensor is mounted on the first brush group, and the method further includes:
[0041] During the process of pushing the push rod out by the DC motor, the pressure value of the pressure sensor is detected in real time; and
[0042] When the pressure value exceeds the pressure threshold, or when the encoding value is abnormal, the ejection process of the first brush group is stopped.
[0043] Secondly, this application also provides an automatic control device for the amount of bristles picked up by a side brush assembly. The device includes:
[0044] A determining module is used to determine the ejection angle of the first brush group and eject the first brush group based on the ejection angle; and
[0045] The first adjustment module is used to determine the target expected adjustment strategy corresponding to the time when the vehicle to be washed passes the first brush group at any time, based on the expected adjustment strategy sequence corresponding to the first brush group, and adjust the push-out angle according to the target expected adjustment strategy.
[0046] The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value of the second brush group as the vehicle to be washed passes through the second brush group. The second brush group is located behind the first brush group in the forward direction of the vehicle to be washed.
[0047] In one embodiment, the device further includes:
[0048] The first detection module is used to detect the pressure value of the second brush group at any time when the vehicle to be washed passes the second brush group, and determine the real-time adjustment strategy of the second brush group for the time based on the pressure value.
[0049] The second adjustment module is used to adjust the ejection angle of the second brush group according to the real-time adjustment strategy; and
[0050] An update module is used to update the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group.
[0051] In one embodiment, the first detection module is further configured to:
[0052] When the pressure value exceeds a first preset pressure threshold, the ejection angle will be reduced as a real-time adjustment strategy for the second brush group; or...
[0053] When the pressure value is less than the second preset pressure threshold, the push-out angle will be increased as the real-time adjustment strategy.
[0054] Wherein, the first preset pressure threshold is greater than the second preset pressure threshold.
[0055] In one embodiment, the update module is further configured to:
[0056] Based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed, the expected execution time of the real-time adjustment strategy corresponding to the first brush group is determined; and
[0057] Based on the expected execution time, the real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
[0058] In one embodiment, the device further includes:
[0059] The second detection module is used to detect the target pressure value received by the first brush group during the adjustment of the ejection angle according to the target expected adjustment strategy; and
[0060] The execution time adjustment module is used to advance the expected execution time corresponding to each of the expected adjustment strategies when the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is greater than the first preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is less than the second preset pressure threshold; or to postpone the expected execution time corresponding to each of the expected adjustment strategies when the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is less than the second preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is greater than the first preset pressure threshold.
[0061] In one embodiment, the determining module is further configured to:
[0062] Based on the width of the vehicle to be washed, the position of the vehicle track, the initial position of the first brush group, and the preset bristle intake of the first brush group for the vehicle to be washed, the target ejection distance of the first brush group is determined; and
[0063] The ejection angle of the first brush group is determined based on the target ejection distance of the first brush group and the length of the mounting rod.
[0064] In one embodiment, the determining module is further configured to:
[0065] The position of the track center axis is determined based on the vehicle track position;
[0066] The side position of the vehicle to be washed is obtained by summing the position of the track center axis with half the width of the vehicle to be washed.
[0067] The target position of the brush group is obtained by summing the initial position of the first brush group and the preset hair-catching amount of the first brush group for the vehicle to be washed; and
[0068] The target ejection distance of the first brush group is obtained by subtracting the side position from the target position of the brush group.
[0069] In one embodiment, the determining module is further configured to:
[0070] Inspect the vehicle model of the vehicle to be washed;
[0071] When the vehicle model is successfully detected, the ejection angle of the first brush group is determined based on the correspondence between the vehicle model and the ejection angle of the first brush group; and
[0072] If the vehicle model detection fails, the vehicle model with the widest body among all vehicle models will be used as the vehicle model to be washed.
[0073] In one embodiment, the top of the brush assembly is fixed to a horizontal mounting rod, the mounting rod is connected to a column, and a push rod is provided between the mounting rod and the column; the brush assembly is pushed out by the push rod pushing the mounting rod.
[0074] In one embodiment, the push rod is driven by a DC motor with an encoder, and the determining module is further configured to:
[0075] The push rod is pushed out by the DC motor until the encoder's encoding value reaches the encoding value corresponding to the push-out angle.
[0076] In one embodiment, a pressure sensor is mounted on the first brush group, and the device further includes:
[0077] The detection module is used to detect the pressure value of the pressure sensor in real time during the process of pushing the push rod out by the DC motor; and
[0078] The stop module is used to stop the ejection process of the first brush group when the pressure value exceeds the pressure threshold or when the encoding value is abnormal.
[0079] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement any of the methods described above.
[0080] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements any of the above methods.
[0081] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements any of the above methods.
[0082] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description
[0083] To better describe and illustrate embodiments and / or examples of the inventions disclosed herein, reference may be made to one or more accompanying drawings. Additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the currently described embodiments and / or examples, or the best mode of these inventions as currently understood.
[0084] Figure 1 is a flowchart illustrating an automatic control method for the amount of hair picked up by the side brush group in one embodiment;
[0085] Figure 2 is a side view of the brush assembly in one embodiment;
[0086] Figure 3 is a flowchart illustrating the process of determining the initial placement position of the brush group in one embodiment;
[0087] Figure 4 is a flowchart illustrating the process of obtaining the expected adjustment strategy sequence in one embodiment;
[0088] Figure 5 is a schematic diagram of the pressure sensor installation location in one embodiment;
[0089] Figure 6 is a flowchart of step 406 in one embodiment;
[0090] Figure 7 is a flowchart illustrating the process of adjusting the expected execution time of the adjustment strategy in one embodiment;
[0091] Figure 8 is a structural block diagram of an automatic control device for the amount of hair picked up by the side brush group in one embodiment;
[0092] Figure 9 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation
[0093] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0094] In one embodiment, as shown in Figure 1, an automatic control method for the bristle intake of a side brush assembly is provided. This embodiment illustrates the method by applying it to a control device for a car wash machine, and includes the following steps:
[0095] Step 102: Determine the ejection angle of the first brush group, and eject the first brush group based on the ejection angle of the first brush group.
[0096] In this embodiment, the car wash machine is equipped with multiple brush groups, which can be divided into a first brush group and a second first brush group. The second brush group adjusts its ejection angle based on the real-time detected pressure value, while the first brush group adjusts its own ejection angle according to the strategy of the second brush group. Since the vehicle to be washed is cleaned by slowly moving forward on the track and sequentially passing through each brush group, the position cleaned by the brush group further back in the direction of the vehicle's movement at this moment will be passed by the brush group further forward after a period of time. Therefore, the first brush group can adjust its ejection angle in advance by referring to the ejection angle adjustment strategy of the second brush group.
[0097] Each brush group on each side of the vehicle being washed can include at least one second brush group and multiple first brush groups. Each first brush group can have the same second brush group, in which case all second brush groups must be located behind all first brush groups in the direction the vehicle is moving forward. Each first brush group can also correspond to different second brush groups, in which case the second brush group corresponding to the first brush group must be located behind the first brush group.
[0098] The ejection angle refers to the angle between the mounting rod and the column of the brush assembly in the horizontal direction, as shown in Figure 2. The top of the brush assembly is fixed to the horizontal mounting rod, which is connected to the column. A push rod can be set between the mounting rod and the column, pushing the mounting rod to rotate around the column to change the ejection angle of the brush assembly. Alternatively, a vertical support rod parallel to the brush assembly can be set on the mounting rod, with a push rod between the support rod and the column, allowing the push rod to change the ejection angle of the brush assembly by pushing the support rod. This embodiment does not specifically limit this. The push rod can also be equipped with a lead screw and nut structure with a locking device, so that the brush assembly can be locked after being ejected at the ejection angle, preventing the push rod from retracting due to pressure during the car wash process. The push rod can be driven by a DC motor with an encoder or potentiometer. The ejection angle can correspond to the encoder's encoding value. When it is necessary to eject the brush assembly to a specific ejection angle, the DC motor drives the push rod to eject until the encoding value reaches the encoding value corresponding to that ejection angle.
[0099] In one embodiment, the ejection angle of the first brush group can be determined based on the model of the vehicle to be cleaned. Specifically, the vehicle model is detected, and the ejection angle of the first brush group is determined according to the correspondence between the vehicle model and the ejection angle of the first brush group. For example, the appropriate ejection angle for each vehicle model can be pre-tested to ensure that the amount of hair removed from the train is within a reasonable range. When the vehicle to be cleaned needs to be cleaned, the control equipment can identify the model of the vehicle to be cleaned (or the operator can manually input the model of the vehicle to be cleaned on the control equipment), and search for a data table that records the correspondence between each vehicle model and the ejection angle. The ejection angle corresponding to the model of the vehicle to be cleaned is obtained from the data table, and then the first brush group is ejected according to the ejection angle. If the vehicle model identification fails, the model of the vehicle with the widest body can be used as the model of the vehicle to be cleaned to avoid the problem of the brush group being too close together, causing the vehicle to collide with the brush group and damage the brush group.
[0100] In another embodiment, the brush group's extension angle can be determined in real time according to the width of the vehicle to be washed. The target extension distance of the first brush group can be determined based on the width of the vehicle, the position of the vehicle track, the initial position of the first brush group, and the preset bristle intake of the first brush group for the vehicle. The extension angle of the first brush group is determined based on the target extension distance and the length of the mounting rod. The position of the side of the vehicle during the washing process can be determined based on the width of the vehicle and the position of the track. Since vehicles are generally axisymmetric, the position of the track's central axis can be determined based on the track position. Dividing the width of the vehicle to be washed by 2, and then adding the position of the track's central axis to the result of dividing the width by 2, yields the position of the side of the vehicle during the washing process. Furthermore, the sum of the initial position of the first brush group (the initial position refers to the position of the brush group's central axis) and the preset bristle intake can be calculated, and the difference between the position of the side of the vehicle and this sum can be calculated to obtain the distance the first brush group needs to extend forward in the direction perpendicular to the side of the vehicle, i.e., the target extension distance. The bristle feed refers to the length of the brush bristles that come into contact with the side of the vehicle. It is usually expressed in millimeters. For example, when the bristle feed is 150 millimeters, the length of the bristles that come into contact with the vehicle when the brush is cleaning it is 150 millimeters.
[0101] Based on the target ejection distance and the length of the mounting rod, the required rotation angle of the first brush assembly, i.e., the ejection angle, can be calculated. The ratio of the target ejection distance to the length of the mounting rod can be calculated, along with the arctangent of this ratio, to obtain the ejection angle required for the first brush assembly to advance the target ejection distance in a direction perpendicular to the side of the vehicle.
[0102] Among the parameters mentioned above, the vehicle track position and the initial position of the brush group are fixed. The width of the vehicle to be washed can be determined by the control equipment through image recognition by acquiring images of the vehicle to be washed, or by measurement through radar, or it can be manually input by the staff on the control equipment.
[0103] Referring to Figure 3, a pressure sensor can also be installed on the first brush group. During the process of automatically identifying the vehicle model to obtain the ejection angle, or identifying the vehicle width to obtain the ejection angle, and ejecting the first brush group according to the ejection angle, the pressure value of the pressure sensor can be monitored in real time. If the pressure value exceeds the pressure threshold, or if the motor's coding value is abnormal, the ejection of the first brush group and the car washing operation will stop. If both the pressure value and the coding value are normal, after the brush group is ejected according to the ejection angle, the motor can be started to begin the car washing operation, and the vehicle will slowly pass through each brush group along the track.
[0104] Step 104: At any moment when the vehicle to be washed passes the first brush group, determine the target expected adjustment strategy for the corresponding moment based on the expected adjustment strategy sequence corresponding to the first brush group, and adjust the push-out angle according to the target expected adjustment strategy. The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value experienced by the second brush group as the vehicle passes through it. The second brush group is located behind the first brush group in the forward direction of the vehicle.
[0105] In this embodiment, the control device detects the pressure value of the second brush group as the vehicle to be washed passes through it. Based on the pressure value, the control device can determine the expected adjustment strategy that the first brush group should execute when the portion of the vehicle currently being cleaned by the second brush group passes through the first brush group. The expected adjustment strategy may include decreasing or increasing the ejection angle.
[0106] The control equipment can also determine the moment when the portion of the vehicle being cleaned by the second brush group passes the first brush group, based on the distance between the second and first brush groups and the forward speed of the vehicle to be washed. This moment is taken as the expected execution moment when the first brush group should implement the expected adjustment strategy. If the current moment does not correspond to the expected execution moment of any expected adjustment strategy in the expected adjustment strategy sequence, the target expected adjustment strategy for the current moment is determined to be maintaining the current ejection angle of the first brush group without adjusting the ejection angle. If the current moment corresponds to the expected execution moment of any expected adjustment strategy in the expected adjustment strategy sequence, the target expected adjustment strategy for the current moment is determined to be that expected adjustment strategy, and the ejection angle is adjusted according to that expected adjustment strategy.
[0107] The automatic control method for the amount of bristles picked up by the side brush group provided in this application embodiment detects the pressure value of the second brush group when the vehicle to be washed passes the second brush group located behind the first brush group. Based on the pressure value, it determines the expected adjustment strategy for the first brush group to adjust its ejection angle when the vehicle passes the first brush group at the same position. This allows the first brush group to adjust its ejection angle in advance according to the expected adjustment strategy, without having to wait until the pressure value of the first brush group is too high or too low to make a delayed adjustment. This ensures that the pressure value of the first brush group is maintained within a reasonable range as the vehicle passes through it, thus maintaining the amount of bristles picked up within a reasonable range and avoiding problems such as incomplete cleaning or scratches to the vehicle body.
[0108] In one embodiment, as shown in FIG4, the above method further includes:
[0109] Step 402: At any moment when the vehicle to be washed passes through the second brush group, detect the pressure value of the second brush group, and determine the real-time adjustment strategy of the second brush group for the time based on the pressure value.
[0110] Step 404: Adjust the ejection angle of the second brush group according to the real-time adjustment strategy;
[0111] Step 406: Update the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group.
[0112] In this embodiment of the application, when the vehicle to be washed passes through the second brush group, the control device can detect the pressure value of the second brush group, determine the real-time adjustment strategy of the second brush group based on the pressure value, adjust the push-out angle of the second brush group according to the real-time adjustment strategy, and then synchronize the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group.
[0113] The pressure value of the second brush group can be detected by a pressure sensor, which can be mounted on the electric actuator, as shown in Figure 5. If the pressure value of the second brush group is too high, the brush group extension angle can be reduced as a real-time adjustment strategy. If the pressure value of the second brush group is too low, the brush group extension angle can be increased as a real-time adjustment strategy. If the pressure value of the second brush group is within a reasonable range, no real-time adjustment strategy needs to be generated, that is, the extension angle of the second brush group does not need to be adjusted.
[0114] In one embodiment, a first preset pressure threshold and a second preset pressure threshold can be preset. When the pressure value is greater than the first preset pressure threshold, the ejection angle is reduced as a real-time adjustment strategy for the second brush group; or when the pressure value is less than the second preset pressure threshold, the ejection angle is increased as a real-time adjustment strategy. The first preset pressure threshold is greater than the second preset pressure threshold. In this embodiment, the first preset pressure threshold and the second preset pressure threshold can be obtained experimentally. The maximum amount of bristles that will not scratch the vehicle and the minimum amount of bristles that can effectively clean the vehicle can be predetermined. The pressure value of the brush group when the bristles are at the maximum bristles is tested and used as the first preset pressure threshold. The pressure value of the brush group when the bristles are at the minimum bristles is tested and used as the second preset pressure threshold.
[0115] In one embodiment, as shown in Figure 6, step 406, updating the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group, includes:
[0116] Step 602: Based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed, determine the expected execution time of the real-time adjustment strategy corresponding to the first brush group.
[0117] Step 604: Update the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group according to the expected execution time.
[0118] In this embodiment, the travel time required for the vehicle to travel from the location of the second brush group to the location of the first brush group can be determined based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed. Since the second brush group only adjusts its push-out angle after the pressure value exceeds a first or second preset pressure threshold, its real-time adjustment strategy is lagging. To allow the first brush group to adjust its push-out angle before the vehicle reaches the desired cleaning location, a shorter time interval can be set as a preset lead time. The current time and travel time are added together, and the difference between the sum and the preset lead time is used to obtain the expected execution time. This ensures that the first brush group executes its adjustment strategy earlier than the second brush group, allowing for the adjustment of the first brush group's push-out angle before the vehicle reaches the desired cleaning location.
[0119] Once the expected execution time is determined, the real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group according to the expected execution time, so that when the expected execution time arrives, the first brush group will use the real-time adjustment strategy as the target expected adjustment strategy and execute the target expected adjustment strategy.
[0120] In one embodiment, as shown in FIG7, the above method further includes,
[0121] Step 702: During the process of adjusting the ejection angle according to the target expectation adjustment strategy, the target pressure value of the first brush group is detected.
[0122] Step 704: When the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is greater than the first preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is less than the second preset pressure threshold, advance the expected execution time corresponding to each expected adjustment strategy; or...
[0123] Step 706: When the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is less than the second preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is greater than the first preset pressure threshold, the expected execution time corresponding to each expected adjustment strategy is postponed.
[0124] In this embodiment, a pressure sensor can also be installed on the first brush group. During the process of adjusting the ejection angle of the first brush group according to the target expected adjustment strategy, the expected execution time is adjusted based on the feedback from the pressure sensor on the first brush group. If the target expected adjustment strategy is to reduce the ejection angle, but the target pressure value detected by the pressure sensor is greater than a first preset pressure threshold, it indicates that the process of reducing the ejection angle is lagging. The ejection angle should be reduced earlier to keep the pressure value below the first preset pressure threshold. Since the reason for the lag in the execution of the adjustment strategy is most likely that the previously determined expected execution time is inaccurate, if the execution of a certain target expected adjustment strategy is lagging, the expected execution times corresponding to other expected adjustment strategies are also likely to be lagging. Therefore, the expected execution times corresponding to each expected adjustment strategy can be advanced accordingly. This advance can be a preset fixed value, or it can be determined based on the number of times the expected execution time has been adjusted, for example, it can be inversely proportional to the number of times the expected execution time has been adjusted, so that the expected execution time can eventually converge to an optimal value.
[0125] If the target expectation adjustment strategy is to increase the push angle, but the target pressure value is less than the second preset pressure threshold, it also indicates that the target expectation adjustment strategy is lagging behind. Therefore, it is also necessary to advance the expected execution time of other expectation adjustment strategies.
[0126] Conversely, if the expected adjustment strategy is to reduce the ejection angle but the target pressure value is less than the second preset pressure threshold, or if the expected adjustment strategy is to increase the ejection angle but the target pressure value is greater than the first preset pressure threshold, it indicates that the speed of reducing or increasing the ejection angle is too fast, and the expected adjustment strategy is executed ahead of schedule. Therefore, the expected execution time corresponding to each expected adjustment strategy can be postponed accordingly to avoid the situation where the pressure value received by the first brush group exceeds the range limited by the first and second preset pressure thresholds.
[0127] The automatic control method for the amount of bristles picked up by the side brush group provided in this application embodiment detects the target pressure value received by the first brush group, and determines whether the execution of the target expected adjustment strategy is ahead of or behind the target based on the currently executed target expected adjustment strategy and whether the target pressure value exceeds the first preset pressure threshold or the second preset pressure threshold. Based on the judgment result, the expected execution time of other expected adjustment strategies is adjusted accordingly. This can reduce the situation where the target pressure value received by the first brush group exceeds the first preset pressure threshold or the second preset pressure threshold, and avoid problems such as incomplete cleaning of the vehicle body or scratches on the vehicle body.
[0128] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.
[0129] Based on the same inventive concept, this application also provides an automatic control device for the amount of bristles picked up by a side brush group, which is used to implement the automatic control method for the amount of bristles picked up by the side brush group described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the automatic control device for the amount of bristles picked up by the side brush group provided below can be found in the limitations of the automatic control method for the amount of bristles picked up by the side brush group above, and will not be repeated here.
[0130] In one embodiment, as shown in FIG8, an automatic control device 800 for the amount of bristles picked up by a side brush group is provided, comprising: a determining module 802, a first adjusting module 804, wherein:
[0131] The determining module 802 is used to determine the ejection angle of the first brush group and eject the first brush group based on the ejection angle; and
[0132] The first adjustment module 804 is used to determine the target expected adjustment strategy corresponding to the time when the vehicle to be washed passes the first brush group at any time, based on the expected adjustment strategy sequence corresponding to the first brush group, and adjust the push-out angle according to the target expected adjustment strategy.
[0133] The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value of the second brush group as the vehicle to be washed passes through the second brush group. The second brush group is located behind the first brush group in the forward direction of the vehicle to be washed.
[0134] The automatic control device for the amount of bristles picked up by the side brush group provided in this application embodiment detects the pressure value of the second brush group when the vehicle to be washed passes the second brush group located behind the first brush group. Based on the pressure value, it determines the expected adjustment strategy for the first brush group to adjust its ejection angle when the vehicle passes the first brush group at the same position. This allows the first brush group to adjust its ejection angle in advance according to the expected adjustment strategy, without having to wait until the pressure value of the first brush group is too high or too low to make a delayed adjustment. This ensures that the pressure value of the first brush group is maintained within a reasonable range as the vehicle passes through it, thus maintaining the amount of bristles picked up within a reasonable range and avoiding problems such as incomplete cleaning or scratches to the vehicle body.
[0135] In one embodiment, the device further includes:
[0136] The first detection module is used to detect the pressure value of the second brush group at any time when the vehicle to be washed passes the second brush group, and determine the real-time adjustment strategy of the second brush group for the time based on the pressure value.
[0137] The second adjustment module is used to adjust the ejection angle of the second brush group according to the real-time adjustment strategy; and
[0138] An update module is used to update the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group.
[0139] In one embodiment, the first detection module is further configured to:
[0140] When the pressure value exceeds a first preset pressure threshold, the ejection angle will be reduced as a real-time adjustment strategy for the second brush group; or...
[0141] When the pressure value is less than the second preset pressure threshold, the push-out angle will be increased as the real-time adjustment strategy.
[0142] Wherein, the first preset pressure threshold is greater than the second preset pressure threshold.
[0143] In one embodiment, the update module is further configured to:
[0144] Based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed, the expected execution time of the real-time adjustment strategy corresponding to the first brush group is determined; and
[0145] Based on the expected execution time, the real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
[0146] In one embodiment, the device further includes:
[0147] The second detection module is used to detect the target pressure value received by the first brush group during the adjustment of the ejection angle according to the target expected adjustment strategy; and
[0148] The execution time adjustment module is used to advance the expected execution time corresponding to each of the expected adjustment strategies when the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is greater than the first preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is less than the second preset pressure threshold; or to postpone the expected execution time corresponding to each of the expected adjustment strategies when the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is less than the second preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is greater than the first preset pressure threshold.
[0149] In one embodiment, the determining module 802 is further configured to:
[0150] Based on the width of the vehicle to be washed, the position of the vehicle track, the initial position of the first brush group, and the preset bristle intake of the first brush group for the vehicle to be washed, the target ejection distance of the first brush group is determined; and
[0151] The ejection angle of the first brush group is determined based on the target ejection distance of the first brush group and the length of the mounting rod.
[0152] In one embodiment, the determining module 802 is further configured to:
[0153] The position of the track center axis is determined based on the vehicle track position;
[0154] The side position of the vehicle to be washed is obtained by summing the position of the track center axis with half the width of the vehicle to be washed.
[0155] The target position of the brush group is obtained by summing the initial position of the first brush group and the preset hair-catching amount of the first brush group for the vehicle to be washed; and
[0156] The target ejection distance of the first brush group is obtained by subtracting the side position from the target position of the brush group.
[0157] In one embodiment, the determining module 802 is further configured to:
[0158] Inspect the vehicle model of the vehicle to be washed;
[0159] When the vehicle model is successfully detected, the ejection angle of the first brush group is determined based on the correspondence between the vehicle model and the ejection angle of the first brush group; and
[0160] If the vehicle model detection fails, the vehicle model with the widest body among all vehicle models will be used as the vehicle model to be washed.
[0161] In one embodiment, the top of the brush assembly is fixed to a horizontal mounting rod, the mounting rod is connected to a column, and a push rod is provided between the mounting rod and the column; the brush assembly is pushed out by the push rod pushing the mounting rod.
[0162] In one embodiment, the push rod is driven by a DC motor with an encoder, and the determining module 802 is further configured to:
[0163] The push rod is pushed out by the DC motor until the encoder's encoding value reaches the encoding value corresponding to the push-out angle.
[0164] In one embodiment, a pressure sensor is mounted on the first brush group, and the device further includes:
[0165] The detection module is used to detect the pressure value of the pressure sensor in real time during the process of pushing the push rod out by the DC motor; and
[0166] The stop module is used to stop the ejection process of the first brush group when the pressure value exceeds the pressure threshold or when the encoding value is abnormal.
[0167] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.
[0168] In one embodiment, a computer device, which may be a server, is provided, and its internal structure is shown in Figure 9. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements an automatic control method for the amount of bristles picked up by a side brush group.
[0169] Those skilled in the art will understand that the structure shown in Figure 9 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.
[0170] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.
[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.
[0172] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.
[0173] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.
[0174] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.
[0175] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0176] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. An automatic control method for the amount of bristles picked up by a side brush assembly, characterized in that, The method includes: Determine the ejection angle of the first brush group, and eject the first brush group based on the ejection angle; and At any moment when the vehicle to be washed passes the first brush group, a target expected adjustment strategy corresponding to the moment is determined according to the expected adjustment strategy sequence corresponding to the first brush group, and the push-out angle is adjusted according to the target expected adjustment strategy. The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value of the second brush group as the vehicle to be washed passes through the second brush group. The second brush group is located behind the first brush group in the forward direction of the vehicle to be washed.
2. The method according to claim 1, characterized in that, The method further includes: At any moment when the vehicle to be washed passes the second brush group, the pressure value of the second brush group is detected, and the real-time adjustment strategy of the second brush group for the moment is determined based on the pressure value. The ejection angle of the second brush group is adjusted according to the aforementioned real-time adjustment strategy; and The real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
3. The method according to claim 2, characterized in that, The real-time adjustment strategy for the second brush group based on the pressure value includes: When the pressure value exceeds a first preset pressure threshold, the ejection angle will be reduced as a real-time adjustment strategy for the second brush group; or... When the pressure value is less than the second preset pressure threshold, the ejection angle will be increased as the real-time adjustment strategy. Wherein, the first preset pressure threshold is greater than the second preset pressure threshold.
4. The method according to claim 2, characterized in that, The step of updating the real-time adjustment strategy to the expected adjustment strategy sequence of the first brush group includes: Based on the distance between the second brush group and the first brush group, and the forward speed of the vehicle to be washed, the expected execution time of the real-time adjustment strategy corresponding to the first brush group is determined; and Based on the expected execution time, the real-time adjustment strategy is updated to the expected adjustment strategy sequence of the first brush group.
5. The method according to claim 1, characterized in that, The method further includes: During the process of adjusting the ejection angle according to the target expectation adjustment strategy, the target pressure value of the first brush group is detected; When the target expected adjustment strategy is to reduce the ejection angle and the target pressure value is greater than the first preset pressure threshold, or when the target expected adjustment strategy is to increase the ejection angle and the target pressure value is less than the second preset pressure threshold, the expected execution time corresponding to each expected adjustment strategy is advanced; or... When the target expected adjustment strategy is to reduce the push-out angle and the target pressure value is less than the second preset pressure threshold, or when the target expected adjustment strategy is to increase the push-out angle and the target pressure value is greater than the first preset pressure threshold, the expected execution time corresponding to each expected adjustment strategy is postponed.
6. The method according to claim 1, characterized in that, Determining the ejection angle of the first brush group includes: Based on the width of the vehicle to be washed, the position of the vehicle track, the initial position of the first brush group, and the preset bristle intake of the first brush group for the vehicle to be washed, the target ejection distance of the first brush group is determined; and The ejection angle of the first brush group is determined based on the target ejection distance of the first brush group and the length of the mounting rod.
7. The method according to claim 6, characterized in that, The step of determining the target ejection distance of the first brush group based on the width of the vehicle to be washed, the position of the vehicle track, the initial position of the first brush group, and the preset hair-catching amount of the first brush group for the vehicle to be washed includes: The position of the track center axis is determined based on the vehicle track position; The side position of the vehicle to be washed is obtained by summing the position of the track center axis with half the width of the vehicle to be washed. The target position of the brush group is obtained by summing the initial position of the first brush group and the preset hair-catching amount of the first brush group for the vehicle to be washed; and The target ejection distance of the first brush group is obtained by subtracting the side position from the target position of the brush group.
8. The method according to claim 1, characterized in that, Determining the ejection angle of the first brush group includes: Inspect the vehicle model of the vehicle to be washed; When the vehicle model is successfully detected, the ejection angle of the first brush group is determined based on the correspondence between the vehicle model and the ejection angle of the first brush group; and If the vehicle model detection fails, the vehicle model with the widest body among all vehicle models will be used as the vehicle model to be washed.
9. The method according to claim 1, characterized in that, The top of the brush assembly is fixed to a horizontal mounting rod, which is connected to a column, and a push rod is provided between the mounting rod and the column; the brush assembly is pushed out by the push rod pushing the mounting rod.
10. The method according to claim 9, characterized in that, The push rod is driven by a DC motor with an encoder, and the step of extending the first brush group based on the extension angle of the first brush group includes: The push rod is pushed out by the DC motor until the encoder's encoding value reaches the encoding value corresponding to the push-out angle.
11. The method according to claim 10, characterized in that, The first brush group is equipped with a pressure sensor, and the method further includes: During the process of pushing the push rod out by the DC motor, the pressure value of the pressure sensor is detected in real time; and When the pressure value exceeds the pressure threshold, or when the encoding value is abnormal, the ejection process of the first brush group is stopped.
12. An automatic control device for the amount of bristles picked up by a side brush assembly, characterized in that, The device includes: A determining module is used to determine the ejection angle of the first brush group and eject the first brush group based on the ejection angle; and The first adjustment module is used to determine the target expected adjustment strategy corresponding to the time when the vehicle to be washed passes the first brush group at any time, based on the expected adjustment strategy sequence corresponding to the first brush group, and adjust the push-out angle according to the target expected adjustment strategy. The expected adjustment strategy sequence includes multiple expected adjustment strategies, which are determined based on the pressure value of the second brush group as the vehicle to be washed passes through the second brush group. The second brush group is located behind the first brush group in the forward direction of the vehicle to be washed.
13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 11.
14. 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 steps of the method according to any one of claims 1 to 11.
15. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.