CLEANING APPARATUS, CLEANING STATION AND METHOD FOR CLEANING A VEHICLE

Abstract

A cleaning apparatus includes at least one detection device for detecting soiling on a vehicle to be cleaned and at least one cleaning device for cleaning the vehicle. A control device controls the at least one cleaning device in dependence on the detected soiling. The at least one cleaning device includes at least one multi-axis robot for positioning a cleaning element relative to the vehicle. The cleaning apparatus enables simple, fast and reliable automatic cleaning of the vehicle.

Claims

1. A cleaning apparatus for cleaning a vehicle, the cleaning apparatus comprising: at least one detector for detecting soiling on the vehicle to be cleaned; at least one cleaning device for cleaning the vehicle and having at least one cleaning element, and at least one multi-axis robot for positioning said at least one cleaning element relative to the vehicle; and a controller for controlling said at least one cleaning device in dependence on the soiling detected.

2. The cleaning apparatus according to claim 1, further comprising at least one inspection device for inspecting a cleaned vehicle.

3. The cleaning apparatus according to claim 2, wherein at least one of a group containing said at least one detector and said at least one inspection device each contain at least one digital camera.

4. The cleaning apparatus according to claim 2, wherein at least one of a group containing said at least one detector and said at least one cleaning device and said at least one inspection device are disposed one after another in a process direction.

5. The cleaning apparatus according to claim 1, wherein said at least one cleaning device has at least one support at which said at least one multi-axis robot is disposed.

6. The cleaning apparatus according to claim 1, wherein said at least one multi-axis robot has at least three movement axes.

7. The cleaning apparatus according to claim 1, wherein said at least one multi-axis robot has at least one sensor for detecting the soiling.

8. The cleaning apparatus according to claim 1, wherein said at least one cleaning device has at least one provision unit for providing a cleaning medium.

9. The cleaning apparatus according to claim 1, wherein said at least one cleaning device has at least one provision unit for providing dry ice.

10. The cleaning apparatus according to claim 9, wherein said at least one provision unit contains at least one of a group containing a dry ice generator and a dry ice reservoir.

11. The cleaning apparatus according to claim 8, wherein said at least one cleaning element includes at least one of a group containing a nozzle and a brush.

12. The cleaning apparatus according to claim 1, further comprising a travel motion controller for controlling a travel motion of the vehicle to be cleaned in dependence on the soiling detected.

13. The cleaning apparatus according to claim 1, wherein the vehicle is a rail vehicle.

14. A cleaning station for cleaning a vehicle, the cleaning station comprising: a travel path; and a cleaning apparatus, containing: at least one detector for detecting soiling on the vehicle to be cleaned; at least one cleaning device for cleaning the vehicle and having at least one cleaning element, and at least one multi-axis robot for positioning said at least one cleaning element relative to the vehicle; and a controller for controlling said at least one cleaning device in dependence on the soiling detected.

15. The cleaning station according to claim 14, wherein at least one of a group containing said at least one detector and said at least one cleaning device and at least one inspection device are disposed at least one of one after another and laterally next to said travel path in a process direction.

16. The cleaning station according to claim 14, wherein: said at least one detector includes a first detector and a second detector; said at least one cleaning device includes a first cleaning device and a second cleaning device; said at least one inspection device includes a first inspection device and a second inspection device; at least one of a group containing said first detector, said first cleaning device and said first inspection device is disposed on a first side next to said travel path; and at least one of a group containing said second detection device, said second cleaning device and said second inspection device is disposed on a second side next to said travel path.

17. The cleaning station according to claim 14, wherein: the vehicle is a rail vehicle; and said travel path is a track.

18. A method for cleaning a vehicle, which comprises the steps of: providing a cleaning station, containing: a travel path; and a cleaning apparatus, including: at least one detector for detecting soiling on the vehicle to be cleaned; at least one cleaning device for cleaning the vehicle, said at least one cleaning device having at least one cleaning element and at least one multi-axis robot for positioning the least one cleaning element relative to the vehicle; and a controller for controlling the at least one cleaning device in dependence on the soiling detected; moving the vehicle along the travel path; detecting the soiling on the vehicle by means of the at least one detector; controlling the at least one cleaning device in dependence on the soiling detected by means of the controller; and cleaning the vehicle by means of the at least one cleaning device.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0032] FIG. 1 is a schematic top view of a cleaning station according to a first embodiment of the invention having detection devices, cleaning devices and inspection devices;

[0033] FIG. 2 is a partial sectional view through the cleaning station according to FIG. 1 taken along the section line II-II shown in FIG. 1 to illustrate the detection devices;

[0034] FIG. 3 is a partial sectional view through the cleaning station taken along the section line III-III shown in FIG. 1 to illustrate the cleaning devices;

[0035] FIG. 4 is a partial sectional view through the cleaning station according to FIG. 1 along section line IV-IV to illustrate the inspection devices;

[0036] FIG. 5 is a partial sectional view through the cleaning station according to a second embodiment to illustrate the detection devices;

[0037] FIG. 6 is a partial sectional view through the cleaning station according to the second embodiment to illustrate a movable cleaning device; and

[0038] FIG. 7 is a partial sectional view through the cleaning station according to the second embodiment to illustrate the inspection devices.

DETAILED DESCRIPTION OF THE INVENTION

[0039] Referring now to the figures of the drawings in detail and first, particularly to FIGS. 1-4 thereof, there is shown a first embodiment of the invention. A cleaning station 1 shown in FIG. 1 contains a travel path formed as a track 2 for a rail vehicle 3. The track 2 includes two rails 5 which are arranged and fastened to a ground 6. The rails 5 extend in an x-direction and are spaced apart in a y-direction perpendicular to the x-direction.

[0040] For cleaning the rail vehicle 3, the cleaning station 1 has a cleaning apparatus 4. The cleaning apparatus 4 is arranged to be stationary or fastened to the ground 6 laterally next to the rails 5. The cleaning station 1 contains a protective device 7 which laterally surrounds the cleaning apparatus 4 and the section of the track 2 defined by the cleaning apparatus 4, with the exception of an entrance 8 and an exit 9. The protective device 7 is configured, for example, as a protective fence or as a protective housing.

[0041] The cleaning apparatus 4 has a first detection device 10, a first cleaning device 11 and a first inspection device 12, which are arranged one after the other on a first side S.sub.1 of the track 2 in a process direction D. The process direction D runs in the direction of the track 2 from the first detection device 10 to the first cleaning device 11 or from the first cleaning device 11 to the first inspection device 12. The process direction D runs parallel to the x-direction.

[0042] The cleaning apparatus 4 further has a second detection device 10′, a second cleaning device 11′, and a second inspection device 12′ arranged one after the other on a second side S.sub.2 of the track 2 opposite to the first side S.sub.1 in the process direction D.

[0043] The cleaning apparatus 4 has a control device 13 and a travel motion control device 14. The control device 13 has a central control unit 15, a cleaning control unit 16 and a travel motion control unit 17. The control device 13 is in signal connection with the detection devices 10, 10′, the cleaning devices 11, 11′ and the inspection devices 12, 12′ as well as with the travel motion control device 14.

[0044] The travel motion control device 14 serves for partially automated and/or fully automated control of the travel motion of the rail vehicle 3 to be cleaned. The travel motion control device 14 contains a transmitting and receiving unit 18 having a transmitter 19 and a receiver 20 for wireless transmission of control signals. The travel motion control device 14 further comprises a plurality of control elements 21 in the form of display panels which are arranged in the process direction D along the track 2. The control elements 21 are in signal connection with the transmitting and receiving unit 18. In the case of automatic control of the travel motion of the rail vehicle 3, the transmitting and receiving unit 18 is in signal connection with a vehicle control device 22 of the rail vehicle 3.

[0045] The detection devices 10, 10′ serve to detect soiling G on the rail vehicle 3 to be cleaned. The detection devices 10, 10′ each contain a column-like beam 23 or 23′ and associated digital cameras 24, 25 or 24′, 25′. The respective beam 23, 23′ is firmly connected to the ground 6. The digital cameras 24, 25, 24′, 25′ are arranged at a distance from one another in a vertical z-direction at the respective associated beam 23, 23′. The z-direction is perpendicular to the x-direction and the y-direction. The digital cameras 24, 25, 24′, 25′ have a respective detection area E. The digital cameras 24, 25, 24′, 25′ are arranged in such a way that the detection areas E completely capture side walls W.sub.1 and W.sub.2 of the rail vehicle 3. The digital cameras 24, 25, 24′, 25′ have a respective light sensor or optical detector which converts light into image data in the usual manner. The image data is provided to the control device 13.

[0046] The cleaning devices 11, 11′ serve to clean the rail vehicle 3 or to remove the detected soiling G. The cleaning devices 11, 11′ each comprise a multi-axis robot 26, 26′, an associated cleaning module 27, 27′ and an associated provision unit 28, 28′ for providing a cleaning medium in the form of dry ice P or dry ice pellets. The respective multi-axis robot 26, 26′ is attached to the ground 6 by a base component 29, 29′. The respective multi-axis robot 26, 26′ contains six movement axes B.sub.1 to B.sub.6. The movement axes B.sub.1 to B.sub.6 are configured as swivel axes. The movement axis B.sub.6 is formed by a respective holding fixture 30, 30′ for holding the associated cleaning module 27, 27′.

[0047] The respective cleaning module 27, 27′ contains a holder 31, 31′, which is clamped or tensioned in the associated holding fixture 30, 30′. A cleaning element 32, 32′ and a protective cover 33, 33′ are attached to the respective holder 31, 31′. The cleaning elements 32, 32′ are configured as nozzles for dispensing a dry ice-compressed air mixture M.

[0048] The respective cleaning element 32, 32′ is connected to the associated provision unit 28, 28′ by means of an associated mixture line 34, 34′. The mixture lines 34, 34′ are only indicated in FIG. 3.

[0049] The respective provision unit 28, 28′ has a compressed air generator 35, 35′, a compressed air reservoir 36, 36′ as well as a dry ice generator 37, 37′, and a dry ice reservoir 38, 38′. The compressed air reservoirs 36, 36′ and the dry ice reservoirs 38, 38′ are connected to a respectively associated metering unit 39, 39′, which supplies the associated mixture line 34, 34′ with the dry ice-compressed air mixture M. To provide liquid CO.sub.2, the cleaning apparatus 4 comprises a CO.sub.2 storage container 40. The CO.sub.2 storage container 40 is connected to the dry ice generators 37, 37′ via lines that are not shown in more detail.

[0050] For identifying the detected soiling G, the multi-axis robots 26, 26′ comprise a respective digital camera 41, 41′, which recognize the already detected soiling G. The digital cameras 41, 41′ contain a respective light sensor or optical detector.

[0051] The inspection devices 12, 12′ are designed in accordance with the detection devices 10, 10′. The inspection devices 12, 12′ serve to detect soiling G on the rail vehicle 3 to be cleaned. The inspection devices 12, 12′ each comprise a column-like beam 42 or 42′ and associated digital cameras 43, 44 or 43′, 44′. The respective beam 42, 42′ is firmly connected to the ground 6. The digital cameras 43, 44, 43′, 44′ are arranged at a distance from one another in the vertical z-direction at the respective associated beam 42, 42′. The digital cameras 43, 44, 43′, 44′ have a respective detection area E. The digital cameras 43, 44, 43′, 44′ are arranged in such a way that the detection areas E completely cover the side walls W.sub.1 and W.sub.2 of the rail vehicle 3. The digital cameras 43, 44, 43′, 44′ have a respective light sensor or optical detector which converts light into image data in the usual manner. The image data is provided to the control device 13.

[0052] The operating principle of the cleaning station 1 is now described below.

[0053] The rail vehicle 3 with the soiling G is driven by a driver to the cleaning station 1. The rail vehicle 3 is, for example, a commuter train that has graffiti as soiling G. This soiling G is to be removed automatically in the cleaning station 1.

[0054] The travel motion control device 14 gives the driver a stop signal by means of the control element 21 arranged in front of the entrance 8. The travel motion control device 14 asks the vehicle control device 22 by means of the transmitting and receiving unit 18 whether the latter wishes to permit a signal connection. The driver can allow the signal connection for fully automatic control of the travel motion of the rail vehicle 3 in the cleaning station 1 by making a corresponding input in the vehicle control device 22. Alternatively, the driver may not permit the signal connection, so that the driver must move the rail vehicle 3 through the cleaning station 1 himself on the basis of the information provided by the travel motion control device 14. In this case, the travel motion of the rail vehicle 3 is controlled in a partially automated manner by means of the travel motion control device 14.

[0055] The fully automated control of the travel motion of the rail vehicle 3 is described below. In parallel with the fully automated control of the travel motion, the transmitting and receiving unit 18 transmits information to the control elements 21 about the desired travel motion, in particular about the travel speed and the travel direction, as well as information about whether the driver should slow down or speed up the rail vehicle 3 or stop it. The driver may abort the fully automatic control of the travel motion at any time and continue the travel motion in a partially automated manner on the basis of the information provided.

[0056] The rail vehicle 3 is first driven through the entrance 8 into the cleaning station 1. The rail vehicle 3 moves past the detection devices 10, 10′ at low speed so that they can detect the soiling G by means of the digital cameras 24, 24′, 25, 25′. The image data determined by the digital cameras 24, 24′, 25, 25′ are transmitted to the control device 13, which uses these image data to create a respective cleaning program for the cleaning devices 11, 11′. The respective cleaning program is processed in the cleaning control unit 16 and the cleaning devices 11, 11′ are controlled accordingly in dependence on the detected soiling G.

[0057] When the rail vehicle 3 reaches the cleaning devices 11, 11′, cleaning is started. The position of the soiling G in the x-direction can be determined in the automatic control of the travel motion on the basis of the distance in the x-direction between the detection devices 10, 10′ and the associated cleaning devices 11, 11′ and on the basis of the travel speed and/or identified in the automatic control or the partially automatic control of the travel motion by means of the digital cameras 41, 41′.

[0058] By means of the cleaning elements 32, 32′, the dry ice-compressed air mixture M is sprayed onto the soiling G so that they are removed as completely as possible. If necessary, the travel motion control device 14 slows down the travel speed and/or temporarily stops the rail vehicle 3. The respective cleaning element 32, 32′ is positioned according to the position of the soiling G by means of the associated multi-axis robot 26, 26′. The dry ice-compressed air mixture M is generated by means of the respective metering unit 39, 39′, which is supplied with dry ice P from the respective dry ice reservoir 38, 38′ and with compressed air A from the respective compressed air reservoir 36, 36′. The compressed air A is generated by means of the respective compressed air generator 35, 35′. The dry ice P or the dry ice pellets are generated by means of the respective dry ice generator 37, 37′ from liquid CO.sub.2, which is stored in the CO.sub.2 storage container 40.

[0059] A respective suction device not shown in more detail can additionally be connected to the protective covers 33, 33′ so that removed soiling G can be sucked out of the respective protective cover 33, 33′ and collected for disposal.

[0060] The rail vehicle 3 is moved to the inspection devices 12, 12′. The inspection devices 12, 12′ check whether the soiling G has been removed. For this purpose, image data is captured by means of the digital cameras 43, 43′, 44, 44′ and transmitted to the control device 13. In the control device 13, the image data of the inspection devices 12, 12′ are compared with the image data of the detection devices 10, 10′ and the cleaning result is documented and evaluated. If the evaluation results in an unacceptable cleaning result, a post-cleaning program is created by the control device 13 on the basis of the image data of the inspection devices 12, 12′. For post-cleaning, the rail vehicle 3 is first moved in the opposite direction to the process direction D to the extent required, so that residual soiling G is again positioned in front of the cleaning devices 11, 11′. Subsequently, a post-cleaning and removal of the residual soiling G takes place in a manner corresponding to the cleaning already described.

[0061] A second embodiment of the invention is described below with reference to FIGS. 5 to 7. In contrast to the previous embodiment, the detection devices 10, 10′ each have only one digital camera 24 or 24′, which can be moved linearly on the associated beam 23 or 23′ by means of a respective linear drive 45, 45′. To detect the soiling G, the digital cameras 24, 24′ are moved in such a way that the entire side wall W.sub.1 or W.sub.2 is captured with regard to possible soiling G by means of the respective detection area E.

[0062] Accordingly, the inspection devices 12, 12′ each have only one digital camera 43 or 43′, which can be moved linearly on the associated beam 42 or 42′ by means of a respective linear drive 46, 46′. To check the cleaning result, the digital cameras 43, 43′ are moved in such a way that the entire side wall W.sub.1 or W.sub.2 is captured with regard to residual soiling G by means of the respective detection area E.

[0063] The cleaning apparatus 4 has only one cleaning device 11. The cleaning device 11 contains a U-shaped beam 47 with two supports 48, 48′ to which a crossbeam 49 is attached. The beam 47 is thus of portal-like design. The supports 48, 48′ are attached to the ground 6. The cleaning device 11 contains only one multi-axis robot 26, which is arranged in a suspended manner from the crossbeam 49. The multi-axis robot 26 can be moved linearly in the y-direction on the crossbeam 49 by means of a linear drive 50.

[0064] The cleaning device 11 contains a first provision unit 28 for providing a chemical cleaning liquid F. The first provision unit 28 contains a reservoir 51 in the form of a container for holding the cleaning liquid F and a conveying element 52 in the form of a conveying pump to convey the cleaning liquid F. The conveying element 52 is connected to a first cleaning element 32 in the form of a nozzle by means of a line 53.

[0065] The cleaning apparatus 4 further comprises a magazine 54 for holding cleaning modules 27 or cleaning elements 32. The magazine 54 is arranged in an access area of the multi-axis robot 26, for example at the support 48. The magazine 54 contains a plurality of magazine receptacles 55. For example, a mechanical cleaning module 27 having a brush as a cleaning element 32 is arranged in a magazine receptacle 55.

[0066] The cleaning apparatus 4 further contains a second provision unit 28′ for providing a cleaning medium in the form of dry ice P. The provision unit 28′ contains a dry ice generator 37′ and a dry ice reservoir 38′. The dry ice reservoir 38′ opens into a dry ice dispenser 56, which contains two contact elements 57 which can be driven in rotation by means of a drive unit not shown in greater detail. The contact elements 57 are configured as contact rollers. By means of the contact elements 57, the dry ice pellets or the dry ice P are accelerated to a dispensing speed. The dispensing of the dry ice P or the dry ice pellets can be supported by compressed air A. The dry ice dispenser 56 is connected to a cleaning element 32 in the form of a nozzle via a line 58. The cleaning element 32 can be deposited in a magazine receptacle 55′ of a magazine 54′ corresponding to the magazine 54. With regard to the further construction and the further operating principle, reference is made to the preceding embodiment.

[0067] In general, the following applies.

[0068] The cleaning station 1 or the cleaning apparatus 4 is configured in such a way that a structure gauge of the vehicle or the rail vehicle 3 is not violated. The cleaning apparatus 4 is connected to a central power supply, preferably to the power supply network. The respective cleaning device 11, 11′ may also contain a plurality of multi-axis robots 26, 26′ if required. The passage through the cleaning station 1 preferably takes place at a travel speed of at most 10 km/h, in particular at most 5 km/h, and in particular at most 3 km/h.