CN-122009092-A - Automatic car washing method, device, equipment and medium

CN122009092ACN 122009092 ACN122009092 ACN 122009092ACN-122009092-A

Abstract

The invention discloses an automatic vehicle washing method, device, equipment and medium, relating to the technical field of vehicle washing, comprising the steps of obtaining a vehicle to be washed and collecting image information of the vehicle to be washed; the vehicle image information to be cleaned is utilized to carry out vehicle appearance recognition by adopting an edge algorithm, a vehicle characteristic data result is obtained, vehicle appearance simulation analysis is carried out based on the vehicle characteristic data result, a vehicle appearance simulation analysis result is obtained, vehicle cleaning operation is carried out according to the vehicle appearance simulation analysis result, and an automatic vehicle cleaning result is obtained. The invention innovates the full-link technology from hardware cooperation, intelligent identification, accurate simulation to dynamic control, finally realizes the intellectualization, high efficiency and safety of the car washing process, and obviously enhances the car type compatibility and cleaning quality of the equipment.

Inventors

LUO GONGBO
LI CHANGFU
Yan Zhiya
Cui Longkuan

Assignees

三盈联合科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260121

Claims (10)

1. An automatic car washing method, comprising: S1, acquiring a vehicle to be cleaned, and acquiring image information of the vehicle to be cleaned; s2, carrying out vehicle appearance recognition by using the image information of the vehicle to be cleaned and adopting an edge algorithm, and obtaining a vehicle characteristic data result; S3, carrying out vehicle appearance simulation analysis based on the vehicle characteristic data result to obtain a vehicle appearance simulation analysis result; And S4, executing vehicle cleaning operation according to the vehicle appearance simulation analysis result to obtain an automatic vehicle cleaning result.
2. The automatic car washing method according to claim 1, wherein S1, acquiring a vehicle to be washed and collecting image information of the vehicle to be washed, comprises: detecting by adopting an ultrasonic radar and an opposite-jet sensor to obtain the entrance state of the vehicle to be cleaned; Judging whether the entering state of the vehicle to be cleaned is an entered state, if so, executing a first operation, otherwise, acquiring the entering state of the vehicle to be cleaned as an unoccupied state, adjusting the vehicle to be cleaned, and executing a second operation; Judging whether the vehicle to be cleaned enters a vehicle washing area or not based on the entrance state of the vehicle to be cleaned, if so, triggering a plurality of high-definition cameras, acquiring images of the vehicle to be cleaned, acquiring image information of the vehicle to be cleaned, otherwise, adjusting the vehicle to be cleaned to enter the vehicle washing area, and executing a second operation; the second operation is that an ultrasonic radar and an correlation sensor are adopted to detect, and the entrance state of the vehicle to be cleaned is obtained.
3. The automatic car washing method according to claim 1, wherein S2, using the image information of the vehicle to be washed to perform vehicle shape recognition by using an edge algorithm, obtaining a vehicle feature data result, includes: preprocessing the image information of the vehicle to be cleaned to obtain preprocessed image information of the vehicle to be cleaned; extracting contour features by adopting an edge algorithm according to the preprocessed image information of the vehicle to be cleaned, and obtaining contour features of the vehicle to be cleaned; performing cluster fitting based on the contour features of the vehicle to be cleaned to generate standardized contour data of the vehicle to be cleaned; And carrying out matching processing by combining the standardized contour data of the vehicle to be cleaned with a vehicle characteristic database to obtain a vehicle characteristic data result.
4. An automatic car washing method according to claim 3, wherein the matching processing is performed by using the standardized vehicle profile data to be washed in combination with a vehicle feature database, and the obtaining of the vehicle feature data result includes: calling a vehicle feature database based on the standardized contour data of the vehicle to be cleaned; Matching the standardized contour data of the vehicle to be cleaned with the vehicle characteristic database to obtain contour similarity; Judging whether the contour similarity is larger than a preset contour similarity threshold, if so, combining the contour similarity with the vehicle feature database to obtain a vehicle model contour template, otherwise, updating the vehicle feature database by using the standardized contour data of the vehicle to be cleaned, and executing a third operation; Acquiring a vehicle characteristic data result by utilizing the vehicle characteristic database based on the vehicle model profile template; The third operation is to match the standardized contour data of the vehicle to be cleaned with the vehicle characteristic database to obtain contour similarity.
5. The automatic car washing method according to claim 3, wherein S3, based on the vehicle feature data result, performs a vehicle appearance simulation analysis, and obtains a vehicle appearance simulation analysis result, comprising: combining the vehicle characteristic database according to the vehicle characteristic data result to acquire vehicle appearance data of the vehicle to be cleaned and basic vehicle cleaning control logic; constructing a vehicle three-dimensional network model by utilizing the vehicle appearance data of the vehicle to be cleaned; and carrying out vehicle appearance simulation analysis based on the vehicle three-dimensional network model and combining with basic vehicle washing control logic of the vehicle to be washed, and obtaining a vehicle appearance simulation analysis result.
6. The method of claim 5, wherein performing a vehicle appearance simulation analysis based on the vehicle three-dimensional network model in combination with the basic vehicle washing control logic of the vehicle to be washed, obtaining a vehicle appearance simulation analysis result, comprises: importing the three-dimensional network model of the vehicle and the three-dimensional model of the car washer execution part into a simulation environment, loading basic car washer control logic of the vehicle to be cleaned, and obtaining a basic scene of the vehicle to be cleaned; Setting avoidance rules of the car washer executing parts based on the three-dimensional network model of the car and basic car washing control logic of the car to be washed; setting motion parameters of the car washer executing component according to the basic scene of the car to be cleaned and the avoidance rule of the car washer executing component; Acquiring a simulation result of the vehicle to be cleaned by adopting an operation simulation algorithm based on a basic scene of the vehicle to be cleaned and basic vehicle cleaning control logic of the vehicle to be cleaned and combining motion parameters of an execution part of the vehicle cleaning machine; Judging whether the simulation result of the vehicle to be cleaned accords with the avoidance rule of the vehicle washer executing component, if so, acquiring a vehicle appearance simulation analysis result by using the simulation result of the vehicle to be cleaned, otherwise, adjusting the motion parameters of the vehicle washer executing component according to the simulation result of the vehicle to be cleaned and the avoidance rule of the vehicle washer executing component, and executing a fourth operation; The fourth operation is to acquire a simulation result of the vehicle to be cleaned by adopting an operation simulation algorithm based on a basic scene of the vehicle to be cleaned and basic vehicle cleaning control logic of the vehicle to be cleaned and combining motion parameters of the vehicle cleaning executing component.
7. The method of automatic car washing according to claim 6, wherein S4, performing a car washing operation according to the result of the simulation analysis of the vehicle appearance, obtaining an automatic car washing result, comprises: Analyzing the vehicle appearance simulation analysis result to generate a cleaning execution instruction set of the car washer; the control of the car washer executing component is carried out according to the washing executing instruction set of the car washer, and target data of the car washing process are collected in real time; Fitting the closed result of the target data of the car washing process and the simulation analysis result of the car appearance to obtain a car washing control result; Judging whether the car washing control result is normal, if so, acquiring a car washing state of the car to be washed, and executing a fifth operation, otherwise, adjusting the motion parameters of the car washing machine executing component according to the car washing control result, and executing the fourth operation; Judging whether the vehicle washing state of the vehicle to be washed is a washing completion state, if so, acquiring the washing completion state of the vehicle to be washed as an automatic vehicle washing result, otherwise, marking the vehicle to be washed as an unclean completion state, updating a washing execution instruction set of the vehicle washing machine according to the unclean completion state of the vehicle to be washed, and executing a sixth operation; And the sixth operation is to control the executing parts of the car washer according to the washing executing instruction set of the car washer and collect the target data of the car washing process in real time.
8. An automatic car washing device applying the method as claimed in any one of claims 1 to 7, comprising a car washer core controller and a distributed AI intelligent analysis terminal, wherein the car washer core controller comprises a vehicle acquisition module and a core control module, and the distributed AI intelligent analysis terminal comprises a feature recognition analysis module and a simulation analysis module; The vehicle acquisition module is used for acquiring a vehicle to be cleaned and acquiring image information of the vehicle to be cleaned; the feature recognition analysis module is used for recognizing the appearance of the vehicle by using the image information of the vehicle to be cleaned and adopting an edge algorithm to acquire a vehicle feature data result; The simulation analysis module is used for carrying out vehicle appearance simulation analysis based on the vehicle characteristic data result to obtain a vehicle appearance simulation analysis result; and the core control module is used for executing vehicle cleaning operation according to the vehicle appearance simulation analysis result to obtain an automatic vehicle cleaning result.
9. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
10. A computer readable storage medium, having stored thereon a computer program, wherein the computer program when executed by one or more processors implements the method of any of claims 1-7.

Description

Automatic car washing method, device, equipment and medium Technical Field The invention relates to the technical field of vehicle cleaning, in particular to an automatic vehicle cleaning method, device, equipment and medium. Background In the current automatic car washing field, the traditional equipment generally adopts a curing program to execute a car washing process, and has the core defect that the traditional equipment cannot adapt to the appearance difference of different car types, namely, the size difference of three-compartment car, SUV and other car types, the difference of exterior features such as sunroof and the like, the fixing process is difficult to match with a car body curved surface, so that not only is the local cleaning incomplete easily caused, but also the paint damage caused by the hard contact of a brush roller and the car body is likely to occur. Meanwhile, the calculation power of the traditional equipment is mainly distributed in a centralized mode, the data processing needs to rely on center end calculation, response delay is high, real-time monitoring and adjustment of operation parameters such as brush roll rotating speed and pressure in the car washing process are difficult, and dynamic adaptation capability is lacked. In addition, the perception module of traditional equipment is simple in configuration, relies on single sensor to carry out basic detection more, can't accurately gather vehicle appearance data, has further restricted the suitability and the intelligent level of carwash flow, is difficult to satisfy the high-efficient, the safe carwash demand of current diversified motorcycle type. Therefore, there is a need for an automatic car washing method, apparatus, device and medium to solve the shortcomings in the prior art. Disclosure of Invention The invention aims to provide an automatic car washing method, device, equipment and medium, which are used for solving the problems that the traditional automatic car washing equipment cannot be adapted to the appearance differences of different car types, is slow in calculation force response, is not thorough in washing, is easy to damage a car body and is difficult to dynamically adjust in real time, realizing accurate identification of car characteristics, intelligent adaptation and dynamic adjustment of a car washing scheme, and improving car washing efficiency and adaptability. In a first aspect, to achieve the above object, the present invention provides an automatic car washing method, including: S1, acquiring a vehicle to be cleaned, and acquiring image information of the vehicle to be cleaned; s2, carrying out vehicle appearance recognition by using the image information of the vehicle to be cleaned and adopting an edge algorithm, and obtaining a vehicle characteristic data result; S3, carrying out vehicle appearance simulation analysis based on the vehicle characteristic data result to obtain a vehicle appearance simulation analysis result; And S4, executing vehicle cleaning operation according to the vehicle appearance simulation analysis result to obtain an automatic vehicle cleaning result. Optionally, S1, acquiring a vehicle to be cleaned, and acquiring image information of the vehicle to be cleaned, including: detecting by adopting an ultrasonic radar and an opposite-jet sensor to obtain the entrance state of the vehicle to be cleaned; Judging whether the entering state of the vehicle to be cleaned is an entered state, if so, executing a first operation, otherwise, acquiring the entering state of the vehicle to be cleaned as an unoccupied state, adjusting the vehicle to be cleaned, and executing a second operation; Judging whether the vehicle to be cleaned enters a vehicle washing area or not based on the entrance state of the vehicle to be cleaned, if so, triggering a plurality of high-definition cameras, acquiring images of the vehicle to be cleaned, acquiring image information of the vehicle to be cleaned, otherwise, adjusting the vehicle to be cleaned to enter the vehicle washing area, and executing a second operation; the second operation is that an ultrasonic radar and an correlation sensor are adopted to detect, and the entrance state of the vehicle to be cleaned is obtained. Optionally, S2, performing vehicle shape recognition by using the image information of the vehicle to be cleaned and using an edge algorithm, to obtain a vehicle feature data result, including: preprocessing the image information of the vehicle to be cleaned to obtain preprocessed image information of the vehicle to be cleaned; extracting contour features by adopting an edge algorithm according to the preprocessed image information of the vehicle to be cleaned, and obtaining contour features of the vehicle to be cleaned; performing cluster fitting based on the contour features of the vehicle to be cleaned to generate standardized contour data of the vehicle to be cleaned; And carrying out matching processing by combining the sta