JP4047464B2 - Car wash machine - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a car wash machine that automatically cleans the body of the automobile as the automobile and car wash machine move relative to each other, and more particularly to a type of car wash machine that can detect protrusions and the like provided on the automobile so as to prevent damage.
[0002]
[Prior art]
As this type of car wash machine, the one described in JP-A-10-1032 is known. That is, a car wash machine that detects protrusions on the vehicle body surface and avoids or soft-cleans the protrusions to prevent damage to the protrusions and to eliminate as much as possible unwashed parts is known. In this car wash machine, the projections to be avoided are specified in advance before actually detecting the projections, and when the specified projections are detected, they are avoided, and safety is considered for the projections that are not specified. I'm trying to do soft cleaning. In this car wash machine, a brush is applied to clean the car body. However, in a car wash machine that uses only a spray nozzle or blower nozzle without using a brush, for example, an antenna or side pole (on the opposite side of the driver seat at the front end of the car body (right It is difficult to accurately detect and identify the length and size of projections with a thin tip such as a sign pole attached to the corner of the left side of the steering wheel, and the nozzle is also directly on the projection. It is necessary to avoid avoiding contact and soft cleaning at a distance.
[0003]
In such a conventional car wash machine, it is necessary to designate in advance the protrusion to be avoided, and there is a risk of damaging the protrusion if the designation is forgotten. For example, as mentioned in Japanese Patent Laid-Open No. 10-1032, side poles are generally protrusions that need to be avoided, and there is a risk of breakage if the avoidance designation is forgotten. Therefore, since the position of the side pole is limited to the front end of the vehicle body, it was determined that the protrusion at the front end of the vehicle body was a side pole, and an attempt was made to program to avoid it automatically even if not specified. However, when a car having a protrusion at the front end of the vehicle body is washed, the avoidance operation is performed without exception, and the unwashed portion is generated from the bumper to the front end of the bonnet. For example, a manufacturer-specific emblem that protrudes upward and is attached to the front end of a bonnet of a large passenger car or the like is erroneously recognized as a side pole. Although the emblem at the front end of the vehicle body varies depending on the manufacturer and vehicle type, many of them are not damaged by applying the brush, and can be safely washed if the brush is operated so as not to be pressed too much.
[0004]
[Problems to be solved by the invention]
Therefore, the subject of the present invention is that even if the projections to be avoided are forgotten to be specified, the projections etc. are not damaged and can be safely operated automatically and with soft cleaning, and unnecessary washing It is in the point that a car wash machine that does not cause a residue is obtained.
[0005]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided a car wash machine for automatically washing a car body of the car in accordance with a relative movement between the car and the car wash machine, and means for detecting a car wash obstacle such as a protrusion provided on the car body of the car. , A means for inputting whether or not a car wash obstacle detected by the detection means is to be avoided, and a car wash obstacle detected by the detection means, the relative movement is temporarily stopped and the avoidance operation is performed by the input means. In response to this input, it comprises means for controlling to give either a car wash with an avoidance operation or a car wash without an avoidance operation, and a means for outputting a voice announcement . before and after the timing to temporarily stop the relative movement due to the detection of the car wash obstacle, as characterized by outputting the voice announcement for prompting the input to said input means, to solve the above problems Those that did not.
[0006]
[2nd invention] In the car wash machine for automatically washing the car body of the car with relative movement of the car and the car wash machine, means for detecting a car wash obstacle such as a protrusion provided on the car body of the car, Means for determining whether or not the vehicle washing obstacle detected by the detection means is at risk of damage due to car washing, and whether or not the vehicle washing obstacle is determined to be at risk of damage by the determination means. And an input as to whether or not the relative movement is temporarily stopped and the avoidance operation is performed in the input means with respect to the car wash obstacle determined to be dangerous by the determination means. It means for controlling to provide either a car wash without wash or avoidance operation involving avoidance operation comprises means for outputting a voice announcement, in the control means, the relative movement due to the detection of the car wash obstacle once Before and after the timing for stopping, as characterized by outputting the voice announcement for prompting the input to said input means, in which attempted to solve the above problems.
[0008]
In the second invention, the discriminating means estimates the type of the obstacle according to the position of the car wash obstacle detected by the detecting means, and whether the estimated type of obstacle has a risk of damage due to the car wash. It is desirable to determine whether or not. Further, the determining means estimates the type of obstacle according to the position of the car-washing obstacle detected by the detecting means, and determines whether or not the estimated type of obstacle is at risk of breakage due to car washing. It is desirable to determine that there is a risk of damage when the type of obstacle cannot be estimated.
[0009]
【Example】
The embodiment will be described below with reference to the drawings. FIG. 1 is a front view showing a basic configuration of the embodiment, and FIG. 2 is a side view of the same, and a gate type for automatically cleaning mainly a brush cleaning by reciprocating a gate-type car wash machine body 1 with respect to a stopped car. A car wash machine is taken as an example. 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, 4 are brushes provided on the car wash machine body 1, 3 is an upper surface brush that is arranged horizontally and moves 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, Reference numeral 4 denotes a pair of left and right side brushes that cleans the side and front and rear surfaces of the vehicle body by opening and closing in a direction perpendicular to the traveling direction of the main body 1.
[0010]
5, 6, 6 are provided as vehicle body detection means, and 5 is a vehicle shape that is provided in front of the brushes 3, 4, 4 of the car wash machine body 1 and reads the shape from the side of the automobile. The detection devices 6 and 6 are reflection-type ultrasonic sensors that are positioned in front of the brushes 3, 4, and 4 of the main body 1 and detect the distance to the right side surface or the left side surface of the vehicle body on the left and right sides. 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.
[0011]
9, 10, 10 are blower nozzles provided in the car wash machine body 1, which blows air from a blower (not shown) on the vehicle body surface to dry. 9 is disposed horizontally and is vertically arranged (perpendicular to the traveling direction of the main body 1). The upper surface blower nozzles 10 and 10 are provided on both sides of the main body 1 to dry the vehicle body side surface.
[0012]
FIG. 3 illustrates the configuration of the upper surface brush 3 and the upper surface blower nozzle 9. The upper surface brush 3 is supported at both ends by carriers 3C and 3C provided up and down on both sides of the car wash machine body 1, and one carrier. It is rotationally driven by a motor 3M1 fixed to 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.
[0013]
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.
[0014]
FIG. 4 illustrates the configuration of the side brushes 4, 4. The side brushes 4, 4 are suspended from carriers 4 C, 4 C that run along rails 4 R laid horizontally above the main body 1. It is rotationally driven by motors 4M1 and 4M1 fixed to 4C. The carriers 4C and 4C are connected to loops 4L and 4L that are stretched according to the movement ranges of the side brushes 4 and 4, and are opened and closed by forward and reverse driving of motors 4M2 and 4M2 that feed the loops 4L and 4L. The 4E is an encoder for detecting the opening and closing positions of the carriers 4C and 4C. The carriers 4C and 4C are opened and closed according to the left and right side positions of the vehicle body detected by the ultrasonic sensor 6, and the side brushes 4 and 4 are moved from the vehicle body surface. It is controlled to be at a substantially constant distance.
[0015]
FIG. 5 illustrates the vehicle body detection means 5, 6 and 6. The vehicle shape detection device 5 has a large number of light emitting elements arranged vertically at a pitch short enough to detect protrusions (20 mm or less in this example). The light emitting unit 5E thus arranged is opposed to the light receiving unit 5R that is arranged in correspondence with the light emitting unit 5E and receives the optical signal from the light emitting unit 5E 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.
[0016]
The ultrasonic sensors 6 and 6 are provided at substantially right and left symmetrical positions on both sides of the main body 1, respectively, a transmitter that emits ultrasonic waves toward the side surface of the vehicle body A, and a reception that receives reflected waves from the vehicle body of the transmitted signals. With a bowl. Each time a pulse is output from the rotary encoder 7 as the main body 1 travels, an ultrasonic wave is transmitted from each of the sensors 6 and 6, and the time from the transmission to reception of the reflected wave is counted. Measure the distance to the side of the car body.
[0017]
FIG. 6 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 the brushes 3, 4, 4 by signals from the control unit 11, 13 is It is an operation panel for inputting a car wash start and specifying a projection to be avoided. The control unit 11 executes a car wash operation via the drive unit 12 in accordance with the stored car wash program when there is a car wash start input on the operation panel 13, and the car shape data and ultrasonic waves normally given by the car shape detection device 5 during the car wash. The position of the upper surface brush based on the encoder 3E, the position of the side brushes 4 and 4 based on the encoders 4E and 4E, and the encoder with respect to the vehicle body side surface position given by the sensors 6 and 6, using the body travel position based on the signal of the encoder 7 as a parameter. By performing operations such as forward / backward movement of the main body 1, raising and lowering of the carriers 3C and 9C, and opening and closing of the carriers 4C and 4C so as to adapt the position of the upper surface blower nozzle based on 9E, the upper surface brush 3 and side brush 4 serving as processing devices. , 4, Control is performed so that the distance from the body surface of the upper surface blower nozzle 9 to the vehicle body surface is maintained at a substantially constant value.
[0018]
The operation panel 13 includes a course selection key 14 for selecting a desired course from a plurality of car wash courses A to C, a start input key 15 for starting the selected car wash course, and vehicle shape data provided by the vehicle shape detection device 5. An avoidance selection key 16 for inputting whether or not to avoid the projection when the projection is detected, and an avoidance input key 17 for designating and inputting the projections a to f provided on the vehicle body that are not desired to be brushed. There are provided a display 18 for displaying the vehicle type and protrusions detected on the basis of the contents inputted by the keys, vehicle shape data, and the like, a voice output unit 19 for outputting a voice announcement about the input operation, and the like. Each of the keys 14, 15, 16, and 17 provided on the operation panel 13 has a built-in LED lamp, and when the key is selected, it can be turned on to visually confirm the contents of the designated input. In the avoidance input key 17, a key is provided for each type of protrusions a to g, such as a side pole, a door mirror, a taxi indicator, a roof carrier, and a roof spoiler, so as to be specified individually.
[0019]
Reference numeral 20 denotes avoidance mode switching means, which includes a switch provided at a position not exposed to the outside inside the operation panel 13, and a normal mode in which an avoidance operation is performed based only on a designation input on the avoidance input key 17 and a designation on the avoidance input key 17. Based on the input and the protrusion recognition on the car wash machine side, switching to the safe mode in which the avoidance operation is performed more safely is performed. When the safety mode is set by the mode switching means 20, even if the projection to be avoided is not designated by the avoidance input key 17, a projection having a risk of breakage is recognized or cannot be recognized. When detected, the cleaning operation is temporarily stopped and a safety-oriented operation for requesting an input with the avoidance selection key 16 is performed.
[0020]
FIG. 7 is a block diagram illustrating the main functions of the control unit 11. Reference numeral 11a denotes a protrusion detection unit that detects a sudden level change on the upper surface of the vehicle body based on the vehicle shape data given by the vehicle shape detection device 5, estimates the protrusion, and outputs the position. A vehicle position detector 11b detects a specific position to be used as a reference on the vehicle surface such as the front end of the vehicle body, the front end of the roof, the rear end of the roof, and the rear end of the vehicle body, and outputs the position. 11c is a projection discriminating unit that estimates the type of the detected projection based on the position of the projection provided by the projection detection unit 11a and the vehicle body position provided by the vehicle body position detection unit 11b, and outputs the estimation result. Then, it is determined whether or not the estimated type of protrusion has a high risk of damage due to brushing, and the determination result is output. For example, if a protrusion is recognized in a predetermined narrow range at the front end of the vehicle body, it is estimated that “there is a side pole”, and it is determined that “the protrusion has a high risk of breakage due to brushing”.
[0021]
In addition, since the example is described also in Unexamined-Japanese-Patent No. 8-225065 for which the applicant applied previously about the specific method from the said protrusion detection to the estimation of the classification, it is further specific. The explanation of the example is omitted. Note that the types of all the protrusions detected by the protrusion determining unit 11c cannot be estimated. When the type of protrusion cannot be specified, it is determined that “the risk of breakage due to brushing is high for an unknown protrusion”.
[0022]
11d is a running direction detection part, and detects the running position of the car-washing machine main body 1 by counting the pulses output from the encoder 7 as the car-washing machine main body 1 runs. Reference numeral 11e denotes a lift position detection unit for the top brush 3, which counts pulses output from the encoder 3E as the top brush 3 is lifted to detect the lift position of the top brush 3. Reference numeral 11f denotes an elevation position detection unit for the upper surface blower nozzle 9, which counts pulses output from the encoder 9E as the upper surface blower nozzle 9 is elevated and detects the elevation position of the upper surface blower nozzle 9. Reference numeral 11g denotes a car wash control unit, which includes a drive control unit 11h for the upper surface brush 3 and a drive control unit 11i for the upper surface blower nozzle 9, so that the upper surface brush 3 and the upper surface blower nozzle 9 operate at a substantially constant distance from the vehicle body. Control is performed so that the travel position of the main body 1 and the ascending / descending positions of the brush 3 and the nozzle 9 are matched with a predetermined position based on the vehicle shape data given by the shape detection device 5. Further, the car wash control unit 11g applies projections to the upper surface brush 3 and the upper surface blower nozzle 9 based on the data such as the position and type of the projections provided by the projection discrimination unit 11c and the avoidance designation data input on the operation panel 13. Control to give avoidance action.
[0023]
FIG. 8 is a flowchart showing processing when a protrusion is detected during the car wash in the control unit 11. When a protrusion is detected by the protrusion detection unit 11a in association with the vehicle shape detection performed before brushing after the start of car washing, the type of the protrusion is determined by the protrusion detection unit 11c, and the protrusion corresponding to the type is detected. On the other hand, it is confirmed whether or not the avoidance input key 17 on the operation panel 13 is designated to avoid (1). If so, the position to be avoided is calculated by a predetermined mathematical formula and stored as avoidance data. (2). If avoidance is not designated in step (1), the avoidance mode switching means 20 confirms whether or not the safety mode is set (3). Is calculated and stored as soft cleaning data (4). When it is confirmed in step (3) that the safety mode is set, the protrusion discriminating portion 11c checks whether or not the protrusion has a high risk of damage (5). If not, the position is calculated and stored as cleaning data in step (4) to perform soft cleaning without performing soft avoidance operation.
[0024]
If it is determined in step (5) that there is a high risk of damage, the washing operation in progress including the running of the car wash machine main body 1 is temporarily stopped, and the sound output unit 19 of the operation panel 13 causes, for example, “side to the front end of the car” `` Recognized a protrusion that seems to be a pole. Please specify whether to avoid or not. '' Please announce the position of the protrusion, the estimated type, and the request for input of avoidance selection. Information is displayed on the display 18 and the LED built in the avoidance selection key 16 blinks (6). Here, the operator confirms the front end of the vehicle according to the voice announcement, and if the side pole is recognized, the avoidance selection key 16 is used to input “avoid”, while if the operator recognizes that the emblem or the like has been misrecognized instead of the side pole. Enter “Do not avoid”. It should be noted that the temporary stop of the operation in step (6) may be to stop only the traveling of the car wash machine main body 1, so that the cleaning can be continued immediately only by resuming the traveling after inputting the avoidance selection. .
[0025]
If there is an avoidance selection input in response to the input request in step (6) (7), the once stopped cleaning operation is resumed (8). Then, the content of the avoidance selection is confirmed (9), and if the input selects “avoid”, the position to be avoided in step (2) is calculated and stored as avoidance data. If “NO” is selected, the position is calculated and stored as cleaning data in step (4) so as to perform soft cleaning without performing soft avoidance operation. The avoidance data and the cleaning data stored in this way are compared with the travel position of the car wash machine body 1, and when the upper surface brush 3 or the upper surface blower nozzle 9 reaches the position of the projection, the brush 3 or the nozzle 9 is projected based on the avoidance data. Soft cleaning is performed so that the brush 3 or the nozzle 9 acts slightly away from the normal cleaning position based on the cleaning data. The avoidance operation and soft cleaning for the protrusions can be realized by the same method as described in JP-A-10-1032.
[0026]
As described above, in this embodiment, even when the projection to be avoided is not input in advance with the avoidance input key 17, if the car wash side determines that there is a risk of damage during vehicle shape detection. Since the operation is temporarily stopped and the avoidance selection is requested, it is possible to arbitrarily select whether the avoidance operation or the soft cleaning is performed. Unnecessary washing is not caused. In addition, the mode switching means 20 can be used by arbitrarily switching between the normal mode and the safety mode, and when used by an operator who is unfamiliar with the operation, the safety mode is used to prevent damage due to an operation mistake and When used by an operator, it can be used properly so that the car is washed in the normal mode without interrupting the operation.
[0027]
In addition, this invention is not limited to the said Example. In the embodiment, a gate type car wash machine in which the car wash machine travels is taken as an example, but a continuous type car wash machine in which the car wash machine is fixedly installed and transports the automobile by a conveyor or the type in which the car wash machine and the car run mutually It can be carried out in a car wash machine without any inconvenience. In the embodiment, the apparatus for cleaning the vehicle body with a brush is taken as an example. However, the present invention can be similarly applied to a car wash machine that uses a high-pressure spray without using a brush. Furthermore, in the embodiment, the processing for the protrusions protruding to the upper surface of the vehicle body is illustrated, but it is obvious that it can be applied to the protrusions on the side surface of the vehicle body. This is described in Japanese Patent No. 1032 and can be implemented using such a configuration.
[0028]
【The invention's effect】
As is clear from the above description, according to the first invention, when a car wash obstacle such as a protrusion provided on the body of an automobile is detected, an input as to whether or not to perform an avoidance operation by temporarily stopping the relative movement is made. In response to this input, either car wash with avoidance action or car wash without avoidance action is given, so even if you forget to specify the protrusion to avoid before the car wash starts, the car wash machine will detect the protrusion If you give an avoidance instruction at this point, you can safely wash the car without damaging the protrusions, and there is no avoidance for those that are judged to be unnecessary. If the selection is made, the detected protrusion can be soft-washed to minimize unwashed parts.
[0029]
Further, according to the second invention, when a car wash obstacle such as a protrusion provided on the body of the automobile is detected and it is determined that the car wash obstacle may be damaged by the car wash, the relative movement is temporarily stopped. When an input indicating whether or not to perform an avoidance operation is received, and either a car wash with an avoidance operation or a car wash without an avoidance operation is given in accordance with this input, a projection with a risk of damage is recognized Since the operation is temporarily stopped and the other protrusions are soft-washed with little unwashed residue, the car can be washed safely and with little unwashed residue.
[Brief description of the drawings]
FIG. 1 is an explanatory front view showing a configuration of an example car wash machine.
FIG. 2 is an explanatory side view showing a configuration of an example car wash machine.
FIG. 3 is an explanatory side view of a main part of an upper surface processing apparatus according to an embodiment.
FIG. 4 is a front explanatory view of a main part showing a side brush part of an embodiment.
FIG. 5 is a main part explanatory view showing a vehicle body detection means provided in the embodiment.
FIG. 6 is a block diagram illustrating a control system of the embodiment.
FIG. 7 is a block diagram illustrating functions of a control unit according to the embodiment.
FIG. 8 is a flowchart illustrating a process when a protrusion is detected during the car wash in the control unit of the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Car wash machine main body 3 Upper surface brush 5 Car shape detection apparatus 7 Encoder 9 which detects driving | running | working position Upper surface blower nozzle 11 Control part 11a Protrusion detection part 11b Car body position detection part 11c Protrusion discrimination | determination part 11g Car wash control part 12 Drive part 13 Operation panel 16 Avoidance selection key 17 Avoidance input key 19 Audio output unit 20 Avoidance mode switching means

Claims (4)

In the car wash machine for automatically washing the body of the automobile with relative movement of the automobile and the car wash machine,
Means for detecting car wash obstacles such as protrusions provided on the body of the automobile, means for inputting whether to avoid the car wash obstacle detected by the detection means, and car wash obstacles by the detection means Is detected, and the input means accepts an input as to whether or not an avoidance operation is performed, and according to this input, either a car wash with an avoidance operation or a car wash without an avoidance operation is given. Means for controlling and means for outputting a voice announcement ;
The control means outputs a voice announcement that prompts an input to the input means at a timing before and after the relative movement is temporarily stopped in accordance with detection of a car wash obstacle . In the car wash machine for automatically washing the body of the automobile with relative movement of the automobile and the car wash machine,
Means for detecting a car wash obstacle such as a protrusion provided on the body of the automobile; means for determining whether the car wash obstacle detected by the detection means is at risk of damage due to car washing; and the determination means The relative movement is temporarily stopped with respect to the vehicle washing obstacle determined to be dangerous by the judging means and the means for inputting whether or not the car washing obstacle judged to be damaged at Means for accepting an input as to whether or not an avoidance operation is performed in the input means, and a means for controlling to give either a car wash with an avoidance action or a car wash without an avoidance action according to the input, and a means for outputting a voice announcement With
The control means outputs a voice announcement that prompts an input to the input means at a timing before and after the relative movement is temporarily stopped in accordance with detection of a car wash obstacle . 3. The car wash machine according to claim 2, wherein the discrimination means estimates the type of the obstacle according to the position of the car wash obstacle detected by the detection means, and the estimated type of the obstacle is a risk of damage due to the car wash. A car wash machine characterized by determining whether or not there is . 3. The car wash machine according to claim 2, wherein the discriminating means estimates the type of obstacle according to the position of the car wash obstacle detected by the detecting means, and the estimated type of obstacle is a risk of damage due to the car wash. A car wash machine for determining whether there is a risk of damage when the type of obstacle cannot be estimated .

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