Path Planning Method of Rolling Brush of Car Washing Machine Based on Fractional Differentiation

Abstract

The roller brush cleaning path of the gantry reciprocating automatic car washing machine is the key to determining the quality of the car wash. For the issue that the traditional method cannot accurately and reliably calculate the roller path, a rolling brush path planning scheme combined with fractional differential algorithm is proposed. By analysing the working form of the car washing machine and the appearance characteristics of the car, a multi-view car detection system is designed, and the car images are collected by using multiple cameras. The possibility of the path of each roller brush of the car washing machine is extracted from the contour information, and the contour curve is converted into the roller brush path in the form of coordinate points through software. Finally, the actual size of the car to be washed is calculated by the multi-view camera, and the average error between the calculation result and the actual result is 2.63%, which meets the operating conditions of the gantry reciprocating automatic car washing machine.