JP4022331B2 - Car wash machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention is a so-called gate-type car wash machine that includes various processing devices in a car wash machine body that travels back and forth across an automobile, and that performs processing such as washing and drying on the vehicle body surface as the car wash machine body travels. In parallel with the car washing machine main body traveling and performing the cleaning process, the vehicle body surface position is read and the vehicle shape data is stored, and the processing device according to the vehicle shape data stored at the time of the outward travel is stored. The present invention relates to a car wash machine that operates.
[0002]
[Prior art]
  In this type of car wash machine that performs a car wash operation based on the stored car shape data, the car body surface position is detected and stored as the car wash machine travels to obtain car shape data. However, if it is not performed stably, there is a difference between the stored vehicle shape data and the actual vehicle position. RunlineMisalignment is considered to be caused by wheel slip or poor meshing between wheels and rails, etc., and varies considerably depending on the installation conditions and usage environment of each car wash machine. So far, it has not been fully resolved. Recently, the number of cases in which a driver is washing a car while driving is increasing, and the driver may accidentally move the car during the car wash. Will be out of position.
[0003]
In this type of car washer, the processing device such as a brush for cleaning or a spray nozzle or a blower nozzle for drying is moved in accordance with the car shape data, and controlled so as to operate with a predetermined distance from the body surface. As described above, if the vehicle shape data and the actual car position are misaligned, the processing device may not be able to normally wash the car due to an abnormal approach to the vehicle body or a position where it cannot be processed. There is also a risk that the vehicle will collide with the vehicle body and be damaged. Accordingly, it becomes necessary to monitor the car shape data stored in the car washing machine side while washing the car to determine whether the stored car shape data and the actual car are misaligned.
[0004]
In order to meet such a need, the applicant detects the deviation by comparing the vehicle shape data read when the car wash machine travels with the vehicle shape data read when the car wash machine goes back as disclosed in Japanese Patent Application Laid-Open No. 10-35432. A car washer was proposed that corrects the vehicle shape data according to the detected displacement. However, in this type of car wash machine, the vehicle body surface detecting means is positioned in front of the processing device so that the vehicle shape can be read before the processing device acts on the vehicle body during the outward trip. If the data is to be taken, the vehicle surface detection means is positioned behind the processing device, and the vehicle shape data is read after the processing device is operated. Therefore, even if a deviation is detected and corrected by comparing the vehicle shape data at the time of going and going backwards, it is difficult to use the corrected vehicle shape data at the time of the same return and can be put to practical use. could not. Also, in recent years, an attempt has been made to accurately capture the vehicle surface by arranging a large number of vehicle detectors at small intervals so that protrusions on the vehicle surface can also be detected, increasing the accuracy of vehicle shape detection. As the number of vehicle shape data increases, the load on the vehicle shape data needs to be increased, and repeatedly reading and processing the vehicle shape data as in the previous application has resulted in a significant reduction in efficiency.
[0005]
[Problems to be solved by the invention]
If the stored vehicle shape data and the actual vehicle position are misaligned, the blower nozzle should be the most important in the processing apparatus. The brush has a bristle length of about 40 cm, and even if some misalignment occurs, the length of the bristle can absorb the misalignment to some extent. In addition, since the spraying range of the spray nozzle becomes small if it is too close to the vehicle body, the spray nozzle is generally controlled at a position several tens of centimeters away from the vehicle body. There are few things. However, the blower nozzle needs to be as close to the vehicle body as possible in order to effectively remove water droplets on the vehicle body, and if possible, there is a desire to operate at a short distance of 10 cm or less to the vehicle surface. May collide with the car body. And since the blower nozzle is usually used in the last drying process of the car wash, that is, the process of returning the car wash machine body, it is necessary to pay particular attention to the gap between the car wash machine's going forward and returning. There is.
[0006]
Based on the above points, an object of the present invention is to detect a deviation between the vehicle shape data stored at the time of going and the actual vehicle position by a simplified method with a small control load. Therefore, there is a possibility of obtaining a car wash machine that can handle the detected deviation and perform a car wash process safely and reliably.
[0007]
[Means for Solving the Problems]
  In order to solve the above-described problems, the present invention provides a car wash machine that includes various processing devices in a car wash machine body that travels back and forth across an automobile, and that performs processing such as washing and drying on the body surface as the car wash machine body travels. A means for detecting the travel position of the car wash machine main body, a means for detecting the position of the vehicle body surface relative to the car wash machine main body, and a travel provided by both of the detection means.lineThe vehicle shape storage means for storing the position and the vehicle body surface position correspondingly, and the vehicle shape data stored in the vehicle shape storage means as the car wash machine travels, and the vehicle stored during the subsequent return And a control means for causing the processing device to act along the shape data,The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the automobile when the car wash body travels, and the vehicle surface detection means when the car wash machine returns Is compared with the travel position given by the travel position detecting means when the specific part is detected.A means for detecting a deviation is provided, and the control means adjusts the position of the processing device corresponding to the vehicle shape data given by the vehicle shape storage means according to the magnitude of the deviation of the running position given by the deviation detection means.After that, make sure that the processing device acts on the car body.It is characterized by that.
[0008]
  Further, in order to solve the above-mentioned problem, a car wash machine that includes various processing devices in a car wash machine body that travels back and forth across an automobile, and that performs processing such as washing and drying on the body surface as the car wash machine body travels. , Means for detecting the travel position of the car wash machine main body, means for detecting the position of the vehicle body surface relative to the car wash machine main body, and the travel given by both detection means.lineThe vehicle shape storage means for storing the position and the vehicle body surface position correspondingly, and the vehicle shape data stored in the vehicle shape storage means as the car wash machine travels, and the vehicle stored during the subsequent return And a control means for causing the processing device to act along the shape data,The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the automobile when the car wash body travels, and the vehicle surface detection means when the car wash machine returns Is compared with the travel position given by the travel position detecting means when the specific part is detected.Means for detecting a deviation and means for correcting the vehicle shape data stored in the vehicle shape storage means based on the deviation data provided by the detection means are provided, and the control means provides the vehicle shape storage means when going forward. The processing device is operated along the vehicle shape data, and the processing device is operated along the corrected vehicle shape data given by the correction means at the time of return.
[0009]
  To solve the above problem,The car wash machine that travels back and forth across the car is equipped with various processing devices, and the car wash surface is washed and dried as the car wash machine travels. Means for detecting the position of the vehicle body surface relative to the car wash machine main body, vehicle shape storage means for storing the traveling position and vehicle body surface position given by both detection means correspondingly, and the car wash machine main body And a control means for storing the vehicle shape data in the vehicle shape storage means and causing the processing device to act on the vehicle shape data stored at the time of going forward during a return trip. The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the vehicle when the vehicle body travels, and the vehicle surface detection means when the car wash machine main body returns Specific part A means for detecting a deviation by comparing with a running position given by the running position detecting means when detected, a means for storing deviation data at each car wash detected by the deviation detecting means, and the control means The position of the processing device corresponding to the vehicle shape data given by the vehicle shape storage means is adjusted according to at least the deviation data at the time of the previous car wash given by the storage means.
[0010]
  In each of the above problem solving means, the correction means corrects the vehicle shape data given by the vehicle shape storage means based on the deviation data given by the deviation detection means so as to extend in a direction parallel to the traveling of the car wash machine body. . Also,The control means takes the interval between the vehicle body surface position obtained from the vehicle shape data stored in the vehicle shape storage means and the position of the processing device with respect to the vehicle body surface substantially in proportion to the amount of deviation given by the deviation detection means. adjust.
[0011]
【Example】
The embodiment will be described below with reference to the drawings. Here, the example which implemented this invention to the portal type car wash machine of the type which wash | cleans a vehicle body using a brush is shown. FIG. 1 is an explanatory front view of the embodiment, and FIG. 2 is an explanatory side view.
[0012]
The car wash machine main body 1 travels back and forth on the pair of left and right rails 2 and 2 and moves so as to straddle the automobile stopped between the rails 2 and 2. 3, 4, and 4 are brushes as a cleaning processing device provided in the car wash machine main body 1, and 3 is horizontally disposed to move up and down in the vertical direction (direction orthogonal to the traveling direction of the main body 1) to clean the upper surface of the vehicle body. The upper surface brushes 4, 4 are a pair of left and right side brushes that cleans the side surface and the front and rear surfaces of the vehicle body by opening and closing in a direction orthogonal to the traveling direction of the main body 1.
[0013]
Reference numeral 5 denotes a vehicle shape detection device that is provided in front of the brushes 3, 4, and 4 of the car wash machine body 1 and reads the shape from the side of the automobile, and 6 mainly detects the positions of the front and rear ends of the vehicle body. This is a photoelectric switch. Reference numeral 7 denotes an encoder that outputs a pulse each time the car wash machine main body 1 travels a unit distance, and reference numerals 8 and 8 denote motors that cause the main body 1 to travel.
[0014]
9, 10 and 10 are blower nozzles as a drying processing apparatus provided in the car wash machine main body 1. The blower nozzle blows air from a blower (not shown) on the surface of the vehicle body, and 9 is arranged horizontally and vertically (main body 1 The upper blower nozzles 10 and 10 are provided on both sides of the main body 1 to dry the upper surface of the vehicle body by moving up and down in a direction perpendicular to the traveling direction).
[0015]
FIG. 3 illustrates the configuration of the processing device that acts on the upper surface of the vehicle body, that is, the upper surface brush 3 and the upper surface blower nozzle 9. The upper surface brush 3 is attached to carriers 3C and 3C that are vertically movable on both sides of the car wash machine body 1. Both ends are supported and driven to rotate by a motor 3M1 fixed to one carrier 3C. The carrier 3C is connected to a loop 3L extending up and down, and is moved up and down by forward and reverse driving of a motor 3M2 that feeds the loop 3L. The motor 3M2 can be held at that position by moving the carriers 3C and 3C up and down via a speed reducer (not shown) and stopping the motor. 3E is an encoder for detecting the raising / lowering position of the carrier 3C. The carriers 3C and 3C are moved up and down according to the vehicle shape detected by the vehicle shape detection device 5, and adjusted so that the distance between the upper surface brush 3 and the vehicle body surface becomes substantially constant.
[0016]
The upper surface blower nozzle 9 is also lifted and lowered in substantially the same configuration as the upper surface brush 3, and both ends thereof are supported by carriers 9C and 9C which are vertically movable on both sides of the car wash machine body 1, and the carrier 9C is stretched up and down. It is connected to the loop 9L and is moved up and down by the forward / reverse drive of the motor 9M that feeds the loop 9L. The motor 9M can hold the carriers 9C and 9C up and down via a speed reducer (not shown) and stop the motor if it is stopped. 9E is an encoder for detecting the raising / lowering position of the carrier 9C. The carriers 9C and 9C are moved up and down according to the vehicle shape detected by the vehicle shape detection device 5 and adjusted so that the distance between the upper blower nozzle 9 and the vehicle body surface is substantially constant. 9Y is a cylinder that changes the blowing direction of the upper blower nozzle 9 in accordance with the inclination of the vehicle body surface.
[0017]
FIG. 4 illustrates a vehicle shape detection device 5 and a photoelectric switch 6 as vehicle edge detection means. The vehicle shape detection device 5 corresponds to a light emitting unit 5E in which a large number of light emitting elements are arranged vertically and a light emitting unit 5E. The light receiving unit 5R that receives the optical signal from the light emitting unit 5E is opposed so as to sandwich the automobile A from both sides. Here, every time a pulse is output from the rotary encoder 7 as the car wash machine main body 1 travels, the light emitting elements of the light emitting unit 5E emit light in order up and down, the light receiving state at the light receiving unit 5R is monitored, and the light is blocked by the vehicle body. The position of the uppermost light emitting / receiving element is detected, stored as the height of the upper surface of the vehicle body, and the contour from the side of the automobile A is read.
[0018]
The photoelectric switch 6 is set to a height at which the light emitting element 6E and the light receiving element 6R are opposed to each other with the automobile A interposed therebetween, and the bumper position of the automobile can be detected. Here, every time a pulse is output from the rotary encoder 7 as the car wash machine 1 travels, an optical signal is transmitted and received, and the time when the optical signal is switched from transmission to blocking or the time when the optical signal is switched from blocking to transmission is determined as the end of the vehicle body. Used as a part. In the vehicle shape detection device 5, if the signal of the unit having a height corresponding to the bumper position of the vehicle can be taken out independently, the vehicle shape detection device 5 does not have to provide the photoelectric switch 6 separately. It can also be used as a detection means.
[0019]
FIG. 5 is a block diagram showing the control system of the above embodiment, 11 is a control unit including a microcomputer, a memory and the like, 12 is a drive unit for driving processing devices such as brushes and blower nozzles in response to signals from the control unit 11, and 13. Is an operation panel for inputting a car wash start and specifying a projection to be avoided. The control unit 11 performs a car wash operation via the drive unit 12 according to the stored car wash program when there is a car wash start input on the operation panel 13, and normally stores contour data read by the vehicle shape detection device 5 during the car wash, Using the main body traveling position based on the signal of the encoder 7 as a parameter, the position of the upper surface brush 3 based on the encoder 3E and the position of the upper surface blower nozzle 9 based on the encoder 9E are adapted to advance / retreat of the main body 1 and the carrier 3C. , 9C is moved up and down to control the car washing process while maintaining the distance between the upper surface brush 3 and the upper surface blower nozzle 9 serving as the processing device with respect to the upper surface of the vehicle body substantially constant.
[0020]
Although not specifically described here, the position of the side surface of the vehicle body is detected by an ultrasonic sensor or the like, and the side brushes 4 and 4 and the side blower nozzle are matched to the position of the side surface of the vehicle body in the same manner as the processing on the upper surface of the vehicle body. It is possible to control the vehicle to be washed by moving the 10 · 10 and maintaining the distance to the side of the vehicle body substantially constant. In addition, the operation panel 13 is provided with data display means such as an LCD display or a printer, and can display misalignment data detected by a later-described misalignment detection unit.
[0021]
  FIG. 6 is a block diagram for explaining a main part of the function of the control unit 11 and corresponds to the embodiment of claim 1. Based on this figure, the function performed by the control unit 11 will be described in more detail. Reference numeral 11a denotes a travel position detection unit that counts pulses from the encoder 7 to detect the travel of the car wash machine body 1.lineDetect position. A vehicle shape storage unit 11b stores contour data given by the vehicle shape detection device 5 and a running position given by the running position detection unit 11a each time there is a pulse output from the encoder 7. In the vehicle shape storage unit 11b, the vehicle shape is stored mainly in the process in which the car wash machine main body 1 goes first. Reference numeral 11c denotes a vehicle end detection unit that monitors the output of the photoelectric switch 6 and determines when the optical signal is switched from transmission to blocking and when the optical signal is switched from blocking to transmission as the vehicle end.lineThe travel position given by the position detector 11a is output as the vehicle end position.
[0022]
11d is a deviation detection unit, which compares the vehicle end position detected by the vehicle end detection unit 11c in the step of storing the vehicle shape in the vehicle shape storage unit 11b with the vehicle end position detected in the subsequent process, A deviation between the two is detected and deviation data Z is output. That is, the difference between the travel position of the car wash machine 1 when the rear end of the vehicle is detected by the photoelectric switch 6 in the first forward process and the travel position when the same rear end is detected in the subsequent backward process is obtained. The difference is output as deviation data Z. In addition, when the car wash machine main body 1 reciprocates a plurality of times, each deviation data is also output in the forward process and the return process after the second time. Reference numeral 11e denotes a position adjusting unit that adjusts the position to be a control target of each processing device with respect to the vehicle body surface by adding the shift data Z given by the shift detection unit 11d to the vehicle shape data S stored in the vehicle shape storage unit 11b. Calculate. Note that a calculation method of position adjustment of the processing apparatus in the position adjustment unit 11e will be described with reference to FIG. Reference numerals 11f and 11g denote lift position detecting units for the upper surface brush 3 and the upper surface blower nozzle 9, respectively, and count the pulses from the encoders 3E and 9E to detect the lift positions of the upper surface brush 3 and the upper surface blower nozzle 9, respectively.
[0023]
Reference numeral 11i denotes a car wash control unit, which drives and controls the motors 3M2, 8, 8, and 9M so that the positions of the upper surface brush 3 and the upper surface blower nozzle 9 coincide with the positions of the processing devices 3 and 9 given by the position adjustment unit 11e. To do. That is, with respect to the current travel position and the lift position, reference is made from the adjustment position given by the position adjusting unit 11e when the main body 1 travels a unit distance from there, and the position adjustment unit 11e refers to each processing apparatus 3. Nine target vectors are obtained, and the traveling motors 8 and 8 and the lifting motors 3M2 and 9M are driven in accordance with the target vectors.
[0024]
  FIG. 7 illustrates an adjustment method of the position adjustment unit 11e in the embodiment of FIG. 6, and here, two typical examples of the position adjustment method of the upper surface blower nozzle 9 are shown. FIG. 7A shows a first example in which the distance L of the processing device 9 to the vehicle surface is increased or decreased in proportion to the deviation data, and FIG. 7B shows the distance L of the processing device 9 to the vehicle surface. In the second example, the horizontal component value is increased or decreased in proportion to the deviation data. In the figure, S is the vehicle shape data given by the vehicle shape storage unit 11b, and indicates the position of the processing device 9 with respect to the point Ps in the vehicle shape data. The position 9s of the processing device represented by the dotted line is a standard position in a state where there is no deviation between the traveling position at the time of acquisition of the vehicle shape data S and the traveling position in the process being executed, whereas the position 9z represented by the solid line. The runlineThis is an adjustment position set in consideration of the deviation data Z when there is a deviation in the position.
[0025]
In an ideal state where there is no deviation in FIG. 7A, the processing device 9 is operated at the standard position 9s that is separated from the point Ps by the shortest distance L, and when a deviation is detected, the deviation data Z from the shortest distance L is detected. The processing device is operated at an adjustment position 9z that is separated by a distance Lz that is enlarged by an amount corresponding to. The distance Lz increases in proportion to the deviation data Z, and the contact between the processing device 9 and the vehicle body due to the occurrence of deviation can be reliably prevented.
[0026]
In FIG. 7B, when a deviation is detected, the adjustment position 9z is set by sliding it from the standard position 9s in the horizontal direction (traveling direction) by an amount corresponding to the deviation data. In the method of FIG. 7 (a), there is a disadvantage that the position of the vehicle is adjusted apart from the horizontal vehicle body surface and the effect of the car washing process is sacrificed. However, in the method of FIG. Since the position is adjusted only in the direction, the processing device 9 can be operated at least on the horizontal body surface at the shortest distance L, and an effective drying process can be performed.
[0027]
In addition, when the shift | offset | difference of a driving | running | working position arises, the vehicle body inclined surface which leaves | separates from the vehicle body inclined surface to which the processing apparatus 9 approaches according to the direction of the deviation will arise. That is, if the processing device 9 is shifted in a direction approaching the rear window, the processing device 9 is shifted in a direction away from the front window. Therefore, in the method of FIG. 7B, it is desirable to adjust the sliding in the horizontal direction only to the vehicle body inclined surface on the side where the vehicle body surface approaches the processing device due to the deviation. Note that it is possible to adjust the processing device to slide toward the vehicle body side with respect to the inclined surface of the vehicle body where the processing device is separated due to deviation, but in this embodiment, the processing device is mounted on the vehicle body for safety reasons. There is no adjustment in the direction of approaching.
[0028]
FIG. 8 is an explanatory view of an operation example in the above embodiment. Here, the car body is brushed and washed as the car wash machine body 1 goes forward, and the car body is blow-dried and the car wash is finished as the car goes back. The operation is illustrated. The operation of the embodiment will be described below with reference to this figure.
[0029]
In FIG. 8 (a), when the car wash is started, the car wash machine main body 1 is stopped at the position of (1) in the figure with respect to the car A. When there is a car wash start input on the operation panel 13, the car wash machine main body 1 moves forward. To do. As the vehicle travels, the vehicle shape detection device 5 reads the outline of the automobile, stores the read outline as vehicle shape data in the vehicle shape storage unit 11b, and the position adjustment unit 11e matches the vehicle shape data with the upper surface brush. 3 is adjusted, and the upper surface brush 3 is moved up and down in accordance with the adjusted position to perform brushing following the vehicle body A as shown. Although not shown, the side brushes 4 and 4 etc. also act on the vehicle body as it travels to perform the car washing process. As the main body 1 travels, the photoelectric switch 6 detects the end of the vehicle body. When the photoelectric switch 6 detects the rear end of the vehicle body after reaching the position (2) in the figure, the travel position Xr of the main body 1 at that time is stored. To do. When all the car washing processes reach the rear end of the automobile and the brushing washing is finished ((3) in the figure), the car wash machine main body 1 stops going and finishes the first going-out process.
[0030]
In FIG. 8B, when the forward process is completed, the car wash machine main body is moved backward from the position (4) in the figure to perform the backward process. Here, the blower is driven and blown from the blower nozzles 9, 10, 10, and the vehicle body surface is dried. At the beginning of the process, when the upper surface blower nozzle 9 is held upward and reaches the position (5) in the figure and the photoelectric switch 6 detects the rear end of the vehicle body, the travel position Xr ′ of the main body 1 at that time is memorized and the return is temporarily stopped. . Here, the deviation detecting unit 11d detects the deviation Z by comparing the rear end position Xr at the time of going forward and the rear end position Xr 'at the time of going back, and the vehicle shape detected at the time of going forward and the deviation data Z. Based on the data, the position adjusting unit 11e adjusts the target position of the upper blower nozzle 9 with respect to the vehicle body surface, lowers the nozzle 9 to an adjustment position corresponding to the current travel position of the main body 1, and thereafter causes the main body 1 to travel. While the nozzle 9 is moved up and down in accordance with the adjustment position, blow drying is performed. When the upper surface nozzle 9 reaches the rear end of the vehicle body, this time, the main body 1 is moved back and the nozzle 9 is also moved up and down in accordance with the adjustment position to perform blow drying following the vehicle body A as shown. Thus, when the car wash machine main body 1 reaches the car wash start position {circle around (6)} during the go-around, the go-around is stopped and the car wash is finished.
[0031]
As described above, the vehicle position data stored at the time of going is detected by comparing the traveling position of the car wash machine body 1 when the rear end of the vehicle body is detected at the time of going forward and at the time of going backward, and based on this deviation. Therefore, the processing device 9 adjusts the position with respect to the vehicle body surface with the assumption of a deviation and does not approach the vehicle surface more than necessary. In addition, the process at the time of going backward is detected after the deviation is detected, and the upper surface blower nozzle 9 is held upward until the rear end of the vehicle body is detected at the backward run, and then partially reciprocates after the rear end is detected. The rear end of the vehicle body is then dried. Accordingly, since the action is performed after confirming the actual deviation, the blower nozzle 9 does not abnormally approach the vehicle body even if there is a deviation. In addition, the rear end of the vehicle body includes a vehicle body surface that is nearly vertical, and in the drying process that accompanies the normal retrograde, it is blown so as to push up water droplets against the inclination from the bottom, so effective drying has not been achieved. In this operation example, since the drying process is performed while traveling the rear end of the vehicle body, it is possible to effectively remove water droplets by blowing along the inclination of the rear end of the vehicle body.
[0032]
In the example of FIG. 8, in order to detect the rear end at the backward operation by the same photoelectric switch 6 that has been detected at the rear end at the time of going forward, an operation of reciprocating only a part of the backward step is required. If an additional photoelectric switch is provided on the rear side of the blower nozzle 9 separately from the switch 6 so that the end of the vehicle body can be detected, the rear end of the vehicle body can be detected prior to the nozzle 9 and the misalignment can be confirmed. Therefore, the drying process can be performed without reciprocating. In this operation example, the deviation is detected by looking at the rear end of the vehicle body. However, the deviation may be detected based on other vehicle body portions. For example, the position of the front window or the rear window may be detected in each step with a photoelectric switch or the like as the height of the window portion of the vehicle body so as to see the deviation. Although FIG. 8 illustrates one round-trip car wash operation, even in two or more round-trip car wash operations, a deviation between the vehicle body position detected in the first outbound process and the vehicle body position detected in each process is detected. The position of the processing apparatus can be adjusted.
[0033]
FIG. 9 is a block diagram for explaining a functional main part of the control unit 11 in another embodiment, which corresponds to the embodiment of claim 2. Since the contents overlap with those in FIG. 6, only different parts will be described. Reference numeral 11h denotes a vehicle shape correction unit that corrects the vehicle shape data stored in the vehicle shape storage unit 11b based on the displacement data provided by the displacement detection unit 11d. A specific correction method will be described with reference to FIG. The vehicle shape data corrected here is adjusted to a position to be a control target of each processing device with respect to the vehicle body surface in the position adjustment unit 11e, and the car wash control unit 11i is thus adjusted to the position adjusted based on the corrected vehicle shape data. At the same time, the processor is driven and controlled.
[0034]
FIG. 10 is an explanatory diagram of a correction method in the vehicle shape correction unit 11h in the embodiment of FIG. 9, and three typical correction methods are illustrated here. For convenience, the method shown in FIG. 10A is called a slide method, the method shown in FIG. 10B is called a stretch method, and the method shown in FIG. 10C is called an OR method. The vehicle shape data indicated by the dotted line in the figure indicates the vehicle shape read at the first outbound time given by the vehicle shape storage unit 11b, and the vehicle shape data indicated by the solid line indicates the corrected vehicle shape given by the vehicle shape correction unit 11h. Is shown. In each of the methods (a) to (c), (1) indicates a case where the vehicle body rear end position Xr ′ detected at the time of going backward is shifted to the front side from the rear end position Xr detected at the time of reading the vehicle shape. (2) Shows a case where the rear end position Xr ′ during the backward movement is shifted to the rear side from the rear end position Xr during the reading of the vehicle shape.
[0035]
10A slides the vehicle shape data stored in the vehicle shape storage unit 11b in accordance with the displacement detected by the displacement detection unit 11d, and is proportional to the amount of displacement in the direction of displacement. It is corrected to shift only. In this method, the size of the vehicle body represented by the vehicle shape data stored in the vehicle shape storage unit 11b is merely slid without being changed, so that the distance between the processing device and the vehicle body surface is not increased, and the effect is improved. There is an advantage that a high car wash treatment can be maintained. However, if there is a shift due to slipping of the wheels or poor engagement between the wheels and the rails as the car wash machine body 1 travels, there is a high possibility that the shift will occur during the car wash process for the corrected car shape data. Since the direction of deviation cannot always be specified, the danger of abnormal approach between the vehicle body and the processing apparatus is not perfect. Therefore, this sliding method is suitable for a countermeasure when a driver moves a car during a car wash in a stable environment with little slippage of a wheel and poor meshing with a rail.
[0036]
The stretch method of FIG. 10B extends the vehicle shape data stored in the vehicle shape storage unit 11b in the horizontal direction according to the displacement detected by the displacement detection unit 11d, and is proportional to the size of the displacement in the direction of displacement. The vehicle shape data is corrected to be enlarged. In other words, the correction processing is performed so that when it is shifted to the front side of (1), it is extended to the front side by the amount of shift, and when it is shifted to the rear side of (2), it is extended to the rear side by the amount of the shift. In this method, the vehicle shape data is expanded according to the deviation, so even if a deviation occurs due to slipping of the wheel or poor engagement with the rail, the car body and the processing device can be safely washed without risk of abnormal approach. There are advantages. Further, if a deviation exceeding the detected deviation data is expected over the entire forward process or backward process being executed, the detected deviation may be amplified and stretched.
[0037]
The OR method of FIG. 10C is a logical sum (OR) obtained by superimposing the vehicle shape data slid based on the deviation as in the slide method and the vehicle shape data stored in the vehicle shape storage means 11b. The correction is made to extend the vehicle shape data in the traveling direction so as to obtain the corresponding vehicle shape. As a method of the correction processing, when the shift is made to the front side of (1), the inclined surface on the side acting so that the processing device acting at the time of returning from the front end of the vehicle body to the front window is lowered is proportional to the shift data. Then, when the correction processing is performed so as to inflate in the horizontal direction, and when it is shifted to the rear side of (2), the processing device that acts at the time of return from the rear end of the vehicle body to the rear window rises. The correction processing is performed so that the inclined surface is expanded in the horizontal direction in proportion to the deviation data. Even in this method, the vehicle shape data is expanded according to the deviation, so even if a deviation occurs due to slipping of the wheel or poor engagement with the rail, there is no risk that the vehicle body and the processing device will be abnormally approached, and the car washing process can be performed safely There is.
[0038]
FIG. 11 is a side explanatory view of still another embodiment, which is provided with means 21 for detecting the reference position of the car wash machine main body 1 with respect to the installation surface so as to monitor the deviation of the running position counted by the main body 1. is there. The reference position detection means 21 comprises a switch for detecting a plurality of protrusion markers 22a and 22b fixed at predetermined positions on the car wash machine installation surface, and has conventionally been provided as a means for giving a travel start position or a travel limit position of the car wash machine body 1. in use. The marker 22a gives a travel start position of the car wash machine main body 1. The main body 1 is stopped at a position where the marker 22a is always detected except for the car wash operation, and is in a standby state. The marker 22b is provided at a position for detecting that the car wash machine body 1 has traveled a predetermined distance D from the travel start position. The predetermined distance D is a distance that can be detected in a state where the processing from the front end to the rear end of the car to be washed is not completed, that is, a comparison that the marker 22b is always detected when washing any small size car. Short distance (2 to 3 m in this example).
[0039]
FIG. 12 is a block diagram for explaining a functional main part of the control unit 11 in the embodiment of FIG. 11 and corresponds to the embodiment of claim 6. Since the contents overlap with those in FIG. 6, only different parts will be described. Reference numeral 11j denotes a reference distance detection unit which reads a count value given by the travel position detection unit 11a when the reference position detection switch 21 detects the markers 22a and 22b, and detects the marker 22b from the travel start position at the time of going. The travel count value until the travel start value is detected after the marker 22b at the time of return is detected.
[0040]
The deviation detection unit 11d stores a standard count value for the predetermined distance D, takes in the traveling count value at the time of going or returning given by the reference distance detection unit 11j, and reads the standard count value and the count in each process. The value or the count value of each process is compared, and a deviation in each process, a deviation at the time of going forward and a return time, or a deviation between the time of first going and the time of going next is detected. Reference numeral 11k denotes a deviation storage unit which stores deviation data detected by the deviation detection unit, and stores deviation data at least once in the past. Then, the position adjustment unit 11e reads out the deviation data at the previous car wash from the deviation storage unit 11d, and adjusts the position of the processing device in the same manner as in FIG. 7 according to the size of the previous deviation.
[0041]
In this embodiment, since a fixed distance is given by a marker fixed to the car wash machine installation surface, by comparing this with the travel position counted by the car wash machine, wheel slip and poor meshing between the wheel and the rail It is possible to more accurately grasp the deviation caused by, for example. Then, this deviation is detected and stored, and adjusted so that the position of the processing device relative to the vehicle body surface is separated according to the magnitude of the deviation so that even if a deviation occurs during the next car wash, it can be safely washed. is there. Here, unlike the example of FIG. 6 or FIG. 9, since the deviation data is given before the start of the car wash, there is no need to detect the deviation again during the car wash, so a constant for detecting the deviation as shown in FIG. Processing such as reversing the section travel is unnecessary, and quick car washing processing is possible.
[0042]
In this embodiment, since the deviation is detected based on the marker on the installation surface, it is impossible to grasp the deviation of the relative position with the car wash machine when the automobile moves during the car wash. For this reason, if the system which detects the shift | offset | difference of the position of the car wash machine with respect to a motor vehicle is used together during the car wash shown in FIG. 6 or FIG. 9, the car wash process can be performed more safely. Further, if the deviation storage unit 11k stores the deviation data of a plurality of past times so that the deviation data can be displayed at the time of inspection or the like, it is possible to easily grasp the degree of deviation generated in the car wash machine and accurately Even if an abnormality related to deviation occurs, it can be easily estimated later whether the deviation is due to wheel slip or the car has moved. Can be dealt with.
[0043]
The present invention is implemented as described above, but is not limited to the above-described embodiments. Various embodiments are possible without departing from the scope of the claims.
[0044]
【The invention's effect】
As is clear from the above description, the shift of the traveling position of the car wash machine body is detected to adjust the position of the processing device with respect to the vehicle shape data and to correct the vehicle shape data itself. There is no need to read the vehicle shape data at the time of going and going back, it can be easily implemented by detecting the deviation only by monitoring the running position, and heavy data processing such as comparing vehicle shape data Is no longer necessary. And since the processing device can be controlled to absorb the deviation so that the vehicle can be safely washed after confirming the deviation of the running position, there is no danger of the processing device colliding with the car body and providing a safe car wash continuously it can.
[Brief description of the drawings]
FIG. 1 is an explanatory front view of an embodiment.
FIG. 2 is an explanatory side view of the embodiment.
FIG. 3 is a diagram illustrating the configuration of a processing apparatus according to an embodiment.
FIG. 4 is an explanatory diagram of a vehicle shape detection device and vehicle end detection means in the embodiment.
FIG. 5 is a block diagram illustrating a control system according to the embodiment.
FIG. 6 is a block diagram illustrating a main function part of a control unit according to the embodiment.
7 is an explanatory diagram of an adjustment method of the position adjustment unit in FIG. 6. FIG.
FIG. 8 is an explanatory diagram of an operation example in the embodiment.
FIG. 9 is a block diagram for explaining a main functional part of a control unit in another embodiment.
10 is an explanatory diagram of a correction method in a vehicle shape correction unit in the embodiment of FIG.
FIG. 11 is an explanatory side view of still another embodiment.
12 is a block diagram for explaining a main part of a function of a control unit in the embodiment of FIG.
[Explanation of symbols]
1 Car wash machine
3, 4, 4 Brush as processing equipment
5 Vehicle shape detection device
6 Photoelectric switch as vehicle end detection means
7 Encoder for travel position detection
9, 10, 10 Blower nozzle as a processing unit
11 Control unit

Claims (5)

The car wash machine that travels back and forth across the car is equipped with various processing devices, and the car wash surface is washed and dried as the car wash machine travels. to means and, means for detecting the position of the body surface for car washing machine body, and Kurumagata storage means corresponding to store this and row position and the vehicle body plane position run given by both detection means, forward stroke of the car wash machine body The vehicle shape data is stored in the vehicle shape storage means along with the control means for causing the processing device to act along the vehicle shape data stored at the time of going forward,
The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the automobile when the car wash body travels, and the vehicle surface detection means when the car wash machine returns Providing means for detecting a deviation by comparing with the travel position given by the travel position detection means when the specific portion is detected ,
The control means adjusts the position of the processing device corresponding to the vehicle shape data given by the vehicle shape storage means according to the magnitude of the deviation of the running position given by the deviation detection means, and then applies the processing device to the vehicle body. car wash, characterized in that so as to. The car wash machine that travels back and forth across the car is equipped with various processing devices, and the car wash surface is washed and dried as the car wash machine travels. to means and, means for detecting the position of the body surface for car washing machine body, and Kurumagata storage means corresponding to store this and row position and the vehicle body plane position run given by both detection means, forward stroke of the car wash machine body The vehicle shape data is stored in the vehicle shape storage means along with the control means for causing the processing device to act along the vehicle shape data stored at the time of going forward,
The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the automobile when the car wash body travels, and the vehicle surface detection means when the car wash machine returns Means for detecting a deviation by comparing with the running position given by the running position detecting means when the specific part is detected, and vehicle shape data stored in the vehicle shape storage means based on the deviation data given by the detecting means And a means for correcting
The control means operates the processing device along the vehicle shape data given by the vehicle shape storage means at the time of going out, and operates the processing device along the corrected vehicle shape data given by the correction means at the time of going back. Car wash machine that features. A car wash machine that reciprocates across a car with various processing devices, and that performs processing such as washing and drying on the body surface as the car wash machine travels, and detects the travel position of the car wash machine Means for detecting the position of the vehicle body surface relative to the car wash machine body, vehicle shape storage means for storing the travel position and vehicle body surface position given by both detection means in correspondence, and the car wash machine main body In addition, the vehicle shape data is stored in the vehicle shape storage means, and is provided with a control means that causes the processing device to act along the vehicle shape data stored at the time of going forward,
  The vehicle position detection means when the vehicle body surface detection means detects the specific part such as the front end / rear end of the automobile when the car wash machine travels, and the vehicle surface detection means when the car wash machine returns Means for detecting a deviation by comparing with the running position given by the running position detecting means when the specific part is detected, and means for storing deviation data at each car wash detected by the deviation detecting means. ,
  The said control means adjusts the position of the processing apparatus corresponding to the vehicle shape data given by the vehicle shape storage means according to at least the deviation data at the time of the previous car wash given by the storage means.   3. The car wash machine according to claim 2, wherein the correction means corrects the vehicle shape data given by the vehicle shape storage means based on the deviation data given by the deviation detection means so as to extend in a direction parallel to the travel of the car wash machine body. Car wash machine characterized by 5. The car wash machine according to claim 1, wherein the control means includes a vehicle body surface position obtained from vehicle shape data stored in the vehicle shape storage means and a processing device for the vehicle body surface. A car wash machine characterized in that the distance between the position and the position is adjusted to be substantially proportional to the size of the displacement given by the displacement detection means.

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