DE202020107360U1 - Vehicle treatment system with distance sensor for front contour detection - Google Patents

Abstract

Vehicle treatment system for treating the surface of a vehicle (2), which can be arranged on a defined area (3) of the vehicle treatment system (1), the vehicle treatment system (1) having a portal (4) and at least two side brushes (7a, 7b) for treating a left and a right side of the vehicle (2), and wherein a relative movement between the portal (4) and the defined surface area (3) takes place for the surface treatment, during which the portal (4) moves over the surface area (3) and a vehicle located there (2) drives away or the surface area (3) is transported under the portal (4) with a vehicle (2), with at least one distance sensor (10, 11, 12, 13) being arranged on a front side of the portal (2). , the front side being that side of the portal (4) which is oriented towards the surface area (3) before the start of treatment, characterized in that the distance sensor (10, 11, 12, 13)
- emits a measurement medium (M1a, M1b, M2a, M2b) in the form of a measurement beam, in particular a single beam, with a fixed orientation, AND
- A current distance (Da, Db) between the distance sensor (10, 11, 12, 13) and an impact point of the measurement medium (M1a, M1b, M2a, M2b) detected to a current distance value (Da, Db) to a To determine the front contour and/or at least one vehicle wheel (14a, 14b), AND wherein
◯ the at least one distance sensor (10, 11) is arranged at a front apron height (L1) of in particular a maximum of 100 centimeters above the surface area (3), AND/OR
◯ the at least one distance sensor or a further distance sensor (12, 13) is arranged at a vehicle floor height (L2) of in particular a maximum of 30 centimeters above the surface area (3).

Description

The present invention relates to a vehicle treatment system with contour detection technology and an associated method.

It is known in practice to wash and/or polish and/or dry vehicles, in particular passenger cars and trucks, in automated systems. For this purpose, the systems have various treatment elements, which at least partially come into physical contact with the surface of the vehicle to be treated. Various detection techniques are also known, with which the geometry of the vehicle to be treated can be detected at a point, two-dimensionally or three-dimensionally.

In EP 1 795 409 A2 For example, it is proposed to provide a vehicle treatment facility with a scanning device for three-dimensional scanning and recording of a vehicle surface, the scanning device having a plurality of scanner heads, each of which emits movable measuring beams in the direction of the vehicle. The measuring beams can be moved within level scan fields. The scanner heads are arranged at the upper end of a portal. The scan fields extend as flat fields on the one hand exactly in the transverse direction of the portal and on the other hand exactly in the vertical direction.

From the EP 2 082 930 B1 a three-dimensional contour detection with a combined image detection and distance measuring device is known. There, a planar and in particular large-area lighting is provided, which is directed onto a vehicle surface. A camera records a planar image of the illuminated surface and, in addition to the image information, determines a plurality of distance values in a pixel grid of the image.

DE 10 2017 123 271 A1 discloses a signaling device for a car wash, which is intended to support the driver of the vehicle when entering. The signaling device is arranged away from a predetermined parking area and is shown in the figures as a separate device next to a portal. It includes a sensor and a signal transmitter. The sensor can detect a position of a vehicle approaching the vehicle treatment facility, for which various measuring methods are proposed. The distance of the vehicle from the predetermined parking area is measured, which reduces to zero when the optimal parking position is reached.

DE 10 2018 117 440 A1 discloses a device and method for collision detection and non-contact width monitoring in vehicle treatment facilities. A collision could occur if the vehicle is mispositioned during entry, causing all or part of the vehicle's maximum clearance limits to be exceeded. The detection area of the sensor system is accordingly aligned along the lateral border of the maximum treatment area. The sensors are arranged on a cantilever arm which extends outwards from the upper end of the washing portal in the direction of travel of the portal.

Out of EP 2 082 930 B1 a detection technology for car washes is known that detects two-dimensional image information using a 3D camera.

EP 0 507 757 A1 discloses a car wash with a movable light barrier, the beam of which lies between the portal columns and extends transversely to the direction of travel of the portal. A break in the beam is detected as a binary signal.

It is the object of the present invention to present an alternative detection technique for vehicle treatment systems that enables greater robustness and accuracy in relation to the detection of the front contour and the side surfaces of a vehicle and can also be constructed more cheaply and simply.

The invention solves this problem through the features of the independent claim.

It is also the object of the present disclosure to indicate an associated method that enables the overall treatment time of a vehicle surface treatment to be shortened.

The vehicle treatment system according to the present disclosure is designed and suitable for the surface treatment of a vehicle, in particular for washing and/or polishing the vehicle surface. The vehicle can be arranged on a defined area of the vehicle treatment facility. The surface area can be a stationary area or a movable area. In particular, it can be a stationary parking space in a gantry car wash or a conveyor space in a car wash.

The vehicle treatment facility includes at least one portal and at least two side brushes for treating a left and a right side of the vehicle. You can side brush be arranged on the portal, in particular via a movement device for executing an opening or closing movement of the side brushes. Alternatively, the side brushes can be arranged separately and independently of the portal. The portal can thus be a measurement portal or a combined measurement and treatment portal.

At least at the beginning of the vehicle treatment, a relative movement takes place between the portal and the defined surface area. Either the portal can drive over the surface area and a vehicle located there, or the surface area can be conveyed along the portal with a vehicle or under the portal.

At least one distance sensor is arranged on a front side of the portal, the front side being that side of the portal which is oriented towards the surface area before the start of treatment. At least two distance sensors, namely at least one left distance sensor and at least one right distance sensor, can preferably be provided.

The at least one distance sensor emits a measurement medium in the form of a beam with a fixed orientation. The measuring medium can in particular be emitted in the form of a single beam. Alternatively, the measuring medium can be emitted by a distance sensor in the form of a beam of two, three or many individual beams with an exactly parallel orientation and directly adjacent arrangement.

The at least one distance sensor detects a current distance between the distance sensor and a point of impact of the measurement medium in order to precisely determine a current distance value from a front contour and/or from a vehicle wheel. Even with a measurement medium in the form of a bundle of rays, only one distance value is detected by the distance sensor.

The at least one distance sensor can be arranged either at a height of the front apron or at a height of the vehicle floor. A fascia elevation is such an elevation above the footprint of the vehicle to be treated that the fascia is expected to be located. The height of the front apron can be defined as a maximum of 100 centimeters above the contact area. The vehicle floor elevation is such an elevation that is above the footprint of the vehicle to be treated and below the vehicle floor. The height of the vehicle floor can be defined as a maximum of 30 centimeters above the contact area.

It is also possible to provide one distance sensor each at a front apron level and another distance sensor at a vehicle floor level.

A particularly preferred variant provides for a left first distance sensor to be present at a front apron elevation and a right first distance sensor at a front apron elevation, as well as a left second distance sensor at a vehicle floor elevation and a right second distance sensor at a vehicle floor elevation .

With the help of the at least one distance sensor, a linear contour can be detected during a relative movement between the portal and the defined surface area, which results from the instantaneous impact points of the measurement medium on the surface of the vehicle during the relative movement and a known relative geometry between the arrangement of the at least one distance sensor and the defined surface area.

It has been shown that the use of a measurement medium in the form of a single beam with a fixed orientation allows a significantly higher accuracy and robustness of the measurement results and at the same time has a lower susceptibility to maintenance than the use of movable measurement beams.

Furthermore, a favorable measurement condition is created by arranging the distance sensor at a height of the front apron and/or at a height of the vehicle floor. On the one hand, the distance measurement at this altitude enables a very short measurement path. At this altitude there is also a lower susceptibility to errors with regard to the measurement of the side areas of the vehicle, since the measurement medium hits the surface of the vehicle at a favorable angular position, which reduces the reflection losses and the resulting incorrect measurements.

The computational acquisition and processing of exactly one instantaneous distance value from a front contour or from a vehicle wheel per measurement time and distance sensor also simplifies the computation and control effort.

According to a preferred embodiment, the emission direction of the measuring medium is oriented obliquely towards the surface area by a horizontal angle of incidence in relation to a transverse direction of the portal. The transmission direction of the measurement medium is therefore directed slightly forwards towards the vehicle to be measured. In this way, with a relative movement between the portal and the defined surface area measure both a front surface and a side surface of the vehicle and/or a vehicle wheel with only one distance sensor. A transition area in between is also recorded. Furthermore, there is the advantage that the distance measurement can already be carried out at a point in time at which a vehicle is driven onto the defined surface area by a driver without the vehicle having to drive into the portal. It has been shown that a significant number of drivers are reluctant to drive their vehicle into a vehicle treatment facility and prefer to park the vehicle directly in front of the portal and then, for example, be able to get out.

With the hitherto customary detection techniques with light barriers, which extend in a transverse direction of the treatment plant, it was necessary to drive at least the front of the vehicle between the portal columns. Accordingly, it was necessary to arrange a movable gantry of a gantry car wash in a central area of the parking space before the start of the treatment. However, a movable gantry of a gantry car wash cannot usually start the treatment process directly at this position. It was therefore necessary, at the beginning of a treatment cycle, to first move the gantry to a front end of the parking space without treatment intervention, as a result of which the duration of the treatment cycle was lengthened by a proportion of time that was ineffective for the cleaning result.

In the case of the vehicle treatment system according to the present disclosure, on the other hand, it is advantageously possible and provided that the portal is already at a first end of the defined surface area (parking space) before the start of the treatment. A vehicle to be treated can therefore be located outside the portal and in front of the front of the portal at the beginning of a treatment cycle.

At the start of a treatment cycle, a front wash or other front treatment can then be carried out immediately, which enables the system to be controlled in a particularly time-efficient manner. Portal movements at the beginning of a treatment cycle, which are ineffective for the washing result, can thus be dispensed with.

A method for surface treatment of a vehicle according to the present disclosure includes the following steps. A vehicle treatment facility is provided according to the present disclosure. At the beginning of the vehicle treatment, a relative movement is carried out between the portal and the defined surface area. In this case, the portal is moved in a forward direction over the surface area. This can be done either by moving the portal relative to a stationary area, or by moving the area relative to a stationary portal, or by simultaneously moving the portal and area.

During the relative movement, a front contour of a vehicle located on the defined surface area is determined and/or a wheel contour of at least one vehicle wheel of this vehicle is determined.

The front of the vehicle is treated, with the at least one side brush being moved in a transverse direction of the vehicle treatment facility from a center of the front of the vehicle to an outer area. A vehicle side is then treated, with the at least one side brush being moved in a forward direction along the vehicle. During the transition from the aforementioned treatment of the vehicle front to the aforementioned treatment of the vehicle side, there is a combined movement of the at least one side brush on a curved path, i.e. both in the transverse direction of the vehicle treatment system and in the forward direction, relative to the defined surface area. During this movement, the side brush is controlled according to the detected vehicle contour and/or controlled according to a vehicle width that is calculated on the basis of the detected wheel contour.

The aforementioned treatment method enables the movement of the side brush to be controlled in a particularly time-efficient manner. In particular, it is not necessary to separate the treatment of the front of the vehicle from the treatment of the side of the vehicle. On the contrary, the movement on the curved path allows the side brush to be accelerated optimally in the forward direction, and at the same time the movement of the side brush in the transverse direction can be decelerated in a time-optimal manner.

Further advantageous developments of the invention are specified in the dependent claims.

• 1 - 2: eine Behandlungsanlage gemäß der vorliegenden Offenbarung in einer Schrägansicht auf die Frontseite und in einer Seitenansicht;
• 3: eine Draufsicht auf die Behandlungsanlage von 1;
• 4 - 12: Ablaufdarstellungen zur Erläuterung eines Behandlungsverfahrens;
• 13: Erläuterungen zur Ermittlung einer Fahrzeugkontur oder Rad-Kontur bei einer Schrägstellung des Fahrzeugs;
• 14: Seitenansicht einer Fahrzeugbehandlungsanlage in Analogie zu 2 mit Darstellung von erfassten Rad-Konturen und Kontroll-Konturen.

The invention is shown by way of example and schematically in the drawings. These show:

• 1 - 2 1: a treatment plant according to the present disclosure in an oblique view of the front side and in a side view;
• 3 : a plan view of the treatment plant from 1 ;
• 4 - 12 : Flow diagrams to explain a treatment method;
• 13 : Explanations for determining a vehicle contour or wheel contour when the vehicle is in an inclined position;
• 14 : Side view of a vehicle treatment facility in analogy to 2 with display of recorded wheel contours and control contours.

The vehicle treatment facility (1) according to the present disclosure is in 1 shown in an oblique view.

The vehicle treatment facility (1) includes a portal (4). The portal (4) can have any training. It has a front side on which at least one distance sensor (10, 11, 12, 13) is arranged. The front side is that side which, before the start of the treatment, is oriented towards the defined surface area (3) on which a vehicle (2) to be treated can be arranged.

In the representation of 1 the portal (4) has two portal columns (5) which are arranged to the left and right of the defined surface area (3) and can be moved in a forward direction (X) relative to the surface area (3). A portal traverse (6) extends between the upper ends of the portal columns (5) as an optional element. A running rail (not shown) can be provided on the portal traverse (6), on which one or more of the side brushes (7a, 7b) are mounted directly or indirectly. Alternatively, the side brushes (7a, 7b) can be arranged on the vehicle treatment system (1) in any other way, for example on another portal or on another supporting device.

In the example of 1 the portal (4) includes, in addition to the portal columns (5), a left and a right support (26) to which the one or more distance sensors (10, 11, 12, 13) are attached. Alternatively, the distance sensors (10, 11, 12, 13) can be attached to any other support body or directly to the portal columns (5).

The one or more distance sensors (10, 11, 12, 13) are preferably arranged in a forward direction (X) in advance of the side brushes (7a, 7b). In other words, the distance sensors (10, 11, 12, 13) are arranged closer to the defined surface area (3) than the side brushes (7a, 7b) before the start of treatment.

In the example according to 1 the defined surface area (3) is arranged in a stationary manner in the vehicle treatment facility (1) and the portal (4) can be moved, in particular driven, in a controlled manner along the forward movement (X). Any desired driving device (not shown) can be provided for the driving movement of the portal (4). The vehicle treatment facility (1) preferably has running rails which run to the left and right of the defined area (3) in the forward direction (X). A travel drive can be provided on the portal (4), which comprises, for example, wheels or rollers that sit on the travel rails.

According to an alternative embodiment, the defined surface area (3) can be a towing area along a vehicle conveyor. The vehicle conveyor device can be, for example, a drag chain or a conveyor belt, the movement of which allows the defined surface area (3) and a vehicle (2) arranged on it to be moved past the portal (4). Even when the surface area (3) moves, the portal (4) approaches in the forward direction (X) in relative terms. Within the scope of the present disclosure, a movement of the portal (4) in the forward direction (X) is equivalent to a movement of the surface area (3) in the forward direction (X) with the opposite orientation.

In the example of 1 two distance sensors (10,12/11,13) are provided on the left and on the right side. However, it may be sufficient to arrange only one or more distance sensors (10, 12) on the left side or one or more distance sensors (11, 13) on the right side.

If one or more distance sensors are only arranged on the left or right, the measurement results of these sensors can be reflected on the center plane of the vehicle treatment system (1). However, measurement results from at least one left and at least one right distance sensor (10, 12/11, 13) are preferably recorded and evaluated.

Each of the (one or more) distance sensors (10, 11, 12, 13) emits a measuring medium (M1a, M1b, M2a, M2b) in the form of a measuring beam with a fixed orientation. The measurement medium (M1a, M1b, M2a, M2b) can be of any type. It is preferably a light beam which, in particular, can comprise a coded or modulated light. Alternatively, it may be a sonar, ultrasonic or radar radial field.

At least one distance sensor (10,11,12,13) detects an instantaneous distance (Da, Db) between the distance sensor (10,11,12,13) and a point of impact of the measuring device diums. This is exemplified in the top view according to FIG 3 shown. The point of impact of the measurement medium is at least part of the time before or during the vehicle treatment on a body contour of the vehicle (2). In particular, this can be the front contour and/or the contour of a vehicle wheel (14a, 14b).

The detected front contour (21) that can be used for further control of the vehicle treatment system and one or more detected wheel contours (23a, 23b) are in 4-14 presented in different variants, which will be discussed in detail below.

The vehicle treatment facility (1) can have a control body (25) which is arranged on the floor surface of the vehicle treatment facility (1) and can be detected at least temporarily by one of the distance sensors (12, 13). The control body (25) can be used to create a control contour (24a, 24b) in the measurement signal of the at least one distance sensor (12, 13). A control contour (24a, 24b) can be used advantageously for various purposes and is explained further below. The control body (25) can be designed, for example, as a bar or a rail, which is preferably arranged essentially centrally in the transverse direction (Y) of the vehicle treatment system (1) between the left and right distance sensors (10,12/11,13). is.

The emission direction of the measurement medium (M1a, M1b, M2a, M2b) relative to the transverse direction (Y) of the portal (4) is preferably oriented at a horizontal angle (H) obliquely to the surface area (3). In other words, the emission direction is oriented in such a way that a potential impact point of the measurement medium (M1a, M1b, M2a, M2b) comes to lie in the forward direction (X) in front of the portal (4). In other words, the angle of attack (H) is dimensioned in such a way that the emission area of the measurement medium (M1a, M1b, M2a, M2b) is directed outside the portal (4) and intersects a space on or above the defined surface area (3). .

The at least one distance sensor (10, 11, 12, 13) is therefore provided and designed to determine the distance to a point of impact on an external object, in particular the vehicle (2) to be treated, with this external object being at least initially of the treatment process outside the portal (4) and in the forward direction (X) in front of the portal (4).

The horizontal setting angle (H) for this is preferably at least 5 angular degrees and a maximum of 80 angular degrees, more preferably at least 15 angular degrees and a maximum of 50 angular degrees.

According to a first preferred embodiment, the measuring medium (M1a, M1b) can be emitted in a horizontal plane. In other words, the transmission direction of the measurement medium (M1a, M1b, M2a, M2b) can lie in a horizontal plane. According to an alternative embodiment, the measuring medium can be oriented slightly downwards. In other words, the emission direction of the measurement medium (M2a, M2b) can be inclined downwards by a vertical angle (V) relative to a horizontal plane. This is an example in 1 shown for the lower variant of the measuring medium (M2a,M2b). The vertical angle of attack (V) can preferably be between 0 angular degrees and 10 angular degrees, more preferably less than 3 angular degrees.

The vertical setting angle (V) makes it possible for the emission direction of the measurement medium (M2a, M2b) to intersect the control body (25).

2 shows a side view of the vehicle treatment system (1) according to FIG 1 , wherein a vehicle (2) to be treated is shown here in the intended arrangement on the defined surface area (3).

The measuring medium (M1a, M1b) of the at least one distance sensor (10,11) is preferably directed towards a front apron (15) and/or a fender (16) of the vehicle (2). In this way, a front contour (21) of the vehicle (2) can be detected as a line contour. Alternatively, a measuring medium (M2a, M2b) of the at least one distance sensor (12,13) can be aimed at a free space (17) between the installation area for the vehicle (2) and the vehicle floor (18) (space under the vehicle (2)). be. This space is only interrupted by the vehicle wheels or vehicle tires (14a, 14b) of the vehicle (2). The alignment of the measurement medium to the free space (17) thus allows at least one vehicle wheel or one vehicle tire (14a, 14b) of the vehicle (2) to be detected by a line contour.

The front contour (21) or a wheel contour (23a, 23b) results from an aggregation of the current distance values (Da, Db) that the at least one distance sensor (10, 11, 12, 13) during a relative movement between the portal (4) and the defined area (3) in the forward direction (X).

The distance measurement is particularly preferred according to a transit time of the measurement medium (M1a, M1b, M2a, M2b) carried out, in particular according to a light transit time measurement.

The vehicle treatment system (1) is thus designed to carry out a relative movement between the portal (4) and the surface area (3) after a vehicle (2) has been parked on the defined surface area (3) and, based on the measured distance (Da, Db) of the at least one distance sensor (10, 11, 12, 13) to detect a geometry of the vehicle front of the vehicle (2) as a front contour (21) or a position and/or size and/or orientation of at least one vehicle tire or vehicle wheel (14a , 14b) as a wheel contour (23a, 23b). If several distance sensors (10, 11, 12, 13) are provided, both the front contour (21) and the wheel contour (23a, 23b) can be detected.

In the following, with reference to the 4 until 12 an exemplary process for the preparation and implementation of a vehicle treatment is explained.

the 4 until 11 each show a schematic plan view of the portal (4), the side brushes (7a, 7b), the at least one distance sensor (10,11,12,13), the defined surface area (3) and a vehicle (2) located thereon. A reduced overall view of a vehicle treatment system (1) with the aforementioned elements is shown at the bottom right. The examples in 4 until 11 assume that the vehicle treatment facility (1) is a gantry car wash with a stationary area (3) and a movable gantry (4). However, the representations can be transferred in the same way to a car wash in which at least the portal (4) and the at least one distance sensor (10, 11, 12, 13) are arranged in a stationary manner and the defined surface area (3) can be moved in relation to it, in particular by a Conveying device or towing device (not shown).

In the representation according to 4 a vehicle (2) is driven by the driver onto the defined surface area (3) and is to be parked there in a position provided for the treatment.

The vehicle treatment facility (1) can include one or more display devices (22), which are embodied here by way of example by a visual display (22). As soon as the vehicle (2) approaches the intended parking position over the defined surface areas (3), the at least one distance sensor (10,11,12,13) can record a distance value (Da,Db) from an impact point of the measuring medium (M1a ,M2a,M1b,M2b). For this purpose or before the start of vehicle treatment, the portal (4) is preferably located outside of the defined surface area (3) or at a front end (8) of the defined surface area (3). This state is also in 1 until 3 shown. The vehicle treatment system (1) is preferably designed to determine a current position of the vehicle (2) when driving onto the surface area (3) based on the measured distance (Da, Db) of the at least one distance sensor (10, 11, 12, 13). to capture. The vehicle treatment facility (1) can thus determine how much the detected instantaneous position of the vehicle (2) deviates from a reference position provided for carrying out a surface treatment when driving onto the surface area (3).

The vehicle treatment system (1) is preferably also designed to issue positioning instructions to the driver of a vehicle (2) to be treated depending on the detected instantaneous position of the vehicle (2) over the surface area (3).

This is exemplary in the transition from 4 to 5 shown. In 4 the vehicle (2) is in motion and is approaching the portal (4). It has not yet reached the reference position, which is why a request is issued on the display (22) to continue approaching the portal (4).

In the representation according to 5 the vehicle (2) has reached the reference position. Accordingly, an instruction is issued on the display (22) that the driver should park the vehicle and no longer move it himself.

After parking the vehicle in the reference position, the relative movement between the portal (4) and the defined surface area (3) is controlled or regulated by the vehicle treatment system (1), in which either the portal (4) is moved in the forward direction (X). or the defined area (3) is moved in the forward direction (X) with opposite orientation or a combination of these movements takes place.

During this relative movement, the instantaneous distance (Da, Db) between the at least one distance sensor (10, 11, 12, 13) and a point of impact of the emitted measurement medium (M1a, M2a, M1b, M2b) on a surface of the vehicle ( 2) determined. The detected vehicle contour (21) gradually results from these instantaneous distance values. and/or at least one detected wheel contour (23a, 23b).

In 5 a part of the detected front contour (21) is already shown as an example.

6 until 11 explain how the detected front contour (21) gradually develops further during the relative approach movement of the portal (4) in the forward direction (X) to the defined surface area (3). The front contour is preferably recorded as a continuous or partially linear set of points that has a known three-dimensional position, orientation and size in relation to the vehicle treatment system (1) and in particular in relation to the current position of the portal (4) and/or the surface area (3).

In the example of 9 the relative movement between the portal (4) and the surface area (3) has progressed so far that the front area of the vehicle (2) is immersed in the free space between the distance sensors (10,11,12,13). Due to the transmission direction of the measuring medium (M1a, M2a, M1b, M2b) which is oriented obliquely forward in relation to the transverse direction (Y), the transition area between the vehicle front and the vehicle sides is already included as a measurement result in the detected front contour (21) at this point in time . 9 represents a point in time at which treatment of the front of the vehicle is started. The front of the vehicle can be treated in any way. In the example of 9 the side brushes (7a, 7b) are first moved towards one another in a closing movement.

In the representation according to 10 the side brushes (7a, 7b) are in a closed position and applied to the front contour of the vehicle (2). To treat the front of the vehicle, at least one of the side brushes (7a, 7b) is now moved in a transverse direction (Y) from a center of the front of the vehicle to an outer area of the front of the vehicle. this is in 10 shown by arrows on the side brushes (7a, 7b) illustrating movement in the opening direction. The movement of the side brushes (7a, 7b) is controlled or regulated in particular as a function of the detected distance values (Da, Db) on which the detection of the front contour (21) is based.

11 shows a transition from treating the front of the vehicle to treating the sides of the vehicle. 12 illustrates the treatment of at least one side of the vehicle by the side brushes (7a, 7b), the at least one side brush (7a, 7b) being delivered to the side surface of the vehicle (2) in the transverse direction (Y) and in the forward direction (X). is moved along the vehicle (2) or the side surface.

In order to achieve the most time-efficient and thorough cleaning of the front of the vehicle, the transition from treating the front of the vehicle to treating the side of the vehicle is of particular importance. On the one hand, thorough cleaning in this transitional area requires the side brushes to be advanced far enough in the normal direction (perpendicular to the surface) to the front of the vehicle. On the other hand, if you approach too closely, you could risk damaging the front of the vehicle and/or reducing the cleaning effect again. And finally, it is advantageous for vehicle treatment that is as time-efficient as possible if work can be carried out in this transition area with maximum utilization of the possible movement speed of the side brushes (7a, 7b).

As can be seen from the representation of 11 results, the detected front contour (21) already contains a plurality of distance values (Da, Db) at the time of the transition from treating the front of the vehicle to treating the sides of the vehicle, to points of impact of the measuring medium (M1a, M2a, M1b, M2b), lying on the side surface of the vehicle (2). Accordingly, the detected front contour (21) already contains sufficient information to detect the width of the vehicle (2) and thus to determine a suitable opening width of the side brushes (7a, 7b) in the transverse direction (Y), with which the subsequent treatment of the vehicle sides is optimally executable. Early knowledge of the vehicle width to be taken into account allows the opening movement of the side brushes (7a, 7b) to be carried out at the maximum speed or a precisely adapted braking of the opening movement during the transition to treating the vehicle sides, which leads to particularly good washing results and at the same time to a particularly rapid overall movement of the side brushes (7a, 7b).

Furthermore, the relative movement between the portal (4) and the defined surface area (3) can take place in accordance with the opening movement of the side brushes (7a, 7b), either via a speed profile (vx) for the relative movement between the side washing brushes (7a, 7b ) and the defined surface area (3) in the forward direction OR via a velocity profile (vy) for the opening or closing movement of the side brushes (7a, 7b) in the transverse direction (Y).

In 11 Examples of such velocity profiles (vx, vx`, vy, vy`) are shown.

In a gantry car wash (left speed profiles vx, vy in 11 ) For example, the movement of the portal (4) along the forward direction (X) can take place with such a speed profile (vx) that the overall movement of the side brushes (7a, 7b) is adapted to the detected front contour (21) in the transition area. This adaptation can take place in particular according to a difference in the longitudinal coordinates of adjacent measurement points along the detected front contour (21). In particular, a speed profile (vx) in the forward direction (X) can be generated which, when cleaning the transition between the front of the vehicle and the side of the vehicle, includes a complex profile with a number of acceleration phases and possibly an intermediate deceleration.

When the defined surface area (3) moves relative to the longitudinal position of the side brushes (7a, 7b) (right-hand speed profiles in 11 ), i.e. in particular when it is designed as a car wash, a speed profile (vy') for the opening movement of the side brushes (7a, 7b) in the transverse direction (Y) can be provided in analog form, which is adapted to the conveying speed of the surface area (3) or the conveying or towing speed of the car wash is adjusted.

The detection technique according to the present disclosure thus makes it possible to avoid undesired lifting of the side brushes (7a, 7b) from the vehicle surface in the transition area between the treatment of the front contour and the treatment of the vehicle sides. In addition, on the one hand the movement of the side brushes (7a, 7b) in the opening direction (vy, vy') and on the other hand the relative movement (vx, vx') between the portal (4) and the defined surface area (3) can create a complex speed profile with several acceleration phases and at least one intermediate braking phase.

In particular, it can be provided that either the opening movement (vy) takes place according to a simple speed profile, in particular with essentially continuous braking, while the movement of the portal (4) in the forward direction (X) follows a complex speed profile (vx) for adaptation to the detected vehicle contour, OR there can be a relative movement between the defined surface area (3) and the side brushes (7a, 7b) in the forward direction (X) with a simple speed profile (vx'), in particular with a linear acceleration, while the Opening movement of the side brushes (7a, 7b) takes place with a complex speed profile (vy') with several braking phases and at least one intermediate acceleration phase.

The opening width of the side brushes (7a, 7b) to be provided for the treatment of the side surfaces can be determined in any way. According to a first variant, the opening width can be determined on the basis of the detected vehicle contour (21). As can be seen from the 10 until 12 results, the detected vehicle contour (21) can be determined at least partially on the basis of impact points that are on the outside of at least one vehicle tire or vehicle wheel (14a, 14b). As can be seen from the representations of 10 until 12 Furthermore, those parts of the recorded front contour (21) that lie on the vehicle tires or vehicle wheels (14a, 14b) can be identified in the course of the measurement by identifying local maximum distance values (Da, Db) within the course of the measured values, originating from points of impact of the measuring medium (M1a, M1b) on the tread of the vehicle tires (14a, 14b) and/or on the inner wall of the wheel housing (27). These local maxima are in 12 illustrated with reference numerals (K).

• • Schrägstellung des Fahrzeugs (2) gegenüber der Vorwärtsrichtung (X);
• • Schrägstellung der Fahrzeugräder (14a,14b) gegenüber der Vorwärtsrichtung (X);
• • Außermittige Platzierung des Fahrzeugs (2) gegenüber einer Mittelachse der Fahrzeugbehandlungsanlage (1).

The vehicle treatment system (1) is preferably also designed to record at least one of the following parameters on the basis of a comparison of the distance values (Da) of a left-hand distance sensor (10, 12) with the distance values (Db) of a right-hand distance sensor (11, 13):

• • inclination of the vehicle (2) in relation to the forward direction (X);
• • Inclination of the vehicle wheels (14a, 14b) in relation to the forward direction (X);
• • Off-center placement of the vehicle (2) relative to a central axis of the vehicle treatment facility (1).

13 explains an example of a detected vehicle contour (21) from which all the aforementioned parameters can be determined qualitatively and quantitatively.

An inclination of the vehicle (2) in relation to the forward direction (X) can be determined, for example, by different gradients of the distance values (Da, Db) or correspondingly different gradients of the local contour sections over the left and right halves of the detected front contour (21).

An off-center placement of the vehicle (2) can be detected on the basis of different absolute coordinates in the transverse direction (Y) of the vehicle treatment facility (1). An inclination of the vehicle wheels or vehicle tires (14a, 14b) can by different gradients and / or can be determined by varying degrees of development and arrangements of the local maxima (K) in the course of the recorded front contour (12). Alternatively, any other features can be evaluated individually or in combination to determine the aforementioned parameters.

14 shows in the left half of the figure the course of a left-hand wheel contour (23a) and a right-hand wheel contour (23b) which are measured on the basis of distance values (Da, Db) from at least one measuring medium (M2a, M2b) originate, which is directed to a free space (17) below the vehicle floor (18).

If the measuring medium (M2a,M2b) is sent out by a vertical angle of attack (V) inclined slightly downwards, it can continue to hit the control body where it does not hit a vehicle wheel or a vehicle tire (14a, 14b). (25) be directed. Accordingly, in the course of the measured values recorded by the at least one distance sensor (12, 13), the values can change from a control contour (24a, 24b) to a wheel contour (23a, 23b) and back to a control contour ( 24a, 24b) are detected. The measured values that can be assigned to the control contour (24a, 24b) can be used for a plausibility check in order to rule out that a vehicle wheel or vehicle tire has been incorrectly identified. Furthermore, the measured values of the control contour (24a, 24b) can be used to check the correctness of the measured distance values (Da, Db) of the distance sensor (12, 13) and/or to carry out a recalibration.

If the transmission direction of the measurement medium (M2a, M2b) lies in a horizontal plane, each vehicle wheel or vehicle tire (14a, 4b) can alternatively be measured twice. In this case, the impact points of a measurement medium (M2a) sent from the left are both on the outside of a left-hand vehicle wheel (14a) and on the left-hand side of a right-hand vehicle wheel (14b). Analogously, impact points of a measurement medium (M2b) sent from the right lie both on a right outside of the right vehicle wheel (14b) and on a right outside of the left vehicle wheel (14a).

Accordingly, detection parameters for the position, size and/or inclination of the vehicle tires or vehicle wheels (14a, 14b) can be carried out by aggregating evaluations of the measurement signals from a left-hand distance sensor (12) and a right-hand distance sensor (13).

Modifications of the invention are possible in any way. In addition to the at least one distance sensor on a front side of the portal (4), at least one further distance sensor (19, 20) can be arranged on a rear side of the portal (4), for example to measure a rear contour of the vehicle (2).

All of the features described, shown or claimed for the exemplary embodiments can be combined with one another or replaced with one another in any desired manner. All configurations of the vehicle treatment system that relate to suitability for detection, movement, control or other actuation are also to be understood as features of a method for surface treatment of a vehicle and vice versa.

• - Bereitstellen einer Fahrzeugbehandlungsanlage nach einem der vorhergehenden Ansprüche;
• - Zu Beginn einer Fahrzeugbehandlung: Ausführen einer Relativbewegung zwischen dem Portal (4) und dem definierten Flächenbereich (3), wobei das Portal (4) in einer Vorwärtsrichtung (X) über den Flächenbereich (3) bewegt ist;

• - Während der Relativbewegung: Ermitteln einer Frontkontur (21) eines Fahrzeugs (2), das sich auf dem definierten Flächenbereich (3) befindet, UND/ODER der Rad-Kontur (23a, 23b) mindestens eines Fahrzeugrades (14a, 14b);
• - Behandeln einer Fahrzeugfront, wobei die mindestens eine Seitenbürste (7a, 7b) in einer Querrichtung (Y) von einer Mitte der Fahrzeugfront zu einem Außenbereich bewegt wird;
• - Behandeln einer Fahrzeugseite, wobei die mindestens eine Seitenbürste (7a, 7b) in einer Vorwärtsrichtung (X) an dem Fahrzeug entlang bewegt wird;

An independent aspect of the present disclosure is a method for surface treatment of a vehicle (2) in a vehicle treatment facility (1), the method comprising the following steps:

• - Providing a vehicle treatment system according to any one of the preceding claims;
• - At the beginning of a vehicle treatment: performing a relative movement between the portal (4) and the defined surface area (3), the portal (4) being moved in a forward direction (X) over the surface area (3);

• - During the relative movement: determining a front contour (21) of a vehicle (2) located on the defined surface area (3), AND/OR the wheel contour (23a, 23b) of at least one vehicle wheel (14a, 14b);
• - Treating a vehicle front, wherein the at least one side brush (7a, 7b) is moved in a transverse direction (Y) from a center of the vehicle front to an outer area;
• - Treating a vehicle side, wherein the at least one side brush (7a, 7b) is moved in a forward direction (X) along the vehicle;

When changing from treating the front of the vehicle to treating the side of the vehicle: combined movement of at least one side brush (7a, 7b) on a curved path, both in the transverse direction (Y) and in the forward direction (X) relative to the defined surface area (3), wherein the movement of the side brush (7a, 7b) is controlled according to the detected vehicle contour (21) AND/OR is controlled according to a vehicle width, the vehicle width being calculated on the basis of the detected wheel contour (23a, 23b).

Reference List

1

vehicle treatment facility

2

vehicle

3

defined area / contact area / parking area

4

portal

5

portal column

6

portal traverse

7a

side brush

7b

side brush

8th

End of area / parking area

9

Center section of the surface area / shelf

10

Distance sensor on the left

11

Distance sensor on the right

12

Another distance sensor on the left

13

Another distance sensor on the right

14a

left vehicle tire / left vehicle wheel

14b

right vehicle tire / right vehicle wheel

15

front apron

16

fender

17

free space

18

vehicle floor

19

distance sensor

20

distance sensor

21

Front contour (detected) of a vehicle

22

Advertisement

23a

Wheel contour on the left

23b

Wheel contour on the right

24a

Control contour on the left

24b

Control contour on the right

25

Control body / bar

26

Carrier / support body

27

wheel housing

There

Determined instantaneous distance from the left

db

Determined instantaneous distance from the right

dx/dy

Gradient of the front contour / wheel contour

H

horizontal angle of attack vs. transverse direction / angle of forward bank

K

local distance maximum / discontinuity in the course of the front contour

L1

Altitude, at the height of the front apron / fender, min. 25 cm, max 100 cm above the ground

L2

Altitude below the vehicle floor, min. 5 cm, max 30 cm above the floor

M1a

Measuring medium / measuring beam (from left)

M1b

Measuring medium / measuring beam (from the right)

M2a

Measuring medium / measuring beam (from left)

M2b

Measuring medium / measuring beam (from the right)

vx,

Velocity profile of the relative movement

vx`

Portal to face area in the forward direction

vy,

Speed profile opening movement of

vy`

Side brush in transverse direction

V

vertical angle of attack vs. horizontal plane / angle of inclination

X

Forward direction / longitudinal axis

Y

Transverse direction / transverse axis

Z

vertical axis

QUOTES INCLUDED IN DESCRIPTION

This list of the documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• EP 1795409 A2 [0003]
• EP 2082930 B1 [0004, 0007]
• DE 102017123271 A1 [0005]
• DE 102018117440 A1 [0006]
• EP 0507757 A1 [0008]

Claims (16)

Vehicle treatment system for treating the surface of a vehicle (2), which can be arranged on a defined area (3) of the vehicle treatment system (1), the vehicle treatment system (1) having a portal (4) and at least two side brushes (7a, 7b) for treating a left and a right side of the vehicle (2), and wherein a relative movement between the portal (4) and the defined surface area (3) takes place for the surface treatment, during which the portal (4) moves over the surface area (3) and a vehicle located there (2) drives away or the surface area (3) is transported under the portal (4) with a vehicle (2), with at least one distance sensor (10, 11, 12, 13) being arranged on a front side of the portal (2). , the front side being that side of the portal (4) which is oriented towards the surface area (3) before the start of treatment, characterized in that the distance sensor (10, 11, 12, 13) - a measuring medium (M 1a, M1b, M2a, M2b) in the form of a measuring beam, in particular a single beam, with a fixed orientation, AND - a current distance (Da, Db) between the distance sensor (10, 11, 12, 13) and an impact point of the measurement medium (M1a, M1b, M2a, M2b) in order to determine an instantaneous distance value (Da, Db) from a front contour and/or from at least one vehicle wheel (14a, 14b), AND where ◯ the at least one distance sensor ( 10, 11) is arranged at a front apron height (L1) of in particular a maximum of 100 centimeters above the surface area (3), AND/OR ◯ the at least one distance sensor or a further distance sensor (12, 13) at a vehicle floor height (L2 ) of in particular a maximum of 30 centimeters above the surface area (3). Vehicle treatment facility claim 1 , wherein the emission direction of the measurement medium (M1a, M1b, M2a, M2b) is oriented at a horizontal angle (H) obliquely to the surface area (3) relative to a transverse direction (Y) of the portal. Vehicle treatment facility claim 2 , wherein the angle of attack (H) is dimensioned such that the emission range of the measurement medium (M1a, M1b, M2a, M2b) is directed outside of the portal (4) and intersects a space on or above the parking space (3). Vehicle treatment facility claim 2 or 3 , wherein the angle of attack (H) is at least 5 angular degrees and a maximum of 80 angular degrees, in particular at least 15 angular degrees and a maximum of 50 angular degrees. Vehicle treatment system according to one of the preceding claims, wherein - a measuring medium (M1a, M1b) is directed towards a front apron (15) and/or a fender (16) of the vehicle (2), so that a front contour of the vehicle (2) can be detected as a line contour, AND/OR wherein - A measuring medium (M2a, M2b) is directed towards a free space (17) between the surface area (3) and the vehicle floor (18), so that at least one vehicle tire (14a, 14b) of the vehicle (2) can be detected by a line contour . Vehicle treatment system according to one of the preceding claims, wherein the emission direction of the measurement medium (M1a, M1b, M2a, M2b) - lies in a horizontal plane, OR - Is inclined downwards by a vertical angle of attack (V) relative to a horizontal plane, the vertical angle of attack being 0 angular degrees to 10 angular degrees, in particular less than 3 angular degrees. Vehicle treatment system according to one of the preceding claims, wherein the portal (4) is at a first end (8) of the surface area (3) before the start of the treatment, so that the vehicle (2) in particular is outside the portal (4) and in front of the front side of the Portal (4) is located. Vehicle treatment system according to one of the preceding claims, wherein at least one further distance sensor (19, 20) is arranged on a rear side of the portal (4). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) has a left-hand distance sensor (10, 12) and a right-hand distance sensor (11, 13). Vehicle treatment system according to one of the preceding claims, wherein the at least one distance sensor (10, 11, 12, 13) carries out a distance measurement according to a transit time of the measurement medium (M1a, M1b, M2a, M2b), in particular according to a light transit time measurement. Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) is designed to determine a current position of a vehicle (2) when driving onto the surface area (3) on the basis of the measured distance (Da, Db) of the at least one distance sensor (10, 11, 12, 13). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) is designed to output positioning instructions to the driver of a vehicle (2) to be treated depending on a detected current position of the vehicle (2) over the surface area (3). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) is designed to carry out a relative movement between the portal (4) and the surface area (3) after the vehicle (2) has been parked on the surface area (3) and in doing so on the basis the measured distance of the at least one distance sensor (10, 11, 12, 13) - To detect a geometry of the vehicle (2) as a front contour (21) AND/OR - Measure a position and/or size and/or alignment of at least one vehicle tire (14a, 14b). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) is designed to carry out a treatment of the vehicle front, in which the at least one side brush (7a, 7b) in a transverse direction (Y) from a center of the vehicle front to an outer area of the vehicle front is moved, the movement of the side brush (7a, 7b) being controlled or regulated in particular as a function of the detected distance values (Da, Db). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system (1) is designed to carry out a treatment of at least one side of the vehicle in which - the at least one side brush (7a, 7b) is delivered in a transverse direction (Y) to a side surface of the vehicle (2) and - the side brush (7a, 7b) is moved in the forward direction (X) along the vehicle (2). Vehicle treatment system according to one of the preceding claims, wherein the vehicle treatment system is designed to treat at least one side of the vehicle during a transition from the treatment of a vehicle front to a treatment - to control a combined movement of at least one side brush (7a, 7b) in the transverse direction (Y) and forward direction (X) relative to the defined surface area (3), - Wherein the movement in a transition area from the front of the vehicle to one side of the vehicle ◯ is controlled according to a detected vehicle contour, AND/OR ◯ is controlled according to a vehicle width determined on the basis of the detection of the at least one vehicle wheel (14a, 14b).

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