JP2000190824A - Car washer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate processing devices at a return along the car shape data stored at an advance by detecting the drift between the travel position at the advance and the travel position at the return, and adjusting the position of the processing device corresponding to the car shape data. SOLUTION: The difference between the travel position of a car washer body when the rear end of an automobile is detected by a photoelectric switch 6 in a first advance process and the travel position when the rear end is detected in a return process is obtained, and the difference is outputted as drift data. A position adjustment section 11e adds the drift data obtained by a drift detection section 11d to the car shape data stored in a car shape memory section 11b and adjusts and calculates the positions of the control target values of processing devices for a car body face. A car wash controller 11i drives and controls motors 3M2, 8, 8, 9M at the expected positions of the processing devices given by the position adjustment section 11e so that the positions of an upper brush and an upper blower nozzle coincide with each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a so-called portal type in which various types of processing devices are provided in a body of a car washer that reciprocates so as to straddle an automobile, and processing such as washing and drying is performed on a vehicle body surface as the body of the car washer runs. A car washer, in particular, a car body surface position is read and vehicle shape data is stored in parallel with the car washer going forward and performing a cleaning process, and the car stored at the time of going back is stored in a subsequent return. The present invention relates to a car washer in which a processing device is operated according to shape data.

[0002]

2. Description of the Related Art In such a type of car washing machine which performs a car washing operation based on stored car shape data, a car body surface position is detected and stored as the car washing machine travels and stored as car shape data. If the vehicle is not run stably each time, a deviation occurs between the stored vehicle shape data and the actual position of the vehicle. Deviations in the running position are thought to be caused by slippage of the wheels, poor engagement between the wheels and the rails, etc., which vary considerably depending on the installation conditions and usage environment of each car wash machine. This alone is not enough to solve it at the moment. Also,
Recently, the number of cases where the driver is washing the car while riding the car has been increasing, and the driver may accidentally move the car while washing the car. In this case, the vehicle shape data and the actual position of the car are also used. And it will shift.

In this type of car washer, a processing device such as a cleaning brush or a spray nozzle or a drying blower nozzle is moved in accordance with the vehicle shape data so as to operate while maintaining a predetermined distance from the vehicle body surface. If the vehicle shape data and the actual car position are misaligned as described above,
Not only is the processing device abnormally approaching the vehicle body or moving away to a position where processing cannot be performed, and the car cannot be washed normally, and there is also a risk that the processing device will collide with the vehicle body and cause damage. Therefore, it becomes necessary for the car washer to monitor whether the stored vehicle shape data and the actual car are displaced or not while the car is being washed.

In response to such a need, the applicant has disclosed in
As disclosed in Japanese Patent Application Publication No. 35432/1995, the vehicle shape data read when the car washer is going forward and the vehicle shape data read when returning are detected to detect a deviation, and the vehicle shape data is determined in accordance with the detected deviation. A car wash machine with a correction was proposed. However, in this type of car washer, the detection means for the vehicle body surface is located in front of the processing device so that the processing device can read the vehicle shape before the processing device acts on the vehicle body when going forward. If data is to be obtained, the detection means of the vehicle body surface will be located behind the processing device, and as a result, the vehicle shape data will be read after the processing device is operated. Therefore,
Even if the deviation is detected and corrected by comparing the vehicle shape data at the time of going and returning, it is difficult to use the corrected vehicle shape data at the time of the same returning and cannot be put to practical use. Was. In recent years, many attempts have been made to arrange a large number of body detectors at small intervals so that even protrusions on the body surface can be detected. As the number of vehicles increases, the load on the processing of the vehicle shape data becomes higher, and the repeated reading and processing of the vehicle shape data as in the prior application has resulted in a significant decrease in efficiency.

[0005]

In the case where a deviation between the stored vehicle shape data and the actual position of the vehicle occurs, the most important thing in the processing apparatus is the blower nozzle. The brush has a bristle length of about 40 cm and even if there is some deviation,
The gap can be absorbed to some extent by the length of the bristle material. In addition, if the spray nozzle is too close to the vehicle body, the range in which the spray acts becomes small, so that the spray nozzle is several tens cm from the vehicle body.
In general, control is performed at a distant position, and even if a deviation occurs, it is unlikely that the vehicle directly contacts the vehicle body. However, the blower nozzle needs to be as close as possible to the vehicle body in order to effectively remove water droplets from the vehicle body, and there is also a demand to operate the blower nozzle at a short distance such as within 10 cm to the vehicle body surface. May collide with the vehicle body. And since the blower nozzle is usually performed in the last drying step of car washing, that is, the step of returning to the car washer body, it is necessary to pay special attention to the gap between the forward and backward movements of the car washing machine body. There is.

In view of the above, it is an object of the present invention to provide a simplified system with a small control load in which a deviation between the vehicle shape data stored at the time of traveling and the actual position of the vehicle occurs. The problem is whether a car wash machine capable of performing safe and reliable car wash processing in response to the detected deviation can be obtained.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a car washing machine body which reciprocates across an automobile and various processing devices, and cleans a vehicle body surface as the car washing machine body travels. Washing means for performing processing such as drying and drying, a means for detecting a running position of the car washing machine body, a means for detecting a position of a vehicle body surface with respect to the car washing machine body, and a running position and a body surface position given by these two detecting means. Vehicle shape storage means for storing the vehicle shape data in the vehicle shape storage means in accordance with the going of the car wash machine main body, and in the case of the subsequent returning going, the vehicle shape data is stored along with the stored car shape data in the going way. Control means for causing the processing device to operate, further comprising: means for detecting a deviation between a traveling position at the time of going forward and a traveling position at the time of going backward given by the traveling position detecting means; Means for detecting the displacement Depending on the magnitude of deviation of the traveling position given by, it is characterized by adjusting the position of the processing device corresponding to the vehicle type data given in Kurumagata storage means.

Further, in order to solve the above-mentioned problems, a car washer which reciprocates across an automobile is provided with various processing devices, and performs a process such as washing and drying on a body surface as the car washer runs. Means for detecting a traveling position of the car wash body, means for detecting a position of the vehicle body surface with respect to the car wash machine body, and a vehicle storing the running position and the vehicle body surface position provided by the two detection means in a corresponding manner. The shape storage means and the vehicle shape data are stored in the vehicle shape storage means in accordance with the going of the car washer body, and the processing device is operated in accordance with the stored vehicle shape data at the time of going back in the next going backward. Means for detecting a deviation between the traveling position at the time of going forward and the traveling position at the time of going back given by the traveling position detecting means, and a vehicle based on the deviation data given by the detecting means. Recorded in shape memory means Means for correcting the vehicle shape data to be processed, wherein the control unit causes the processing device to act according to the vehicle shape data provided by the vehicle shape storage means when going forward, and the corrected vehicle provided by the correction means when going back. The processing device is operated in accordance with the shape data. Here, the correction means may correct the vehicle shape data provided by the vehicle shape storage means based on the deviation data provided by the deviation detection means so that the vehicle shape data is slid in a direction parallel to the traveling of the car washer body. . The correction means may correct the vehicle shape data provided by the vehicle shape storage means based on the displacement data provided by the displacement detection means so as to extend the vehicle shape data in a direction parallel to the traveling of the car washer body. Further, the correction means can correct the vehicle shape data provided by the vehicle shape storage means and data obtained by shifting the vehicle shape data by the amount of deviation detected by the deviation detection means, to superimposed data.

In order to solve the above-mentioned problems, various types of processing devices are provided in a car washer body that reciprocates across an automobile,
A car washing machine that performs processing such as washing and drying on a vehicle body surface in accordance with the traveling of the car washing machine body, a means for detecting a traveling position of the car washing machine body, and a means for detecting a position of the vehicle body surface with respect to the car washing machine body, A vehicle shape storage means for storing the running position and the vehicle body surface position provided by the two detection means in correspondence with each other, and vehicle shape data being stored in the vehicle shape storage means in accordance with the going of the car wash machine main body; A control means for causing the processing device to operate in accordance with the vehicle shape data stored at the time of going forward, wherein a means for detecting a displacement of a traveling position given by the traveling position detecting means; Means for storing the deviation data at the time of each car wash detected by the means,
The control means may adjust the position of the processing device corresponding to the vehicle shape data provided by the vehicle shape storage means in accordance with at least the deviation data at the time of the previous car wash provided by the storage means. Here, the shift detecting means compares the running position when the detecting means provided in the car wash machine body detects a predetermined marker fixed to the car wash machine installation surface between the forward and backward movements. It is desirable to detect

In each of the above means for solving the problems,
The shift detecting means may detect the shift by comparing the traveling position when the detecting means provided in the car wash machine body detects a specific portion such as the front end and the rear end of the car at the time of going forward and returning. good. Further, the control unit is configured to set an interval between a vehicle body surface position obtained from vehicle shape data stored in the vehicle shape storage unit and a position of the processing device with respect to the vehicle body surface substantially in proportion to a size of the deviation given by the deviation detection unit. It may be adjusted to take a large value.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. Here, an example in which the present invention is applied to a portal type car washer in which a vehicle body is washed using a brush is shown. FIG. 1 is a front view of the embodiment, and FIG. 2 is a side view of the embodiment.

The car washer body 1 reciprocates on a pair of left and right rails 2 and 2 and moves across a vehicle stopped between the rails 2 and 2. Reference numerals 3, 4, and 4 denote brushes as cleaning treatment devices provided in the car wash machine main body 1. Reference numeral 3 denotes a brush which is horizontally disposed and vertically moved (in a direction orthogonal to the running direction of the main body 1) to perform a vertical movement to clean the upper surface of the vehicle body. The upper brushes 4 and 4 are a pair of left and right side brushes that open and close in a direction perpendicular to the running direction of the main body 1 to clean the side surfaces and the front and rear surfaces of the vehicle body.

Reference numeral 5 denotes a vehicle shape detecting device which is provided in front of the brushes 3, 4, and 4 of the car washer body 1 and reads the shape from the side of the vehicle. Reference numeral 6 denotes mainly a front end and a rear end of the vehicle body. This is a photoelectric switch for detecting a position. Reference numeral 7 denotes an encoder that outputs a pulse every time the car washer body 1 travels a unit distance, and reference numerals 8 and 8 denote motors that drive the body 1.

Reference numerals 9, 10, and 10 denote blower nozzles provided as a drying treatment device provided in the car wash machine main body 1 for blowing air from a blower (not shown) to a vehicle body surface for drying. Reference numeral 9 denotes a horizontally disposed vertical direction. Upper surface blower nozzles 10 and 10 are provided on both sides of the main body 1 to dry the upper surface of the vehicle body by moving up and down (in a direction orthogonal to the running direction of the main body 1).

FIG. 3 illustrates the structure of the processing device acting on the upper surface of the vehicle body, that is, the upper brush 3 and the upper blower nozzle 9. The upper brush 3 is provided with carriers 3C, which can be moved up and down on both sides of the car washer body 1. Both ends are supported by 3C, and are rotationally driven by a motor 3M1 fixed to one carrier 3C. The carrier 3C is connected to a loop 3L extending vertically, and this loop 3L
Is moved up and down by forward / reverse driving of the motor 3M2 which feeds the motor. The motor 3M2 can be held at that position by lifting and lowering the carriers 3C, 3C via a speed reducer (not shown) and stopping the motor. 3E is an encoder for detecting the elevation position of the carrier 3C. Carrier 3C, 3C
Is raised and lowered in accordance with the vehicle shape detected by the vehicle shape detection device 5, and is adjusted so that the distance between the upper surface brush 3 and the vehicle body surface is substantially constant.

The upper blower nozzle 9 is also moved up and down in substantially the same configuration as the upper brush 3, and both ends thereof are supported by carriers 9C, 9C which can be moved up and down on both sides of the car washer body 1, and the carrier 9C is moved up and down. The loop 9L is connected to a loop 9L, and is moved up and down by forward and reverse driving of a motor 9M that feeds the loop 9L. The motor 9M is
If the carriers 9C, 9C are moved up and down via a speed reducer (not shown) and the motor is stopped, it can be held at that position.
9E is an encoder for detecting the elevation position of the carrier 9C. The carriers 9C, 9C are moved up and down according to the vehicle shape detected by the vehicle shape detection device 5, and adjusted so that the distance between the upper surface blower nozzle 9 and the vehicle body surface becomes substantially constant. 9Y is a cylinder that changes the blowing direction of the upper blower nozzle 9 according to the inclination of the vehicle body surface.

FIG. 4 illustrates the vehicle shape detecting device 5 and the photoelectric switch 6 as a vehicle end detecting means.
Is a light emitting unit 5E in which a large number of light emitting elements are vertically arranged.
And a light receiving unit 5R arranged corresponding to the light emitting unit 5E and receiving the optical signal from the light emitting unit 5E are opposed to each other so as to sandwich the automobile A from both sides. here,
Each time a pulse is output from the rotary encoder 7 as the car washer body 1 travels, the light-emitting elements of the light-emitting unit 5E are sequentially turned on and off, and the light-receiving state of the light-receiving unit 5R is monitored, and the light-shielded state is detected by the vehicle body. Light emission in the upper position
The position of the light receiving element is detected, this is stored as the height of the upper surface of the vehicle body, and the outline of the vehicle A from the side is read.

The photoelectric switch 6 has a light emitting element 6E and a light receiving element 6R opposed to each other so as to sandwich the automobile A, and is set at a height at which a bumper position of the automobile can be detected. Here, an optical signal is exchanged each time a pulse is output from the rotary encoder 7 as the car washer body 1 travels, and the point in time when the optical signal switches from transmitting to blocking or the point in time when switching from blocking to transmitting is determined as the end of the vehicle body. Used as a part. In addition, if the vehicle shape detection device 5 can extract the signal of the unit having the height corresponding to the bumper position of the vehicle by itself, the vehicle shape detection device 5 can use the vehicle end detection device 5 without providing the photoelectric switch 6 separately. It can be used also as a detecting means.

FIG. 5 is a block diagram showing a control system of the above embodiment. Reference numeral 11 denotes a control unit including a microcomputer, a memory, and the like. Reference numeral 12 denotes a drive for driving a processing device such as a brush or a blower nozzle by a signal from the control unit 11. Reference numeral 13 denotes an operation panel for inputting the start of car washing and for inputting designation of a projection to be avoided. The control unit 11 executes the car wash operation via the drive unit 12 according to the car wash program stored when there is a car wash start input on the operation panel 13, and stores contour data which is normally read by the vehicle shape detection device 5 during the car wash, Encoder 7
The main body 1 is moved forward / backward and the carriers 3C and 9C are adjusted so that the position of the upper brush 3 based on the encoder 3E and the position of the upper blower nozzle 9 based on the encoder 9E are adapted to the contour data, using the main body travel position based on the signal of the main body as a parameter. By performing operations such as raising and lowering, control is performed such that the distance between the upper surface brush 3 and the upper surface blower nozzle 9 as a processing device with respect to the upper surface of the vehicle body is kept substantially constant so that the car washing process is performed.

Although not described in detail here, the position of the side surface of the vehicle body is detected by an ultrasonic sensor or the like, and the side brushes 4 are adjusted in accordance with the position of the side surface of the vehicle body in the same manner as the above-described processing for the upper surface of the vehicle body. By moving the side blower nozzles 10 and 10, it is possible to control the car washing process while keeping the distance to the side of the vehicle body substantially constant. Further, the operation panel 13 is provided with data display means such as an LCD display or a printer, and can display deviation data and the like detected by a deviation detection unit described later.

FIG. 6 is a block diagram for explaining the functional parts of the control unit 11, and corresponds to the first embodiment.
Based on this figure, the function performed by the control unit 11 will be described in more detail. Reference numeral 11a denotes a traveling position detecting unit which counts pulses from the encoder 7 and detects the traveling position of the car wash machine body 1. Reference numeral 11b denotes a vehicle shape storage unit which stores contour data provided by the vehicle shape detection device 5 and a traveling position provided by the traveling position detection unit 11a at each time there is a pulse output from the encoder 7. The vehicle shape storage unit 11b mainly stores the vehicle shape in the process in which the car wash machine main body 1 first travels. Reference numeral 11c denotes a vehicle end detection unit which monitors the output of the photoelectric switch 6 and determines when the optical signal switches from transmission to blocking and when switching from blocking to transmission to the vehicle end, and determines the running position detection unit 11c.
The traveling position given by a is output as the vehicle end position.

Reference numeral 11d denotes a deviation detecting unit, which is a vehicle shape storage unit 11b.
Compares the vehicle end position detected by the vehicle end detection unit 11c in the process of storing the vehicle shape with the vehicle end position detected in the subsequent process, and detects a deviation between the two to detect the deviation. Output Z. That is, the difference between the travel position of the car washer body 1 when the rear end of the vehicle is detected by the photoelectric switch 6 in the first forward process and the travel position when the same rear end is detected in the subsequent return process is obtained. , And outputs the difference as deviation data Z. When the car wash machine body 1 reciprocates a plurality of times, the deviation data is output also in the forward and backward steps two or more times. Reference numeral 11e denotes a position adjustment unit which adjusts a position to be a control target of each processing device with respect to the vehicle body surface by taking into account the vehicle shape data S stored in the vehicle shape storage unit 11b and the deviation data Z given by the deviation detection unit 11d. Calculate. The calculation method of the position adjustment of the processing device in the position adjustment unit 11e will be described with reference to FIG. Reference numerals 11f and 11g denote ascending and descending position detectors for the upper brush 3 and the upper blower nozzle 9, respectively.
The pulses from 9E are counted to detect the vertical position of each of the upper brush 3 and the upper blower nozzle 9.

Reference numeral 11i denotes a car washing control unit, and a position adjusting unit 11e.
The motors 3M2 / 8 / 8M are controlled so that the positions of the upper brush 3 and the upper blower nozzle 9 coincide with the positions of the respective processing devices 3/9 given by the above. In other words, the current travel position and the ascent / descent position are referred to from the adjustment position given by the position adjustment unit 11e where the processing device 3.9 should be when the main body 1 travels the unit distance therefrom. Find 9 target vectors,
The traveling motors 8.8 and the elevating motors 3M2.9M are driven in accordance with the target vector.

FIG. 7 shows the position adjusting unit 1 in the embodiment of FIG.
The following describes the adjustment method 1e. Here, two representative examples of the method of adjusting the position of the upper surface blower nozzle 9 are shown. FIG. 7A shows a first example in which the distance L of the processing device 9 with respect to the vehicle body surface is increased or decreased in proportion to the shift data, and FIG. 7B shows the first example of the distance L of the processing device 9 with respect to the vehicle body surface. In the second example, the horizontal component value is increased or decreased in proportion to the deviation data. In the figure, S is vehicle shape data provided by the vehicle shape storage unit 11b, and indicates the position of the processing device 9 with respect to the point Ps in the vehicle shape data. Position 9s of processing unit represented by dotted line
Is a standard position in a state where there is no deviation between the traveling position at the time of obtaining the vehicle shape data S and the traveling position in the process being executed, whereas the position 9z indicated by the solid line has a deviation in the running position. The adjustment position is set in consideration of the deviation data Z at the time.

In FIG. 7A, in an ideal state where there is no deviation, the processing device 9 is operated at the standard position 9 s which is separated from the point Ps by the shortest distance L. The processing device is operated at the adjustment position 9z separated by the distance Lz enlarged by an amount corresponding to the deviation data Z. The distance Lz increases in proportion to the deviation data Z, and the contact between the processing device 9 and the vehicle body due to the occurrence of the deviation can be reliably prevented.

In FIG. 7B, when a deviation is detected, the adjustment position 9z is set by sliding the standard position 9s in the horizontal direction (running direction) by the amount corresponding to the deviation data. The method shown in FIG. 7A has a drawback that the adjustment position is distant from the horizontal body surface in consideration of the deviation, thereby sacrificing the effect of the car washing process. However, the method shown in FIG. Since the position is adjusted only in the direction, the processing device 9 can operate at least on the horizontal vehicle body surface at the shortest distance L, and an effective drying process can be performed.

When the running position shifts, the direction of the shift causes a vehicle body inclined surface to be separated from the vehicle body inclined surface to which the processing device 9 approaches. That is, if the processing device 9 is shifted in a direction approaching the rear window, the processing device 9 is shifted in a direction away from the front window. Therefore, in the method shown in FIG. 7B, it is desirable that the horizontal slide be adjusted only on the vehicle body inclined surface on the side where the processing device approaches the vehicle surface due to the displacement. In addition, it is possible to adjust the processing device to slide to the vehicle body side on the side of the vehicle body inclined on the side where the processing device separates due to the displacement. However, in consideration of safety, in this embodiment, the processing device is mounted on the vehicle body. No adjustment was made in the direction to approach.

FIG. 8 is an explanatory view of an operation example in the above embodiment. Here, the car body is brushed and washed as the car wash machine body 1 goes in and out, and the car body is blow-dried and the car wash is completed as the car goes back. It illustrates a round-trip car wash operation. Hereinafter, the operation of the embodiment will be described with reference to FIG.

In FIG. 8 (a), at the start of car washing, the car washing machine main body 1 is stopped at the position shown in the figure with respect to the car A, and when the car washing start input is given on the operation panel 13, the car washing machine main body 1 moves forward. Run. As the vehicle travels, the vehicle shape detection device 5 reads the outline of the vehicle, stores the read outline as vehicle shape data in the vehicle shape storage unit 11b, and adjusts the top surface brush in the position adjustment unit 11e according to the vehicle shape data. 3
Is adjusted, and the upper surface brush 3 is moved up and down in accordance with the adjusted position, so that the brushing that follows the vehicle body A as illustrated is performed. Further, although not shown, the side brushes 4, 4 and the like also act on the vehicle body as the vehicle travels to perform the car washing process. As the main body 1 travels, the photoelectric switch 6 detects the end of the vehicle body, and reaches the position shown in FIG.
Detects the rear end of the vehicle body, the traveling position Xr of the main body 1 at that time is stored. When all the car washing processes reach the rear end of the car and the brushing washing is completed (in the figure), the car wash machine main body 1 stops traveling and ends the first traveling process.

In FIG. 8 (b), when the going-out step is completed, the car wash main body is moved backward from the position shown in the figure to perform the returning step. Here, the blower is driven and blown from the blower nozzles 9, 10, 10 to dry the vehicle body surface. At the beginning of the process, when the upper surface blower nozzle 9 is held upward and reaches the position shown in the figure and the photoelectric switch 6 detects the rear end of the vehicle body, the running position Xr 'of the main body 1 at that time is stored and the regression is temporarily stopped. Here, the shift detecting unit 11d compares the rear end position Xr at the time of going forward with the rear end position Xr 'at the time of going back to detect a shift Z, and detects the shift data Z with the vehicle shape detected at the time of going forward. Based on the data, the position adjustment unit 11e adjusts the target position of the upper surface blower nozzle 9 with respect to the vehicle body surface,
The nozzle 9 is lowered to an adjustment position corresponding to the current traveling position of the main body 1, and thereafter the nozzle 9 is moved up and down in accordance with the adjustment position while moving the main body 1 forward to perform blow drying. When the upper surface nozzle 9 reaches the rear end of the vehicle body, the main body 1 is moved back again, the nozzle 9 is also moved up and down in accordance with the adjustment position, and blow drying is performed following the vehicle body A as illustrated. When the car wash machine main body 1 reaches the car wash start position along with the go back in this way, the go back is stopped and the car wash is terminated.

As described above, the displacement is detected by comparing the traveling position of the car washer body 1 when the rear end of the vehicle body is detected between the forward and backward movements, and the deviation is stored based on the deviation when traveling. Since the process at the time of returning is executed by adjusting the vehicle shape data, the processing device 9 adjusts the position with respect to the vehicle body surface assuming a deviation and does not approach the vehicle body surface more than necessary. In addition, the process of returning is performed after detecting the deviation, the upper blower nozzle 9 is held upward until the rear end of the vehicle body is detected in the return, and the reciprocating traveling is performed partially after the detection of the rear end. Thus, the drying process of the rear end of the vehicle body is performed. This allows
Since the operation is performed after confirming the actual displacement, the blower nozzle 9 does not abnormally approach the vehicle body even if there is a displacement. In addition, the rear end of the car body includes a nearly vertical car body surface, and in the drying process associated with normal regression, the water was blown up from the bottom to push up water drops against the slope, so effective drying was not performed In this operation example, since the drying process is performed while going forward and backward at the rear end of the vehicle body, it is possible to effectively remove water droplets by blowing down along the inclination of the rear end of the vehicle body.

In the example of FIG. 8, in order to detect the trailing end at the time of going-back by the same photoelectric switch 6 as the trailing end detected at the time of going-back, an operation of reciprocating only in a partial section of the going-back process is required. However, if an additional photoelectric switch is provided on the rear side of the blower nozzle 9 separately from the photoelectric switch 6 so that the end of the vehicle body can be detected, the rear end of the vehicle body is detected ahead of the nozzle 9 with the return. Can be confirmed, so that the drying process can be performed without reciprocating. Further, in this operation example, the shift is detected by looking at the rear end of the vehicle body, but the shift may be detected based on another body part. For example, the position of the front window or the rear window may be detected in each step by using a photoelectric switch or the like as the height of the window portion of the vehicle body, and the displacement may be viewed. FIG.
Describes a one-round reciprocating car wash operation. However, even in a two-reciprocal car wash operation, the processing apparatus detects a deviation between the vehicle body position detected in the first going process and the vehicle body position detected in each process. The position can be adjusted.

FIG. 9 is a block diagram for explaining the functional parts of the control unit 11 in another embodiment, and corresponds to the second embodiment. Since the contents are the same as those in FIG. 6, only different parts will be described. Reference numeral 11h denotes a vehicle shape correction unit which detects the vehicle shape data stored in the vehicle shape storage unit 11b by a deviation detection unit 11d.
The correction is performed based on the deviation data given in step (1), and a specific correction method will be described with reference to FIG. The corrected vehicle shape data is adjusted by the position adjustment unit 11e to a position to be a control target of each processing device with respect to the vehicle body surface, and the car wash control unit 11i is adjusted to the position adjusted based on the corrected vehicle shape data. At the same time, the processing device is drive-controlled.

FIG. 10 is an explanatory diagram of a correction method in the vehicle shape correction section 11h in the embodiment of FIG. 9, and three typical correction methods are illustrated here. Note that, for convenience, FIG.
Is called a slide method, the method of FIG. 10B is called a stretch method, and the method of FIG. 10C is called an OR method. The vehicle shape data indicated by the dotted line in FIG.
Indicates the vehicle shape read at the time of the first going forward, and the vehicle shape data indicated by the solid line indicates the vehicle shape corrected by the vehicle shape correction unit 11h. Each of the methods (a) to (c) shows a case where the rear end position Xr 'of the vehicle body detected at the time of the regression is shifted forward from the rear end position Xr detected at the time of reading the vehicle shape. This shows a case where the end position Xr 'is shifted rearward from the rear end position Xr when reading the vehicle shape.

The sliding method shown in FIG. 10A slides the vehicle shape data stored in the vehicle shape storage unit 11b in accordance with the deviation detected by the deviation detecting unit 11d. It is corrected so that it is shifted by a proportional amount. In this method, the size of the vehicle body itself represented by the vehicle shape data stored in the vehicle shape storage unit 11b is merely slid without being changed, so that the distance between the processing device and the vehicle body surface is not increased, and the effect is not increased. There is an advantage that high car wash processing can be maintained. However, if the slippage occurs due to slippage of the wheels or poor engagement between the wheels and the rails due to the traveling of the car wash machine body 1, there is a high possibility that the slippage will occur even during the carwash process for the corrected vehicle shape data. Since the direction of the deviation cannot always be specified, the danger of the vehicle body and the processing device approaching abnormally is not perfect. Therefore, this sliding method is suitable for a countermeasure when a driver moves the car during car washing in a stable environment with few slips of wheels and poor engagement with the rail.

In the stretching method shown in FIG. 10B, the vehicle shape data stored in the vehicle shape storage unit 11b is expanded in the horizontal direction in accordance with the shift detected by the shift detection unit 11d. The correction is made so that the vehicle shape data is enlarged in proportion to the height. That is, when the image is shifted to the front side, the correction process is performed such that the image is extended to the front side by the amount of the deviation, and when the image is shifted to the rear side, the image is extended to the rear side by the amount of the deviation. In this method, since the vehicle shape data is expanded according to the deviation, even if the deviation occurs due to slippage of the wheels or poor meshing with the rail, there is no danger that the vehicle body and the processing device may approach abnormally, and the car washing process can be performed safely. There are advantages. Also,
If a deviation exceeding the detected deviation data is expected over the entire forward or backward step being executed, the detected deviation may be amplified and expanded.

In the OR method shown in FIG. 10 (c), the vehicle shape data slid based on the deviation as in the slide system and the vehicle shape data stored in the vehicle shape storage means 11b are ORed ( OR)
This is a correction in which the vehicle shape data is expanded in the traveling direction. As a method of the correction processing, in the case of a shift toward the front side of the vehicle, the inclined surface from the front end of the vehicle body to the front window on which the processing device that operates at the time of going backward acts so as to descend is horizontally proportional to the shift data. Correction processing to inflate in the direction, and conversely, when it shifts to the rear side, the slope from the rear end of the vehicle body to the rear window that acts to raise The correction process is performed so that the data expands in the horizontal direction in proportion to the data. Even with this method, the vehicle shape data is expanded according to the deviation, so even if the deviation occurs due to wheel slippage or poor meshing with the rail, there is no danger that the vehicle body and the processing device will approach abnormally, and the advantage that the car washing process can be performed safely There is.

FIG. 11 is an explanatory side view of still another embodiment.
A means 21 for detecting a reference position of the car wash machine main body 1 with respect to the installation surface is provided so as to monitor deviation of a traveling position counted by the main body 1. Reference position detecting means 21
Is a switch for detecting a plurality of projection markers 22a and 22b fixed at predetermined positions on the car wash machine installation surface, and has conventionally been used as a means for giving a running start position or a running limit position of the car washing machine body 1. Marker 22a
Gives the traveling start position of the car wash machine main body 1. The main body 1 is stopped at a position where the marker 22a is always detected except for the car wash operation, and is in a standby state. Marker 22b
Is provided at a position for detecting that the car wash machine body 1 has traveled a predetermined distance D from the travel start position. The predetermined distance D is a distance that can be detected without terminating the process from the front end to the rear end of the vehicle to be washed, that is, a comparison that is sufficient to detect the marker 22b regardless of whether a small-sized vehicle is washed. The distance is set to an extremely short distance (2 to 3 m in this example).

FIG. 12 shows the control unit 1 in the embodiment of FIG.
FIG. 14 is a block diagram for explaining a main function part of the present invention, and corresponds to an embodiment of claim 6. Since the content overlaps with FIG. 6,
Only different parts will be described. Reference numeral 11j denotes a reference distance detection unit, and the reference position detection switch 21
It reads the count value given by the travel position detector 11a when detecting 2a / 22b, and detects the travel count value from the travel start position when going forward to detecting the marker 22b or the marker 22b when going backward. After that, the travel count value from when the vehicle returns to the travel start position is detected.

The shift detecting section 11d stores a standard count value for the predetermined distance D, takes in the traveling count value at the time of going forward or returning provided by the reference distance detecting section 11j, and stores the standard count value and each count value. By comparing the count values in the process or the count values in each process, a shift in each process, a shift between forward and backward movements, or a shift between the first forward movement and the next forward movement is detected. A shift storage unit 11k stores the shift data detected by the shift detecting unit, and stores at least one shift data at the time of one or more past car washes. Then, in the position adjustment unit 11e, the shift storage unit 1
The shift data at the time of the previous car wash is read from 1d, and the position of the processing device is adjusted in the same manner as in FIG. 7 according to the size of the previous shift.

In this embodiment, since a fixed distance is given by the marker fixed to the car washing machine installation surface, by comparing this with the traveling position counted by the car washing machine,
A shift caused by a slip of the wheel, a poor engagement between the wheel and the rail, and the like can be more accurately grasped. Then, the deviation is detected and stored, and the position of the processing device with respect to the vehicle body surface is adjusted according to the magnitude of the deviation so that the vehicle can be safely washed even if the deviation occurs at the next car wash. is there. Here, unlike the example of FIG. 6 or FIG. 9, since the shift data is given before the start of car washing, there is no need to detect the shift again during car washing. Processing such as retreating the section running becomes unnecessary, and quick car washing processing becomes possible.

In this embodiment, since the shift is detected based on the marker on the installation surface, the shift of the relative position with respect to the car washer cannot be grasped when the car moves during the washing. For this reason, if the system for detecting the displacement of the position of the car washer with respect to the car during the car washing shown in FIG. 6 or 9 is also used, the car washing process can be performed more safely. Also, the shift storage unit 1
If the deviation data of the past several times is stored at 1k and this deviation data can be displayed at the time of inspection, etc., the degree of deviation occurring in the car washer can be easily grasped, and accurate correction and repair can be performed. Even if an error related to misalignment occurs, it is possible to easily estimate later whether the misalignment is due to wheel slip or the like or because the car has moved, so that accurate measures can be taken. Become.

Although the present invention is implemented as described above, it is not limited only to the above embodiment. Various embodiments are possible without departing from the scope of the claims.

[0044]

As is apparent from the above description, the deviation of the running position of the car washer body is detected to adjust the position of the processing device with respect to the vehicle shape data and to correct the vehicle shape data itself. It is not necessary to read the vehicle shape data at the time of going forward and going backward as in the past, it is possible to detect the deviation only by monitoring the traveling position and it is easy to carry out, and to compare the vehicle shape data with each other Heavy data processing is not required. In addition, since the processing device can be controlled so as to absorb the deviation so that the vehicle can be safely washed by checking the deviation of the traveling position, it is possible to continuously provide a safe car wash without danger of the processing device colliding with the vehicle body. it can.

[Brief description of the drawings]

FIG. 1 is an explanatory front view of an embodiment.

FIG. 2 is an explanatory side view of the embodiment.

FIG. 3 is an explanatory diagram illustrating a configuration of a processing apparatus according to an embodiment.

FIG. 4 is an explanatory diagram of a vehicle shape detecting device and a vehicle end detecting means in the embodiment.

FIG. 5 is a block diagram illustrating a control system according to the embodiment.

FIG. 6 is a block diagram illustrating a main function of a control unit according to the embodiment.

7 is an explanatory diagram of an adjustment method of a position adjustment unit in FIG.

FIG. 8 is an explanatory diagram of an operation example in the embodiment.

FIG. 9 is a block diagram illustrating a functional main part of a control unit according to another embodiment.

10 is an explanatory diagram of a correction method in a vehicle shape correction unit in the embodiment of FIG.

FIG. 11 is an explanatory side view of still another embodiment.

FIG. 12 is a block diagram illustrating a functional portion of a control section in the embodiment of FIG. 11;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Car wash machine main body 3,4,4 Brush which is a processing device 5 Vehicle shape detecting device 6 Photoelectric switch which is a vehicle end detecting means 7 Encoder for detecting a traveling position 9,10,10 Blower nozzle which is a processing device 11 Control unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Ken Denda 1825 Amemiya Amemiya, Koshoku-shi, Nagano MK Seiko Co., Ltd. Inventor Toshiaki Miyazawa 1825 Amemiya, Aomiya, Kohan, Nagano M3 Seiko Co., Ltd.F-term (reference)

Claims (9)

[Claims] 1. A car washing machine comprising: a car washing machine main body reciprocatingly traveling across an automobile, wherein the car washing machine body is provided with various processing devices, and performs processing such as washing and drying on a vehicle body surface as the car washing machine body runs. Means for detecting the running position of the vehicle, means for detecting the position of the vehicle body surface with respect to the car wash machine main body, vehicle shape storage means for storing the running position and the vehicle body surface position provided by the two detecting means in a corresponding manner, Control means for storing the vehicle shape data in the vehicle shape storage means in accordance with the forward movement of the main body, and for causing the processing device to operate in accordance with the vehicle shape data stored in the forward travel in the case of a subsequent return movement. In the apparatus, there is provided a means for detecting a deviation between a traveling position at the time of going forward and a traveling position at the time of going back given by the traveling position detecting means, and the control means is configured to determine a magnitude of deviation of the traveling position given by the deviation detecting means. Depending on the car shape memory Car wash, characterized in that to adjust the position of the processing device corresponding to the vehicle type data given in stages. 2. A car washing machine comprising a car washing machine main body reciprocatingly traveling across an automobile, provided with various processing devices, and performing processing such as washing and drying on a vehicle body surface as the car washing machine main body runs. Means for detecting the running position of the vehicle, means for detecting the position of the vehicle body surface with respect to the car wash machine main body, vehicle shape storage means for storing the running position and the vehicle body surface position provided by the two detecting means in a corresponding manner, Control means for storing the vehicle shape data in the vehicle shape storage means in accordance with the forward movement of the main body, and for causing the processing device to operate in accordance with the vehicle shape data stored in the forward travel in the case of a subsequent return movement. A means for detecting a deviation between a traveling position at the time of going forward and a traveling position at the time of going back given by the traveling position detecting means, and a vehicle stored in a vehicle shape storing means based on the deviation data given by the detecting means. Hand to correct shape data The control unit operates the processing device according to the vehicle shape data provided by the vehicle shape storage means when going forward, and operates the processing device along the corrected vehicle shape data provided by the correction means when going backward. A car washer characterized by acting. 3. The car washer according to claim 2, wherein said correction means applies the vehicle shape data provided by the vehicle shape storage means based on the displacement data provided by said displacement detection means in a direction parallel to the traveling of the car wash machine body. A car washer characterized by correcting to slide. 4. The car washer according to claim 2, wherein said correction means applies the vehicle shape data provided by the vehicle shape storage means based on the displacement data provided by said displacement detection means in a direction parallel to the traveling of the car wash machine body. A car washing machine characterized in that it is corrected to extend. 5. The car washer according to claim 2, wherein the correction unit superimposes the vehicle shape data provided by the vehicle shape storage unit and the data obtained by shifting the vehicle shape data by the deviation detected by the deviation detection unit. A car washer characterized by correcting the data to a new one. 6. A car wash machine provided with various processing devices in a car wash machine body that reciprocates across an automobile, and performs processing such as washing and drying on a vehicle body surface as the car wash machine body travels. Means for detecting the running position of the vehicle, means for detecting the position of the vehicle body surface with respect to the car wash machine main body, vehicle shape storage means for storing the running position and the vehicle body surface position provided by the two detecting means in a corresponding manner, Control means for storing the vehicle shape data in the vehicle shape storage means in accordance with the forward movement of the main body, and for causing the processing device to operate in accordance with the vehicle shape data stored in the forward travel in the case of a subsequent return movement. In the apparatus, there is provided means for detecting a deviation of the traveling position given by the traveling position detecting means, and means for storing deviation data at each time of washing the car detected by the deviation detecting means, and the control means includes: Give little Both according to the deviation data of the previous car wash, car wash, characterized in that to adjust the position of the processing device corresponding to the vehicle type data given in Kurumagata storage means. 7. The car washing machine according to claim 1, wherein the displacement detecting means detects a specific portion such as a front end and a rear end of the car when the detecting means provided in the car washing machine main body detects the specific portion. A car washing machine characterized in that a displacement is detected by comparing a traveling position between going and returning. 8. The car wash machine according to claim 1, wherein the control unit is configured to obtain a vehicle body surface position obtained from vehicle shape data stored in vehicle shape storage means and a position of the processing device with respect to the vehicle body surface. The distance between the car washer and the car wash machine is adjusted so as to be substantially in proportion to the size of the shift given by the shift detecting means. 9. The car washing machine according to claim 6, wherein the displacement detecting means goes to a traveling position when the detecting means provided in the car washing machine main body detects a predetermined marker fixed to the car washing machine installation surface. A car wash characterized by detecting a shift by comparing the time of the return and the time of the return.