CN103738309B - The control method of intelligence vehicle washing system - Google Patents
The control method of intelligence vehicle washing system Download PDFInfo
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- CN103738309B CN103738309B CN201310634353.2A CN201310634353A CN103738309B CN 103738309 B CN103738309 B CN 103738309B CN 201310634353 A CN201310634353 A CN 201310634353A CN 103738309 B CN103738309 B CN 103738309B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005406 washing Methods 0.000 title claims abstract description 32
- 230000000712 assembly Effects 0.000 claims abstract description 73
- 238000000429 assembly Methods 0.000 claims abstract description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- 238000003384 imaging method Methods 0.000 claims abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 25
- 238000007689 inspection Methods 0.000 claims description 7
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 239000003599 detergent Substances 0.000 abstract description 25
- 238000005201 scrubbing Methods 0.000 abstract description 6
- 238000011010 flushing procedure Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001035 drying Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004018 waxing Methods 0.000 description 1
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- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The present invention relates to a kind of intelligence vehicle washing system and the control method of intelligence vehicle washing system.This intelligence vehicle washing system includes photographic head, control module, roof brush assemblies, vehicle body brush assemblies, nozzle component and water pump, photographic head is for carwashing area domain imaging, roof brush assemblies is for scrubbing the upper surface of vehicle, vehicle body brush assemblies is for scrubbing the side surface of vehicle, nozzle component is for vehicle water spray and detergent, water pump and water source, detergent source and nozzle component connect, for by the water at water source and detergent source and detergent pump to nozzle component, control module for determining the position of vehicle according to the become image of photographic head, and according to the position control roof brush assemblies of vehicle, vehicle body brush assemblies and nozzle component are directed at and clean vehicle.The intelligent vehicle washing system of present invention offer and control method thereof, its setting accuracy is higher, and acquired positional information is the most more, it is simple to be carried out vehicle the most intelligently, makes carwash the simplest.
Description
Technical field
The present invention relates to car washing installation field, be specifically related to a kind of intelligence vehicle washing system and the control method of intelligence vehicle washing system.
Background technology
Along with the living standard of entire society constantly improves, huge numbers of families the most gradually come into by automobile, and automobile quantity ramps, and the enterprise being engaged in Automobile Service Business (such as carwash industry) also grows with each passing day.Carwash mode the most on the market is the most still based on manpower.This carwash mode has many shortcomings, such as carwash inefficient, and carwash queuing phenomena is serious, and easily causes water resource and waste in a large number.To this end, be developed various intelligence vehicle washing system, it is achieved automatic car washing.Intelligence vehicle washing system generally individually has automatic vehicle positioning function, is used for determining whether vehicle enters carwash region.But, current intelligent vehicle washing system relies primarily on position sensor and positions, and its positioning precision ratio is relatively limited, and can only position the position of vehicle, it is impossible to position whole vehicle body.
Summary of the invention
In view of this, it is desirable to provide a kind of intelligent vehicle washing system that can preferably position vehicle location and intelligence vehicle washing system control method.
nullIn order to realize the purpose of the present invention，One aspect of the present invention provides a kind of intelligence vehicle washing system，For cleaning vehicle，It includes photographic head、Control module、Roof brush assemblies、Vehicle body brush assemblies、Nozzle component and water pump，Described photographic head is for carwashing area domain imaging，Described roof brush assemblies is for scrubbing the upper surface of described vehicle，Described vehicle body brush assemblies is for scrubbing the side surface of described vehicle，Described nozzle component is for described vehicle water spray and detergent，Described water pump and water source、Detergent source and nozzle component connect，For by the water at described water source and detergent source and detergent pump to described nozzle component，Described control module for determining the position of described vehicle according to the become image of described photographic head，And according to roof brush assemblies described in the position control of described vehicle、Vehicle body brush assemblies and nozzle component are directed at and clean described vehicle.
Preferably, described control module includes image process unit, image analysing computer unit, positioning unit and control unit, described image process unit carries out data process for image become to described photographic head, described image analysing computer unit is for being analyzed determining the image data of described vehicle to the image data after processing, described positioning unit for determining the position of described vehicle according to the image data of described vehicle, and described control unit is for being directed at and clean described vehicle according to roof brush assemblies, vehicle body brush assemblies and nozzle component described in the position control of described vehicle.
Preferably, described image analysing computer unit is additionally operable to the image data after analyzing and processing to determine image data dirty on vehicle, described positioning unit is additionally operable to determine described dirty position according to described dirty image data, and described control unit is additionally operable to be directed at and clean described dirty according to roof brush assemblies, vehicle body brush assemblies and nozzle component described in described dirty position control.
Preferably, described photographic head is varifocal and rotatable, and described control module is additionally operable to after cleaning vehicle control the rotation of described photographic head zoom to obtain the image of vehicle body local.
Preferably, described intelligence vehicle washing system also includes Clean water valve, detergent valve and flushing valve, described Clean water valve is arranged on the pipeline that described water pump is connected with described water source, described detergent valve is arranged on the pipeline that described water pump is connected with described detergent source, and described flushing valve is arranged on the pipeline that described water pump is connected with described nozzle component.
Another aspect of the present invention also provides for the control method of a kind of intelligence vehicle washing system.Described intelligence vehicle washing system is used for cleaning vehicle, and it includes photographic head, roof brush assemblies, vehicle body brush assemblies and nozzle component.The control method of described intelligence vehicle washing system comprises the steps:
Image-forming step: carwash region is carried out imaging；
Positioning step: determine the position of described vehicle according to become image；
Cleaning step: be directed at described vehicle according to roof brush assemblies, vehicle body brush assemblies, nozzle component described in the position control of described vehicle and be carried out.
Preferably, described positioning step farther includes following steps:
Become image is carried out data process；
Image data after processing is analyzed determining the image data of described vehicle；
Image data according to described vehicle determines the position of described vehicle.
Preferably, also including the dirty inspection step checking on described vehicle after described cleaning step, described inspection step farther includes following steps:
Re-imaging step: the vehicle after cleaning is carried out re-imaging；
Dirty searching step: according to image formed in re-imaging step find on vehicle dirty, if it has, then enter cleaning step again；
Cleaning step again: control described roof brush assemblies, vehicle body brush assemblies, nozzle component alignment is described dirty and cleans described dirty.
Preferably, described photographic head is varifocal and rotatable, in described re-imaging step, controls the rotation of described photographic head zoom to obtain the image of vehicle body local.
The intelligent vehicle washing system of embodiment of the present invention offer and control method thereof, vehicle is positioned by the mode using camera imaging, its degree of accuracy is higher, and acquired positional information is the most more, it is easy to control roof brush assemblies, vehicle body brush assemblies and nozzle component etc. the most intelligently vehicle is carried out, making carwash the simplest, carwash effect is more preferable.
Accompanying drawing explanation
Fig. 1 is what the embodiment of the present invention provided the structural representation of intelligent vehicle washing system.
Fig. 2 is the structural representation of the control module in the intelligent vehicle washing system of Fig. 1.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Refer to Fig. 1, the embodiment of the present invention provides a kind of intelligent vehicle washing system for cleaning vehicle, and it includes photographic head 15, control module 11, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 and water pump 16.
Photographic head 15 is for carwashing area domain imaging.In general, become image with realtime imaging, and can be exported to control module 11 by photographic head 15 by carwash region.Photographic head 15 can be multiple, to obtain the image in more comprehensively carwash region.
Roof brush assemblies 13 is for scrubbing the upper surface of vehicle, including roof, bonnet, front screen, rear window and boot lid etc..Roof brush assemblies 13 specifically can include roof brush and corresponding drive mechanism.Drive mechanism generally comprises motor, support, guide rail etc..Owing to the drive mechanism of the most multiple roof brush is well known to those skilled in the art, here is omitted.Vehicle body brush assemblies 14 is for scrubbing the side surface of vehicle, such as car door etc..Similar with roof brush assemblies 13, vehicle body brush assemblies 14 specifically can include vehicle body brush and drive mechanism thereof, generally two, vehicle body brush and be separately positioned on vehicle body both sides, and the structure being well known to the skilled person the most also repeats no more.
Nozzle component 12 is for vehicle water spray and detergent, and it generally comprises multiple jet pipe, corresponding pipeline and jet driving mechanism.Water pump 16 is connected with water source, detergent source (not shown) and nozzle component 12, for by water source and the water of detergent source and detergent pump to nozzle component 12.Water pump 16 can be connected with the water source (such as faucet) being arranged on carwash areas adjacent and detergent source (such as detergent storage tank) by pipeline.
Control module 11 for determining the position of vehicle according to the become image of photographic head 15, and be directed at according to position control roof brush assemblies 13, vehicle body brush assemblies 14 and the nozzle component 12 of vehicle and clean vehicle.When vehicle enters into carwash region, the become image of photographic head 15 is transferred to control module 11.When car owner or staff press unlatching carwash button, control module 11 image become to photographic head 15 is analyzed, and to determine the position of vehicle, then controls roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 and is directed at vehicle and starts to clean vehicle.It should be noted that, owing to cleaning vehicle, typically there is certain operation order, therefore control module 11 is not roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 to be directed at vehicle simultaneously, but can be directed in order, such as, first control module 11 can control nozzle component 12 and move to the position being directed at vehicle, start water pump 16, to vehicle injection clear water and detergent；Then control roof brush assemblies 13 to move to vehicle front, make roof brush assemblies 13 from front to back the upper surface of vehicle be scrubbed；Control vehicle body brush assemblies 14 again and move the side to vehicle, the side surface of vehicle body is scrubbed repeatedly；Finally, again control nozzle component 12 and be directed at vehicle, vehicle injection clear water is rinsed.Certainly, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 can also be directed at vehicle simultaneously.
Refer to Fig. 2, in a preferred embodiment, control module 11 includes image process unit 111, image analysing computer unit 112, positioning unit 113 and control unit 114.Image process unit 111 carries out data process for image become to photographic head 15, image analysing computer unit 112 is for being analyzed determining the image data of vehicle to the image data after processing, positioning unit 113 for determining the position of vehicle according to the image data of vehicle, and control unit 114 is for being directed at according to position control roof brush assemblies 13, vehicle body brush assemblies 14 and the nozzle component 12 of vehicle and clean vehicle.Specifically, image process unit 111 can carry out binary conversion treatment, corrosion and expansion process etc. to become image.Image analysing computer unit 112 can determine the imagery zone corresponding to vehicle according to the gray value etc. in the image after data process.Determining that the technology such as imagery zone corresponding to vehicle are the conventional techniques of field of image recognition due to binary conversion treatment, corrosion and expansion process and according to gray value, here is omitted.Positioning unit 113 then determines the position of vehicle according to the position in whole carwash region of the imagery zone corresponding to vehicle.
In a preferred embodiment, when vehicle being sprayed, scrubs, after the cleaning step such as flushing, it is also possible to the clean condition of vehicle is once checked.In this embodiment, image analysing computer unit 112 is additionally operable to the image data after analyzing and processing to determine image data dirty on vehicle, positioning unit 113 is additionally operable to determine that dirty position, control unit 114 are additionally operable to be directed at and clean dirty according to dirty position control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 according to dirty image data.It is to say, when inspection finds also have the most dirty on vehicle body, then control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 to there being dirty position again to clean.
In a preferred embodiment, dirty in order to preferably check for, photographic head 15 can be varifocal and rotating photographic head, and control module 11 is additionally operable to after cleaning vehicle control photographic head 15 rotation zoom to obtain the image of vehicle body local.Namely in checking process, the focal length of photographic head 15 is tuned up, make photographic head 15 can clap the image understanding vehicle body local, photographic head 15 can also be rotated, to obtain the image of multiple regional areas on vehicle body simultaneously.
In a preferred embodiment, this intelligence vehicle washing system also includes Clean water valve 17, detergent valve 18 and flushing valve 19.Clean water valve 17 is arranged on the pipeline that water pump 16 is connected with water source, to control the break-make of clear water.Detergent valve 18 is arranged on the pipeline that water pump 16 is connected with detergent source, to control the break-make of detergent.Flushing valve 19 is arranged on the pipeline that water pump 16 is connected with nozzle component 12, controls whether to spray.In general, when spraying clear water and detergent on vehicle body, control module 11 is first opened Clean water valve 17 and detergent valve 18, is opened flushing valve 19 the most again.
The embodiment of the present invention also provides for the control method of a kind of intelligence vehicle washing system.This intelligence vehicle washing system is used for cleaning vehicle, and it includes photographic head 15, roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12.The description that the concrete structure of photographic head 15, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 and water pump 16 is referred in above-described embodiment with annexation etc., here is omitted.
The control method of this intelligence vehicle washing system comprises the steps:
Image-forming step: carwash region is carried out imaging；Specifically, it is to carry out imaging by photographic head 15；
Positioning step: determine the position of vehicle according to become image；
Cleaning step: be directed at vehicle according to the position control roof brush assemblies 13 of vehicle, vehicle body brush assemblies 14, nozzle component 12 and be carried out.
As described in above-described embodiment, owing to cleaning vehicle, typically there is certain operation order, therefore control module 11 is not roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 to be directed at vehicle simultaneously, but can be directed in order, such as, first control module 11 can control nozzle component 12 and move to the position being directed at vehicle, start water pump 16, to vehicle injection clear water and detergent；Then control roof brush assemblies 13 to move to vehicle front, make roof brush assemblies 13 from front to back the upper surface of vehicle be scrubbed；Control vehicle body brush assemblies 14 again and move the side to vehicle, the side surface of vehicle body is scrubbed repeatedly；Finally, again control nozzle component 12 and be directed at vehicle, vehicle injection clear water is rinsed.Certainly, roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 can also be directed at vehicle simultaneously.
In a preferred embodiment, positioning step farther includes following steps:
Become image is carried out data process；Specifically, binary conversion treatment, corrosion and expansion process etc. can be carried out and process step；
Image data after processing is analyzed determining the image data of vehicle；Specifically, the imagery zone corresponding to vehicle can be determined according to the gray value etc. in the image after processing；
Image data according to vehicle determines the position of vehicle；Specifically, the position of vehicle can be determined according to the position in whole carwash region of the imagery zone corresponding to vehicle.
Determining that the technology such as imagery zone corresponding to vehicle are the conventional techniques of field of image recognition due to binary conversion treatment, corrosion and expansion process and according to gray value, here is omitted.
In a preferred embodiment, the most also include checking the dirty inspection step on vehicle, check that step farther includes following steps:
Re-imaging step: the vehicle after cleaning is carried out re-imaging；
Dirty searching step: according to image formed in re-imaging step find on vehicle dirty, if it has, then enter cleaning step again；If it is not, can carry out follow-up drying up, the step such as waxing；
Cleaning step again: control roof brush assemblies 13, vehicle body brush assemblies 14, nozzle component 12 are directed at dirty and clean dirty.
It is to say, when vehicle being sprayed, scrubs, after the cleaning step such as flushing, it is also possible to the clean condition of vehicle is once checked.When inspection finds also have the most dirty on vehicle body, then control roof brush assemblies 13, vehicle body brush assemblies 14 and nozzle component 12 to there being dirty position again to clean.
In a preferred embodiment, photographic head 15 is varifocal and rotating photographic head, in re-imaging step, controls photographic head rotation zoom to obtain the image of vehicle body local.Namely in checking process, the focal length of photographic head 15 is tuned up, make photographic head 15 can clap the image understanding vehicle body local, the most also rotate photographic head 15, to obtain the image of multiple regional areas on vehicle body.
The intelligent vehicle washing system of embodiment of the present invention offer and control method thereof, vehicle is positioned by the mode using camera imaging, its degree of accuracy is higher, and acquired positional information is the most more, it is easy to control roof brush assemblies, vehicle body brush assemblies and nozzle component etc. the most intelligently vehicle is carried out, making carwash the simplest, carwash effect is more preferable.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (1)
1. a control method for intelligent vehicle washing system, described intelligence vehicle washing system is used for cleaning vehicle, its
Including photographic head, roof brush assemblies, vehicle body brush assemblies, nozzle component and water pump, it is characterised in that institute
The control method stating intelligence vehicle washing system comprises the steps:
Image-forming step: carwash region is carried out imaging；
Positioning step: determine the position of described vehicle according to become image；
Cleaning step: according to roof brush assemblies, vehicle body brush assemblies, spray described in the position control of described vehicle
Vehicle described in pipe assembly alignment is also carried out；
Described positioning step farther includes following steps:
Become image is carried out data process；
Image data after processing is analyzed determining the image data of described vehicle；
Image data according to described vehicle determines the position of described vehicle；
The dirty inspection step checking on described vehicle, described inspection is also included after described cleaning step
Look into step and farther include following steps:
Re-imaging step: the vehicle after cleaning is carried out re-imaging；
Dirty searching step: according to image formed in re-imaging step find on vehicle dirty, as
Fruit has, then enter cleaning step again；
Cleaning step again: control described in described roof brush assemblies, vehicle body brush assemblies, nozzle component alignment
Dirty and clean described dirty；
Described photographic head is varifocal and rotatable, in described re-imaging step, controls described photographic head
Rotate and zoom is to obtain the image of vehicle body local.
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| CN201310634353.2A CN103738309B (en) | 2013-11-29 | 2013-11-29 | The control method of intelligence vehicle washing system |
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| CN103738309B true CN103738309B (en) | 2016-08-17 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104842947A (en) * | 2015-04-22 | 2015-08-19 | 四川和鼎环保工程有限责任公司 | Implementation method for unattended car washing |
| CN107826086A (en) * | 2017-10-31 | 2018-03-23 | 中国冶集团有限公司 | A kind of full-automatic intelligent carwash platform control system and control method |
| CN107784369A (en) * | 2017-11-07 | 2018-03-09 | 苏州诚满信息技术有限公司 | A kind of Mobile intelligent cleaning equipment and its method of work based on data analysis |
| CN109131239B (en) * | 2018-07-27 | 2020-07-31 | 沃尔新(北京)自动设备有限公司 | Vehicle cleaning parameter setting method and vehicle washing machine |
| CN110509901A (en) * | 2019-09-26 | 2019-11-29 | 广州市道诺电子科技有限公司 | A kind of controlling terminal and method of intelligence carwash |
| CN112706723A (en) * | 2020-12-28 | 2021-04-27 | 石家庄开发区天远科技有限公司 | Control method and device of vehicle cleaning device and terminal equipment |
| CN112699940B (en) * | 2020-12-30 | 2023-04-07 | 腾讯科技（深圳）有限公司 | Vehicle cleaning associated resource recommendation method and device and storage medium |
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| DE29908866U1 (en) * | 1999-05-21 | 2000-02-24 | California Kleindienst Holding GmbH, 86153 Augsburg | Vehicle treatment plant |
| EP1992534A2 (en) * | 2007-05-16 | 2008-11-19 | O.M.G. di Geminiani Gino | Car washing apparatus |
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