SERVICE STATION FOR IDENTIFYING THE DIRTINESS OF A VEHICLE COMPONENT, AND METHOD FOR OPERATING THE SERVICE STATION

Abstract

A service station for vehicles of an autonomous vehicle fleet. The service station includes at least one service module that is designed to identify the dirtiness of at least one vehicle component of the vehicle. The service module also includes at least one mobile robot and/or a robot arm on which a tool is arranged for identifying dirtiness. The tool includes at least one optical sensor and preferably at least one light source and/or at least one vapor emitter.

Claims

1-10. (canceled)

11. A service station for vehicles of an autonomous vehicle fleet, comprising: at least one service module configured to identify dirtiness of at least one vehicle component of a vehicle of the vehicle fleet; and at least one mobile robot apparatus, operatively coupled to the at least one service module, wherein the at least one mobile robot apparatus comprises a tool for identifying dirtiness of the at least one vehicle component, the tool being configured on the mobile robot apparatus, and wherein the tool comprises at least one optical sensor.

12. The service station of claim 11, wherein the at least one optical sensor is configured to detect a degree of dirtiness of the at least one vehicle component of the vehicle.

13. The service station of claim 12, wherein the at least one optical sensor is configured to record at least one image signal of the at least one vehicle component of the vehicle, and detect a degree of reflection of at least one surface of a vehicle component.

14. The service station of claim 11, wherein the tool comprises at least one of a light source and/or at least one vapor emitter.

15. The service station of claim 11, wherein the tool comprises at least one moisture sensor and/or air quality sensor.

16. The service station of claim 11, further comprising a cleaning tool for performing interior cleaning of at least one vehicle component, the cleaning tool being configured on the mobile robot apparatus, wherein the cleaning tool comprises at least one of a vacuum cleaner nozzle, an upholstery brush and/or an applicator for applying cleaning agent.

17. The service station of claim 11, further comprising a communication module configured to communicate with at least one of other vehicles of the autonomous vehicle fleet and/or a server of a fleet operator, the communication module comprises: a controller to identify dirtiness of at least one vehicle component of the vehicle for controlling the mobile robot apparatus and/or the tool, wherein the communication module is configured to transmit a first message for identifying the dirtiness of at least one vehicle component and, to receive a second message with information regarding a degree of dirtiness of at least one vehicle component.

18. A method for operating a service station for vehicles of an autonomous vehicle fleet, comprising: inserting at least one mobile robot apparatus into a portion of a vehicle of the autonomous vehicle fleet; advancing the at least one mobile robot apparatus over the portion of the vehicle of the autonomous vehicle fleet; identifying, via an optical sensor of a tool of the at least one mobile robot apparatus, dirtiness of at least one vehicle component; and communicating, to at least one service module, one or more signals identifying dirtiness of the at least one vehicle component.

19. The method of claim 18, wherein the identifying of the dirtiness of the at least one vehicle component comprises identifying a degree of dirtiness of the at least one vehicle component of the vehicle.

20. The method of claim 19, wherein the identifying of the dirtiness of the at least one vehicle component comprises recording at least one image signal of the at least one vehicle component of the vehicle, and detecting a degree of reflection of at least one surface of a vehicle component.

21. The method of claim 18, wherein the identifying of the dirtiness of the at least one vehicle component comprises identifying characteristics of the at least one vehicle component based on a light source and/or at least one vapor emitter.

22. The method of claim 18, wherein the identifying of the dirtiness of the at least one vehicle component comprises identifying characteristics of the at least one vehicle component based on at least one moisture sensor and/or air quality sensor.

23. The method of claim 18, further comprising activating a cleaning tool for performing interior cleaning of at least one vehicle component, the cleaning tool being configured on the mobile robot apparatus, wherein the cleaning tool comprises at least one of a vacuum cleaner nozzle, an upholstery brush and/or an applicator for applying cleaning agent.

24. The method of claim 18, further comprising communicating, via a communication module, with at least one of other vehicles of the autonomous vehicle fleet and/or a server of a fleet operator, and further comprising: identifying, via a controller, at least one vehicle component of the vehicle for controlling the mobile robot apparatus and/or the tool, transmitting, via the communication module, a first message for identifying the dirtiness of at least one vehicle component and, and receiving, via the communication module, a second message with information regarding a degree of dirtiness of the at least one vehicle component.

25. A service station for vehicles of an autonomous vehicle fleet, comprising: at least one mobile robot apparatus, comprising an optical tool for identifying a degree dirtiness of at least one vehicle component, the tool being configured on the mobile robot apparatus; at least one service module, operatively coupled to the at least one robot apparatus, configured to process the degree of dirtiness of at the least one vehicle component of a vehicle of the vehicle fleet; and a cleaning tool, operatively coupled to the at least one service module, wherein the at least one service module is configured to compare an acquired degree of cleaning with an acquired degree of dirtiness, based on a target specification, to determine an effectiveness measure of a cleaning action, and generate a cleaning action signal if the effectiveness measure falls below a configured limit value.

26. The service station of claim 25, wherein the at least one optical sensor is configured to record at least one image signal of the at least one vehicle component of the vehicle, and detect a degree of reflection of at least one surface of a vehicle component.

27. The service station of claim 25, wherein the tool comprises at least one of a light source and/or at least one vapor emitter.

28. The service station of claim 25, wherein the tool comprises at least one moisture sensor and/or air quality sensor.

29. The service station of claim 25, further comprising a cleaning tool for performing interior cleaning of at least one vehicle component, the cleaning tool being configured on the mobile robot apparatus, wherein the cleaning tool comprises at least one of a vacuum cleaner nozzle, an upholstery brush and/or an applicator for applying cleaning agent.

30. The service station of claim 25, further comprising a communication module configured to communicate with at least one of other vehicles of the autonomous vehicle fleet and/or a server of a fleet operator, the communication module comprises a controller to identify dirtiness of at least one vehicle component of the vehicle for controlling the mobile robot apparatus and/or the tool.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present disclosure is explained below in exemplary embodiments with reference to the appended drawings.

[0055] FIG. 1 shows a schematic representation of a service station according to some aspects of the present disclosure;

[0056] FIG. 2 shows a schematic representation of a robot arm of the service station according to some aspects of the present disclosure;

[0057] FIG. 3 shows a schematic representation of a tool for identifying at least one vehicle dirtiness according some aspects of the present disclosure;

[0058] FIG. 4 shows a schematic representation of an interior of a vehicle with means for identifying at least one vehicle dirtiness according to some aspects of the present disclosure;

[0059] FIG. 5 shows a schematic representation of a system for carrying out the method according to the invention, having an autonomous vehicle, a service station with a service module and a server according to some aspects of the present disclosure; and

[0060] FIG. 6 shows a schematic representation of an operating area for carrying out a method according to some aspects of the present disclosure.

DETAILED DESCRIPTION

[0061] FIG. 1 shows a schematic representation of a service station according to the present disclosure, in particular a first service module 95 for identifying vehicle dirtiness of at least one vehicle component of the vehicle 10. In order to carry out an identification of dirtiness of at least one vehicle component on the vehicle 10, the latter moves into the service module 95 in order to come to a stop therein, in a stop position 953. As soon as the vehicle 10 comes to a standstill in the stop position 953, the vehicle doors 18 of the vehicle 10 open automatically. Preferably, this is caused by the controller 92 of the first service module 95, which communicates directly with the controller 40 of the vehicle 10. As soon as the vehicle doors 18 are open, a first robot arm 951 and a second robot arm 952 are introduced into the vehicle 10. Alternatively, the service module 95 can have a mobile robot, which is not shown in FIG. 1.

[0062] FIG. 2 shows a schematic representation of such a robot arm 951, 952 with a tool 200 disposed thereon for identifying vehicle dirtiness. The robot arm 951, 952 also has several articulations and several actuators connected to said articulations. The robot arm 951, 952 is thus, furthermore, able to adopt complex geometries. In particular, the robot arm 951, 952 can penetrate the interior of the vehicle, through an open vehicle window or an open vehicle door, and thus bring the tool closer to various vehicle components.

[0063] In addition, further tools for carrying out interior cleaning can be disposed on the robot arms 951, 952, such as, for example, a vacuum cleaner nozzle (not shown), an applicator for applying a cleaning agent and means for upholstery cleaning. The first service module 95 as shown in FIG. 1 also has a charging terminal 971 for filling up the electric energy store 36 of the vehicle 10.

[0064] FIG. 3 shows a schematic representation of a tool 200 for identifying the dirtiness of at least one vehicle component at least according to one embodiment. According to said embodiment, the tool 200 is, in essence, spherically configured and, as illustrated schematically in FIG. 2, designed to be fastened to a free end of a robot arm 951, 952. The fastening of the spherical tool 200 to the robot arm 951, 952 is preferably such that the tool 200 is configured as rotating or pivoting in any direction by means of a ball joint. Accordingly, this serves to facilitate approaching a plurality of different vehicle components. The tool 200 has means for identifying dirtiness on at least one vehicle component, in particular a vapor emitter 201, a light source 202, and an optical sensor 203.

[0065] The tool 200 is preferably designed to illuminate at least one vehicle component, using the light source 202 with light of a specific wavelength, and to acquire a portion of the light reflected by the vehicle component with the optical sensor 203. Depending on the wavelength range and the spatial resolution in relation to the detected signal, said signal is representative of local or global dirtiness of the at least one vehicle component. For example, UV light can be used to record an image signal of urine stains, and/or measuring a degree of reflection of light allows for drawing the conclusion that a surface is covered with dust. Further, the vapor emitter 201 can be used to deposit water vapor onto at least one surface of a vehicle component in order to visualize dirt thereon, in particular greasy dirt. The vapor emitters 201 are arranged, in particular, along a joint gap between the oscillating body and the remaining surface of the spherical tool and designed to deposit vapor.

[0066] FIG. 4 shows a schematic representation of an interior of a vehicle having a vehicle window 300, in particular a windshield 300, an operating element 301, in particular a rotary control 301, and a display 302, in particular a touchscreen 302. According to an embodiment, the service station according to the present disclosure 90 transmits a first message to a vehicle 10, which requests the vehicle 10 to support an identification of dirtiness of at least one vehicle component. For this purpose, a plurality of vapor emitters 201, as already described above, are arranged in the vehicle interior of the vehicle 10, as shown in FIG. 4, along a lower edge of the windshield 300. Further vapor emitters 201 are arranged below the display 302. By releasing vapor by means of the vapor emitter 201, greasy dirtiness on the windshield 300 or the display 302 can be better visualized, whereby their acquisition by means of at least one optical sensor 203 is facilitated. In response to the first message, all displays of the vehicle 10 also present a white background to improve lighting and to promote the detectability of dirtiness. Alternatively, according to one embodiment, the service station 90 according to the present disclosure transmits a first message to a vehicle 10 which requests the vehicle 10 to carry out an identification of dirtiness for at least one vehicle component. For this purpose, the vehicle 10 has an optical sensor 203 that is disposed in a rearview mirror 303, as well as several light sources 202 arranged in the rearview mirror. The light sources 202 emit light of a specific wavelength onto the windshield 300, for example, and the optical sensor 203 acquires the reflected portion of the light to determine a degree of dirtiness.

[0067] FIG. 5 shows a schematic representation of a system for carrying out a service action on the motor vehicle 10, in particular for identifying dirtiness of a vehicle component. The system has an autonomous vehicle 10, a server 70, a service station 80, and a service module 90, in particular as described with reference to FIGS. 1 to 3.

[0068] FIG. 5 shows a two track vehicle 10 with an electric motor 37, which has a plurality of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are configured to acquire surroundings data of the vehicle 10 and include, for example, temperature sensors for acquiring an ambient temperature, a camera for acquiring an image of an environment immediately surrounding the vehicle 10, a microphone for acquiring noises of an environment immediately surrounding the vehicle 10, distance sensors such as, for example, ultrasonic sensors for acquiring distances to objects surrounding the vehicle 10. The first sensors 11, 12, 13 transmit the signals concerning the surroundings that they acquired to a first controller 40 of the vehicle 10.

[0069] The vehicle 10 also has a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining status data relating to the vehicle 10 itself, such as, for example, current position and movement information of the vehicle 10. The second sensors 51, 52, 53 are consequently, for example, speed sensors, acceleration sensors, inclination sensors, interior motion detectors, pressure sensors in the vehicle seats, or the like.

[0070] In addition, at least some of the second sensors 51, 52, 53 are designed to acquire a degree of dirtiness of the vehicle 10. The second sensors 51, 52, 53 configured for this purpose include, for example, an interior camera for acquiring image signals of the interior of the vehicle, a dashboard camera for acquiring image signals of the engine hood, a camera in a side mirror for acquiring image signals of a side door of the vehicle, and other sensors for acquiring dirtiness, for example, based on a degree of reflection of the vehicle paint, or the like. The second sensors 51, 52, 53 transmit the status signals they acquired to the first controller 40 of the vehicle 10. In addition, at least some of the second sensors 51, 52, 53 transmit their measurement results directly to a driving system 30 of the vehicle 10.

[0071] The vehicle 10 also has a first communication module 20 with a memory 21 and one or more transponders, or transceivers 22. The transponders 22 are radio, WLAN, GPS or Bluetooth transceivers, or the like. Also preferably, the transponder 22 is designed for communicating via cellular networks, such as, for example, an LTE, LTE-A or 5G cellular network. The transponder 22 communicates with the internal memory 21 of the first communication module 20, for example, via a suitable data bus. By means of the transponder 22, for example, it is possible to determine the current position of the vehicle 10 via communication with a GPS satellite 61, which is then stored in the internal memory 21. Likewise, authorization information stored in the memory 21 can be transmitted to an external communication module by means of the transponder 22. The first communication module 20 communicates with the first controller 40.

[0072] Furthermore, the first communication module 20 is configured to communicate with a server 70, in particular a fourth communication module 71 of the server 70, for example, via a UMTS (Universal Mobile Telecommunication Service) or LTE (Long Term Evolution) cellular network. The first communication module 20 is also configured to communicate with a second communication module 81, a service station 80, and with a third communication module 91 of a service module 90. The first communication module 20 is also configured to communicate with a (fourth) communication module of a cleaning robot 100. The communication preferably occurs directly via V.sub.2X communications or via a cellular network. The communication via the cellular network occurs via one or more base stations 62.

[0073] The vehicle 10 also has the driving system 30 which is configured for fully autonomous driving operation, in particular for longitudinal and lateral control, of the motor vehicle 10. The driving system 30 has a navigation module 32 which is configured to calculate routes between a starting point and a destination point and to determine the maneuvers to be carried out by the vehicle 10 along this route. In addition, the driving system 30 includes an internal memory 31, for example, for map materials, and which communicates with the navigation module 32, for example, via a suitable data bus. At least some of the second sensors 51, 52, 53 of the vehicle 10 transmit their measurement results directly to the driving system 30. These data transmitted directly to the driving system are in particular, current position and movement information of the vehicle 10. Said data are preferably acquired by speed sensors, acceleration sensors, inclination sensors, etc.

[0074] The vehicle 10 also has an electric driving system 35 which provides the functionalities that are necessary for the electric drive of the vehicle 10. In particular, the electric driving system 35 has an electric energy store 36, which supplies an electric motor 37 with the electric energy required to drive the vehicle 10. The electric driving system 35 also has a charging device (not shown) for charging the electric energy store 36. The vehicle 10 can also be a hybrid vehicle which has a hydrogen tank for supplying a fuel cell system disposed inside the vehicle 10.

[0075] The vehicle 10 also has a first controller 40, which is configured to carry out method steps of the vehicle in order to execute a service action. For this purpose, the first controller 40 has an internal memory 41 and a CPU 42, which communicate with one another, for example, via a suitable data bus. In addition, the first controller 40 is communicatively linked to at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20 and the driving system 30, for example, via one or more respective CAN connections, one or more multiple respective SPI connections, or other suitable data connections.

[0076] The system for carrying out the method according to the present disclosure also preferably has a server 70. The server 70 is preferably operated by a fleet operator of an autonomous vehicle fleet, for example, as part of a car sharing concept, by a service provider for vehicle cleaning and/or by a vehicle manufacturer. The server 70 has a fourth communication module 71 which is configured for communications using the same protocol as the first communication module 20 of the vehicle 10. The server 70 also has a fourth controller 72. The system for carrying out a service action also has a service station 80 and at least one service module 90.

[0077] The service station 80 has a second communication module 81 designed for communications with the first communication module 20 of the vehicle 10, for communications with the fourth communication module 71 of the server 70 and for communications with the third communication module 91 of a service module 90. In particular, the second communication module 81 is configured for communications using the same protocol as the first communication module 20 of the vehicle 10, as the fourth communication module 71 of the server 70, and as the third communication module 91 of the service module 90.

[0078] In addition, the service station 80 has a controller 82 which has a memory 83 and a CPU 84, and they communicate with one another via a suitable data bus, for example, a CAN bus or SPI bus. The service station 80 also has at least one service module 90, preferably several service modules 90. The components of the service module 90 resemble those of the service module 90 that will be explained below. Service station 80 thus has at least one service module 90, and/or it is associated with at least one independent service module 90.

[0079] Each of the service modules 90 is designed for communications with the second controller 82. The second controller 82 is designed to carry out said steps of the method according to the present disclosure that are carried out by the service station 80 in communication with the second communication module 81 and the at least one service module 90. The second controller 82 is designed, in particular, to carry out the steps of the service station 80 according to the present disclosure.

[0080] A system according to the present disclosure has at least one service module 90. The service module 90 has a third communication module 91, which designed for communications with the first communication module 20 of the vehicle 10, for communications with the fourth communication module 71 of the server 70, and for communications with the second communication module 81 of the service station 80. In particular, the third communication module 91 is configured for communications using the same protocol as the first communication module 20 of the vehicle 10, as the fourth communication module 71 of the server 70, and as the second communication module 81 of the service station 80.

[0081] In addition, the service module 90 has a third controller 92, which, for example, has a memory and a CPU, and the latter communicate with one another via a suitable data bus, for example, a CAN bus or SPI bus.

[0082] FIG. 6 shows a schematic representation of an operating area 100 for carrying out the methods according to the present disclosure using the system as shown in FIG. 5. The operating area 100 preferably extends over a metropolitan area, for example, a city or a downtown area of a city. Within the operating area 100, there exist a plurality of autonomous vehicles 10, each of which has a basic configuration, as explained previously in reference to FIG. 5. Each of the autonomous vehicles 10 therein can be retrieved by users of a car sharing service, or given vehicles are permanently assigned to specific users.

[0083] The operating area 100 has a plurality of service stations 80 and service modules 90. Furthermore, a server 70 is arranged in the operating area 100. The autonomous vehicles 10 are designed for communications with one another, in particular by means of the first communication modules 20 and via base stations 62 of a cellular network. The vehicles 10 are also designed for communications with the service stations 80, the service modules 90, and the server 70. The communications occur directly between these elements, or via base stations 62 of a cellular network. In addition, the other components of the system, as shown in FIG. 5, are designed for direct or indirect communications with one another, for example, a service station 80 with the server 70 and service modules 90, and the server 70 with the service modules 90. In FIG. 6, connections are indicated with the dashed lines.

LIST OF REFERENCE NUMERALS

[0084] 10 motor vehicle

[0085] 11 first sensor

[0086] 12 second sensor

[0087] 13 third sensor

[0088] 18 vehicle door

[0089] 20 first communication module

[0090] 21 memory

[0091] 22 transponder

[0092] 30 driving system

[0093] 31 memory

[0094] 32 CPU

[0095] 35 electric driving system

[0096] 36 electric energy store

[0097] 37 electric motor

[0098] 40 first controller

[0099] 41 memory

[0100] 42 CPU

[0101] 51 fourth sensor

[0102] 52 fifth sensor

[0103] 53 sixth sensor

[0104] 61 GPS satellite

[0105] 62 cellular station

[0106] 63 other vehicle

[0107] 70 server

[0108] 71 fourth communication module

[0109] 72 fourth controller

[0110] 80 service station

[0111] 81 second communication module

[0112] 83 memory

[0113] 84 CPU

[0114] 90 service module

[0115] 91 third communication module

[0116] 92 third controller

[0117] 99 means for carrying out a service action

[0118] 95 first service module

[0119] 951 cleaning robot

[0120] 952 cleaning robot

[0121] 953 stop position

[0122] 100 operating area

[0123] 200 tool for identifying dirtiness

[0124] 201 vapor emitter

[0125] 202 light source

[0126] 203 optical sensor

[0127] 300 vehicle window

[0128] 301 operating element

[0129] 302 display

[0130] 303 rearview mirror