CN113734103B

CN113734103B - Car washer and car position monitoring method

Info

Publication number: CN113734103B
Application number: CN202111138438.2A
Authority: CN
Inventors: 范春林; 高志军; 陈弘昌
Original assignee: Shenzhen Yabao Intelligent Equipment System Co Ltd
Current assignee: Shenzhen Yabao Intelligent Equipment System Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2024-03-29
Anticipated expiration: 2041-09-27
Also published as: CN113734103A

Abstract

The invention discloses a car washer and a vehicle position monitoring method, comprising a controller, a motor and a conveying device, wherein the conveying device is driven by the motor and is used for conveying a vehicle to be washed, an encoder is arranged on the motor and is used for sending an encoded value to the controller, and the controller is electrically connected with the encoder; the controller is used for: acquiring a coding value sent by the coder; determining basic coordinates of the vehicle to be washed based on the coded values; timing the time passing after the code value is obtained to obtain displacement time; determining displacement coordinates of the vehicle to be washed based on the change rate of the coded value to time and the displacement time; and adding the basic coordinates and the displacement coordinates to obtain final coordinates of the vehicle to be washed. The invention overcomes the defect that the measurement precision of the coordinates is limited by the mechanical structure of the coding disc gear, realizes high-precision coordinate positioning, and improves the safety in the automatic car washing process.

Description

Car washer and car position monitoring method

Technical Field

The invention relates to the field of automatic car washing, in particular to a car washer and a car position monitoring method.

Background

Along with the rapid development of Chinese economy, the living standard of people is increasingly improved, china is a large population country, the automobile has a holding amount of 1.3 hundred million vehicles, the vehicles need to be cleaned in the daily use process, the existing automobile technology adopts a manual cleaning and automatic cleaning mode, the manual cleaning work efficiency is low, and the cost is high, so that the automatic cleaning is a development trend of modern automobile cleaning, the automobile cleaning machine generally conveys the vehicles into the automobile cleaning machine, after the cleaning is finished, the vehicles are sent out of the automobile cleaning machine, the positions of the vehicles change in real time, if the positions of the vehicles are not well controlled, potential safety hazards exist, the real-time monitoring of the gantry type and tunnel type automobile cleaning machines is required, and the tunnel type automobile cleaning machines usually convey the vehicles to various automobile cleaning areas through a conveying platform and convey the vehicles out of the automobile cleaning machines so as to realize automatic automobile cleaning.

In the related art, a car washing flow of the car washer is as follows: the vehicle to be washed is dragged forward by the chain plate after being in neutral gear, the chain plate is driven by the motor, the motor is provided with the encoder, the distance of the forward transmission of the vehicle dragged by the chain plate can be determined through the encoding value provided by the encoder, the distance is used as the coordinates of the vehicle in the vehicle washing machine, and the cleaning mechanism at the corresponding coordinate position is controlled to act according to the coordinates of the vehicle to complete the vehicle cleaning work.

In the method for monitoring the coordinates of the vehicle in the related art, the accuracy of determining the coordinates of the vehicle by using the encoder is not high, and thus the higher operation requirement cannot be satisfied.

Disclosure of Invention

As a contribution of the present inventors, the present inventors found that the accuracy of determining the coordinates of the vehicle by the encoder is not high: the gear clearance of the coding disc of the coder determines the minimum measurement unit of the vehicle coordinates, namely in the technology of determining the vehicle coordinates by using the coder, the measurement precision of the coordinates is limited by the mechanical structure of the coding disc gear, and the high-precision coordinate positioning cannot be realized.

The invention aims to provide a vehicle position monitoring method and a vehicle washing machine, which can overcome the defect that the measurement precision of coordinates is limited by the mechanical structure of a coding disc gear in a positioning system for determining the coordinates of a vehicle by utilizing an encoder and realize high-precision coordinate positioning.

In order to achieve the above object, the following technical scheme is provided:

in a first aspect, the invention provides a car washer, comprising a controller, a motor and a conveying device, wherein the conveying device is driven by the motor and is used for conveying a car to be washed, an encoder is arranged on the motor and is used for sending an encoded value to the controller, and the controller is electrically connected with the encoder; the controller is used for:

acquiring a coding value sent by the coder;

determining basic coordinates of the vehicle to be washed based on the coded values;

timing the time passing after the code value is obtained to obtain displacement time;

determining displacement coordinates of the vehicle to be washed based on the change rate of the coded value to time and the displacement time;

and adding the basic coordinates and the displacement coordinates to obtain final coordinates of the vehicle to be washed.

Compared with the prior art, the invention has at least the following beneficial effects: on the basis of determining basic coordinates of the vehicle to be washed through the encoder, the invention further determines displacement coordinates of the vehicle to be washed by using a timing method, and adds the basic coordinates and the displacement coordinates to obtain final coordinates of the vehicle to be washed. Compared with the prior art that the positioning accuracy of the encoder is limited by the mechanical structure of the encoding disk, the method can accurately determine the coordinate values between the gear clearances of the encoding disk of the encoder in a timing mode, and has higher positioning accuracy.

Further, the conveyer includes the first drag conveyer and the second drag conveyer that connect gradually, the controller is still used for:

determining whether a vehicle is to be washed on the second link plate conveyor;

if not, sending a starting instruction to the first chain plate conveyor; if so, a standby instruction is sent to the first chain conveyor.

By judging that the vehicles on the first chain plate conveyor are allowed to enter the second chain plate conveyor after no vehicle to be washed is arranged on the second chain plate conveyor, the vehicles can be prevented from colliding with each other on the second chain plate conveyor.

Further, the car washer also comprises a first light correlation sensor and a second light correlation sensor, wherein the first light correlation sensor is used for responding to the triggering of the car to be washed and sending a first signal to the controller and sending a second signal to the controller when the car to be washed is not triggered, the second light correlation sensor is used for responding to the triggering of the car to be washed and sending a third signal to the controller, the first light correlation sensor is arranged at the outlet end of the second chain plate conveyor, and the second light correlation sensor is arranged at the inlet end of the second chain plate conveyor;

the determining whether the second chain plate conveyor has a vehicle to be washed or not specifically comprises:

after receiving the first signal, judging whether the second signal is received or not;

if yes, judging that the second chain plate conveyor has no vehicle to be washed, and if not, judging that the second chain plate conveyor has the vehicle to be washed; or alternatively

Before receiving the first signal, determining whether the third signal is received;

if yes, judging that the vehicle to be washed on the second chain plate conveyor is left.

Further, the controller is further configured to:

after receiving the first signal, determining whether the second signal is received within a preset time;

if not, sending an alarm instruction to the monitoring terminal, wherein the alarm instruction is used for indicating the monitoring terminal to send out an alarm signal.

Further, the second light correlation sensor is further configured to send a fourth signal to the controller when not triggered, the controller being further configured to:

after receiving the third signal, judging whether the fourth signal is received within a preset time;

When abnormal conditions such as wheel locking occur when a vehicle enters the second chain plate conveyor from the first chain plate conveyor, the abnormal conditions such as the wheel locking of the vehicle can be found in time by judging whether the fourth signal is received within the preset time, and the safety performance of the vehicle washing process is improved.

In a second aspect, the present invention provides a vehicle position monitoring method, applied to a car washer, where the car washer includes a controller, a motor, and a conveying device, the conveying device is driven by the motor and is used for conveying a vehicle to be washed, an encoder is disposed on the motor, the encoder is used for sending an encoded value to the controller, and the controller is electrically connected with the encoder; the method comprises the following steps:

the controller obtains the coding value sent by the coder;

the controller determines basic coordinates of the vehicle to be washed based on the coded values;

the controller counts the time passing after the code value is acquired to obtain displacement time;

the controller determines displacement coordinates of the vehicle to be washed based on the change rate of the coded value to time and the displacement time;

and the controller adds the basic coordinates and the displacement coordinates to obtain the final coordinates of the vehicle to be washed.

Further, the conveying device comprises a first chain conveyer and a second chain conveyer which are connected in sequence, and the method further comprises:

the controller determines whether a vehicle to be washed is on the second chain plate conveyor;

the controller determines whether the second chain plate conveyor has a vehicle to be washed or not, and specifically comprises:

the controller judges whether the second signal is received or not after receiving the first signal;

The controller determines whether the third signal is received before receiving the first signal;

Further, the method further comprises:

the controller judges whether the second signal is received within a preset time after receiving the first signal;

if not, the controller sends an alarm instruction to the monitoring terminal, wherein the alarm instruction is used for indicating the monitoring terminal to send out an alarm signal.

Further, the second light correlation sensor is further configured to send a fourth signal to the controller when not triggered, the method further comprising:

the controller judges whether the fourth signal is received within a preset time after receiving the third signal;

Further, the controller counts the time passing after the code value is obtained to obtain displacement time, which comprises the following steps of;

the controller counts the time passing by after the code value is obtained in a hardware mode or a software mode to obtain the displacement time.

Further, the conveying device includes a belt conveyor or a chain conveyor.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a flow chart of a method of updating a vehicle location in one embodiment;

FIG. 2 is a partial schematic view of a car washer;

FIG. 3 is a flow chart of a method of updating a vehicle location in another embodiment;

fig. 4 is an enlarged view at a in fig. 2.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the prior art, the vehicle coordinates are positioned by the conveying platform in the whole process of the vehicle, and the size corresponding to the gear clearance between the coding discs of the encoder in the method for monitoring the vehicle coordinates is the minimum measurement unit, so that the accuracy is not accurate enough, and the safety guarantee of the vehicle in the automatic vehicle washing process is not high. As shown in fig. 4, which is an enlarged view at a in fig. 2, the motor 400 is provided with an encoder 4, and the encoder 4 includes a code wheel 41 and an eddy current proximity switch 42; the code wheel 41 is arranged on the motor 400, and the code wheel 41 is provided with a plurality of tooth structures 411; the code disc 41 is arranged opposite to the vortex proximity switch 42, when the tooth-shaped structure of the code disc 41 is close to the vortex proximity switch 42, the proximity switch receives a metal signal and sends the metal signal to the controller, when the tooth-shaped structure 411 of the code disc 41 is operated to the vortex proximity switch 42, the vortex proximity switch 42 receives the metal signal, the controller receives the signal of the encoder 4, when the gap between two adjacent tooth-shaped structures 411 is operated to the vortex proximity switch 42, the vortex proximity switch 42 fails to receive the metal signal, and the controller fails to receive the signal of the encoder 4, so that the measurement accuracy is not high.

In one embodiment, a vehicle position monitoring method is provided for use with a car washer.

As shown in figure 1 of the drawings,

step 102, obtaining the coding value sent by the coder 4;

for example, the encoded value Y transmitted by the encoder 4 is 5500.

Specifically, the relation k=Δy/Δx of the variation Δy of the encoded value of the encoder 4 and the variation Δx of the base coordinates is a preset known condition, for example, k=100, that is, every time the variation of the base coordinates increases by 1, the encoded value of the encoder 4 increases by 100.

When the vehicle to be washed triggers the first set of position sensors 202, the point is marked as the origin of the basic coordinates, and the current first code value Y0 corresponding to the point is preset. For example, when the vehicle to be washed is parked in place, the first set of position sensors 202 is triggered, and the preset encoder 4 has a coding value y0=500.

The controller calculates a coded value corresponding to the displacement according to the acquired known condition: y=Δy+y0. For example, when the base coordinate variation is Δx=50, y=5500.

104, determining basic coordinates of the vehicle to be washed based on the coded values;

the controller can obtain that according to preset known conditions k=deltay/deltax,

conversion relation between coding value and basic coordinates: x= (Y-Y0)/k, Y is the code value sent by the encoder 4, and X is the base coordinate of the position corresponding to the code value.

And the controller calculates the basic coordinates of the corresponding vehicle to be washed according to the obtained coded value sent by the coder 4.

For example, when the controller acquires the encoded value Y transmitted from the encoder 4 as 5500, the calculated basic coordinates of the corresponding vehicle to be washed are x= (5500-500)/100=50.

Step 106, timing the time passing after the code value is obtained to obtain displacement time;

because the two tooth-shaped structures 411 have gaps, the coding value of the encoder 4 cannot accurately correspond to the displacement between the two gaps, and when the vehicle displacement variation is the integral multiple of the gaps of the two tooth-shaped structures 411, a more accurate measurement result can be obtained; when the displacement of the vehicle is not an integral multiple of the gap between the two toothed structures 411, the displacement smaller than the gap distance between the two toothed structures 411 cannot be measured, and a measurement result with larger error is obtained.

For example, assuming that the gap between the two tooth structures 411 is 5, it is known that the minimum change amount of the code value is 500 from the conversion relation between the change amount Δy of the code value and the change amount Δx of the displacement, Δy=100Δx. The code value can only appear in integral multiple of 500, and the excess part cannot be counted, so that the measurement result is inaccurate.

It can be seen that the base coordinates measured based on the encoded values are substantially uniformly intermittent values, and the distance between adjacent points is the adjacent tooth-like structure 411.

When one tooth 411 passes through the vortex proximity switch 42, the controller receives the instruction sent by the vortex proximity switch 42, starts timing, and when the next tooth passes through the vortex proximity switch 42, the controller receives the instruction sent by the vortex proximity switch 42, stops timing of the period, and starts timing of the next period. The distance x between two adjacent teeth 411 is a known quantity and the velocity v of the link plate conveyor is a known quantity, the time for the gap between two adjacent teeth 411 to pass through the vortex proximity switch 42 is t=x/v.

For example, when the condition x=5, v=1 is known, then the time for the gap between two adjacent teeth 411 to pass through the vortex proximity switch 42 is t=5.

Step 108, determining displacement coordinates of the vehicle to be washed based on the change rate of the coded value to time and the displacement time;

based on the fact that the chain plate conveyor advances at a constant speed, the displacement time between the two toothed structures 411 can be obtained through timing, and therefore the more accurate position can be obtained through calculation.

The distance x between two teeth 411 is a known quantity, the velocity v is a known quantity, and the amount of change in the displacement is obtained as Δx=v Δt.

For example, every 1 cm of the change amount of the known displacement, the change amount of the corresponding code value is 100; given that the gap distance between two adjacent tooth-like structures 411 is 5 cm, the passing time is 5 seconds, the variation of the code value in each second is 100, and the gap distance between two adjacent tooth-like structures 411 corresponds to 500 code values.

In the above example, the displacement change amount of the vehicle to be washed is that when the tooth-like structure 411 passes through the proximity switch 42, the timer starts to count, when the change amount of the timer is 3 seconds, the proximity switch is located between the two tooth-like structures 411, the encoder 4 does not detect the displacement, the controller calculates the code value corresponding to the displacement occurring in the gap between the two tooth-like structures 411 to be 100×3=300, and the corresponding displacement coordinate is 3, which is the displacement coordinate of the vehicle to be washed.

And 110, adding the basic coordinates and the displacement coordinates to obtain final coordinates of the vehicle to be washed.

For example, the basic coordinate is 50, the displacement coordinate is 3, and the final coordinate of the vehicle to be washed is 53.

The method can realize high-precision coordinate positioning of the vehicle to be washed, ensure the cleaning effect in the vehicle washing process and improve the safety in the vehicle washing process.

In another embodiment, is a flow chart of a vehicle location update method,

as shown in the figure 3 of the drawings,

step 302, determining whether a vehicle to be washed is present on the second scraper conveyor 22;

step 304, if not, sending a start command to the first link plate conveyor 20; if so, a standby instruction is sent to the first slat conveyor 20.

Specifically, the vehicle to be washed enters the first scraper conveyor 20 to stop in place, and it is confirmed whether the second scraper conveyor 22 in front has a vehicle that has not left, and if so, it waits, and if the second scraper conveyor 22 in front has no vehicle, the vehicle to be washed can advance. Three cases need to be considered, one being exiting, the second being already exiting, and the third being that the vehicle body is entirely within the second flight conveyor 22 not yet exiting.

In one embodiment, the second set of position sensors includes a first light correlation sensor 204 and a second light correlation sensor 206, the first light correlation sensor 204 configured to send a first signal to the controller in response to a trigger of the vehicle to be washed and a second signal to the controller when not triggered, the second light correlation sensor configured to send a third signal to the controller in response to a trigger of the vehicle to be washed, the first light correlation sensor 204 disposed at an outlet end of the second link plate conveyor 22, the second light correlation sensor 206 disposed at an inlet end of the second link plate conveyor 22;

the determining whether the second scraper conveyor 22 has a vehicle to be washed specifically includes:

if yes, judging that no vehicle is to be washed on the second chain plate conveyor 22, and if not, judging that the vehicle is to be washed on the second chain plate conveyor 22; or alternatively

if so, it is determined that the vehicle is to be washed on the second link conveyor 22.

Fig. 2 is a partial schematic view of a car washer, and fig. 4 is an enlarged view of a portion a of fig. 2, the car washer including a controller, a motor 400, a conveyor driven by the motor 400 and configured to convey a vehicle to be washed, and a plurality of sets of position sensors, the motor 400 being provided with an encoder 4, the encoder 4 being configured to transmit an encoded value to the controller, the position sensors being configured to transmit a position signal to the controller in response to a trigger of the vehicle to be washed, the controller being electrically connected to the encoder 4 and the position sensors, respectively, the plurality of sets of position sensors being arranged in a set distance relationship along a conveying direction of the vehicle to be washed.

It should be noted that, as shown in fig. 2, the conveying device is used for driving the vehicle to convey from right to left. In particular, the conveyor comprises a belt conveyor or a chain conveyor, into which the vehicle is driven from right to left, and at the inlet end there is a set of sensors for determining, on the one hand, that the vehicle to be washed has been parked in place and, on the other hand, that the first coded value currently sent by the encoder, the sensors here being noted as a first set of position sensors, and this position being taken as the origin of coordinates.

The position sensors are arranged in a direction along which the vehicle to be washed is conveyed from right to left in a set distance relationship, and any one of the plurality of sets of position sensors other than the first set of position sensors may be on the first link plate conveyor 20 or the second link plate conveyor 22, for example, the position sensors include a first light correlation sensor 204 disposed at an outlet end of the second link plate conveyor 22 and a second light correlation sensor 206 disposed at an inlet end of the second link plate conveyor 22.

The second set of position sensors is used for detecting whether the vehicle reaches a set position, and when the vehicle reaches the set position, the position sensors are triggered to send position signals to the controller, and the position sensors can be light correlation sensors or proximity switches.

The car washer comprises a first scraper conveyor 20 and a second scraper conveyor 22, the vehicle enters the first scraper conveyor 20 from the right side, leaves the second scraper conveyor 22 from the left side, and when the vehicle to be washed enters the first scraper conveyor 20, the second scraper conveyor 22 has a vehicle which has not yet left. In order to prevent collision of two vehicles, anti-collision monitoring is required in the vehicle washing process.

As shown in fig. 3, which is a flowchart of a vehicle position updating method, step 302, determines whether a vehicle is to be washed on the second link plate conveyor 22; step 304, if not, sending a start command to the first link plate conveyor 20; if so, a standby instruction is sent to the first slat conveyor 20. Specifically, when the vehicle to be washed enters the first scraper conveyor 20 to stop in place, it is necessary to confirm whether the preceding second scraper conveyor 22 has a vehicle that has not left, and if so, wait, and if the preceding second scraper conveyor 22 has no vehicle, the vehicle to be washed can advance. Three cases need to be considered, one being exiting, the second being already exiting, and the third being that the vehicle body is entirely within the second flight conveyor 22 not yet exiting.

Specifically, in a first case, when a vehicle to be washed enters the first endless chain 20 to reach and trigger the first set of position sensors 202, the first set of position sensors 202 sends a signal to the controller, the controller determines whether the second endless chain 22 in front is on a vehicle, in one embodiment, a first light correlation sensor 204 is arranged at the outlet end of the second endless chain conveyor 22, a second light correlation sensor 206 is arranged at the inlet end of the second endless chain conveyor 22, and when the first light correlation sensor 204 is triggered, a first signal is sent to the controller, which represents that the vehicle head on the second endless chain conveyor 22 has triggered to the first light correlation sensor 204, ready to leave; in a second case, when the vehicle completely leaves the second slat conveyor 22, the first light correlation sensor 204 does not detect the vehicle, and at this time, a second signal is sent to the controller, representing that the vehicle on the second slat conveyor 22 has left, and at this time, the controller sends an advance command to the vehicle to be washed on the first slat conveyor 20; in the third case, when the controller receives neither the first signal nor the second signal before the vehicle of the second slat conveyor 22 has touched the first light correlation sensor 204, it is necessary to determine whether the second slat conveyor 22 has a vehicle by the second light correlation sensor 206, specifically, when the vehicle to be washed passes the second light correlation sensor 206 of the second slat conveyor 22, the second light correlation sensor 206 detects the vehicle and sends a third signal to the controller indicating that the vehicle has entered the second slat conveyor 22. By monitoring whether there is a vehicle on the second link plate conveyor 22, it is ensured that one car washer can wash a plurality of vehicles at the same time to reduce the possibility of collision, and the efficiency and safety of the car washing process are improved.

In one embodiment, it is desirable to ensure that the vehicle on the second flight conveyor 22 is not stuck when it is exiting, and when the controller receives the first signal, it determines whether the second signal is received within a preset time;

Specifically, a preset interval time is set between the first signal and the second signal, after the controller receives the first signal, if the second signal is not received yet after the preset interval time is exceeded, the controller sends an alarm instruction to the monitoring terminal, the alarm instruction is used for indicating the monitoring terminal to send out an alarm signal, the monitoring terminal can be a display screen text prompt or a sound prompt, and safety in the vehicle washing process is ensured through monitoring alarm.

In one embodiment, where it is desired to ensure that the vehicle does not get stuck when entering the second flight conveyor 22, the second light correlation sensor 206 is further configured to send a fourth signal to the controller when not triggered, the method further comprising:

Specifically, a preset interval time is set between the third signal and the fourth signal, after the controller receives the third signal, if the preset interval time is exceeded and the fourth signal is not received yet, the controller sends an alarm instruction to the monitoring terminal, the alarm instruction is used for indicating the monitoring terminal to send out an alarm signal, the monitoring terminal can be a display screen text prompt or a sound prompt, and safety in the vehicle washing process is ensured through monitoring alarm.

A car washer, the conveyer includes first drag conveyor 20 and second drag conveyor 22 that connect gradually, the controller is still used for:

determining whether a vehicle is to be washed on the second flight conveyor 22;

if not, a start command is sent to the first link conveyor 20; if so, a standby instruction is sent to the first slat conveyor 20.

In one embodiment, the second set of position sensors includes a first light correlation sensor 204 and a second light correlation sensor 206, the first light correlation sensor 204 configured to send a first signal to the controller in response to a trigger of the vehicle to be washed and a second signal to the controller when not triggered, the second light correlation sensor 206 configured to send a third signal to the controller in response to a trigger of the vehicle to be washed, the first light correlation sensor 204 disposed at an outlet end of the second chain conveyor 22, the second light correlation sensor 206 disposed at an inlet end of the second chain conveyor 22;

In one embodiment, the controller is further configured to:

In one embodiment, the second light correlation sensor 206 is further configured to send a fourth signal to a controller when not triggered, the controller being further configured to:

after receiving the third signal, determining whether the fourth signal is received within a preset time;

Embodiments of the apparatus and the method of the present invention are based on the same inventive concept, and are not described herein.

In one embodiment, a computer readable storage medium is provided having a computer program stored therein, which when executed by a processor causes the processor to perform the steps of the vehicle location update method described above.

The invention provides a vehicle position monitoring method and a vehicle washing machine, which can overcome the defect that the measurement precision of coordinates is limited by the mechanical structure of a coding disc gear in a positioning system for determining the coordinates of a vehicle by utilizing an encoder, and realize high-precision coordinate positioning.

The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, within the scope of the present application, should make equivalent substitutions or modifications according to the technical solution and the inventive concept of the present application, and should be covered by the scope of the present application. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not constitute any limitation on the present application.

Claims

1. The vehicle position monitoring method is applied to a vehicle washing machine and is characterized by comprising a controller, a motor, a conveying device and a plurality of groups of position sensors, wherein the conveying device is driven by the motor and is used for conveying vehicles to be washed, an encoder is arranged on the motor and is used for sending encoded values to the controller, the controller is electrically connected with the encoder, and the plurality of groups of position sensors are arranged along the conveying direction of the vehicles to be washed according to a set distance relation; characterized in that the method comprises:

the controller obtains the coding value sent by the coder;

the controller determines basic coordinates of the vehicle to be washed based on the coded values, wherein the conversion relation between the coded values and the basic coordinates is X= (Y-Y0)/k, and Y is the coded value sent by the encoder; x is the basic coordinate of the position corresponding to the coding value; y0 is a group of triggered position sensors serving as a basic coordinate origin when a vehicle to be washed is parked in place, and corresponds to a preset current first coding value according to the basic coordinate origin; k is the relation between the variation delta Y of the code value and the variation delta X of the basic coordinate, and k=delta Y/delta X, wherein k is a preset known condition;

and the controller obtains the final coordinates of the vehicle to be washed based on the displacement coordinates, the code value, the preset current first code value and the basic coordinates determined by the preset known condition k.

2. The vehicle position monitoring method according to claim 1, wherein the conveying device includes a first scraper conveyor and a second scraper conveyor connected in sequence, the method further comprising:

3. The vehicle position monitoring method of claim 2, wherein the vehicle washer further comprises a first light correlation sensor and a second light correlation sensor, the first light correlation sensor being configured to send a first signal to the controller in response to a trigger of the vehicle to be washed and a second signal to the controller when not triggered, the second light correlation sensor being configured to send a third signal to the controller in response to a trigger of the vehicle to be washed, the first light correlation sensor being disposed at an outlet end of the second chain conveyor, the second light correlation sensor being disposed at an inlet end of the second chain conveyor;

4. A vehicle position monitoring method according to claim 3, characterized in that the method further comprises:

5. A vehicle position monitoring method according to claim 3, wherein the second light correlation sensor is further configured to send a fourth signal to the controller when not triggered, the method further comprising:

6. The car washer is characterized by comprising a controller, a motor, a conveying device and a plurality of groups of position sensors, wherein the conveying device is driven by the motor and is used for conveying a car to be washed, an encoder is arranged on the motor and is used for sending an encoded value to the controller, the controller is electrically connected with the encoder, and the plurality of groups of position sensors are arranged along the conveying direction of the car to be washed according to a set distance relation; wherein the controller is configured to:

acquiring a coding value sent by the coder;

determining basic coordinates of the vehicle to be washed based on the coded values, wherein the conversion relation between the coded values and the basic coordinates is X= (Y-Y0)/k, and Y is the coded value sent by the encoder; x is the basic coordinate of the position corresponding to the coding value; y0 is a group of triggered position sensors serving as a basic coordinate origin when a vehicle to be washed is parked in place, and corresponds to a preset current first coding value according to the basic coordinate origin; k is the relation between the variation delta Y of the code value and the variation delta X of the basic coordinate, and k=delta Y/delta X, wherein k is a preset known condition;

and obtaining the final coordinates of the vehicle to be washed by the displacement coordinates, the code value, a preset current first code value and the basic coordinates determined by a preset known condition k.

7. The car washer according to claim 6, wherein said conveyor comprises a first flight conveyor and a second flight conveyor connected in sequence, said controller further configured to:

8. The car washer according to claim 7, further comprising a first light correlation sensor for transmitting a first signal to said controller in response to a trigger of said vehicle to be washed and a second light correlation sensor for transmitting a second signal to said controller when not triggered, said second light correlation sensor for transmitting a third signal to said controller in response to a trigger of said vehicle to be washed, said first light correlation sensor being disposed at an exit end of said second flight conveyor, said second light correlation sensor being disposed at an entrance end of said second flight conveyor;

9. The car washer according to claim 8, wherein said controller is further configured to:

10. The car washer according to claim 8, wherein said second light correlation sensor is further configured to send a fourth signal to a controller when not triggered, said controller further configured to: