JP2006098218A - Vehicle shape recognition apparatus, vehicle washing machine, and sensor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle shape recognition apparatus which surely recognizes the shape of a vehicle. <P>SOLUTION: The detection sensitivity of optical axes at intervals of a predetermined number of optical axes is set to be different from that of the other optical axes. In discontinuous areas S, Q, optical axes which are decided to be a light entrance state or a light shielding state by a light receiving side CPU 19 do not continue by the number which exceeds a predetermined number of optical axes. For a predetermined area Q1 which is adjacent to a continuous light shielding area P, it is decided that a vehicle W is positioned within the optical axes. In a light projecting/receiving scanning operations continuous therewith, for a discontinuous area Q2 positioned within a predetermined range with respect to the area Q1 which is decided to be the vehicle W in other light projecting/receiving scanning operations, it is decided that the vehicle W is positioned within the optical axes. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle shape recognition device, a car wash machine, and a sensor controller.

  Conventionally, a vehicle shape recognition device is used in, for example, a car wash machine that automatically cleans a vehicle. The car wash machine generally has a configuration in which a car wash machine body having a washing brush that can be moved up and down moves relative to the vehicle in the front-rear direction, and the vehicle recognized by the vehicle shape recognition device. The raising and lowering control of the cleaning brush is performed according to the shape (specifically, the shape of the upper surface).

Here, the vehicle shape recognition device includes a light projector having a plurality of light projecting elements arranged in a line in the vertical direction of the vehicle, and each light projecting element is opposed to the vehicle and is also arranged in a line in the vertical direction. A light receiver having a plurality of light receiving elements. Then, for example, the light projecting elements are sequentially projected from the top, and the light projecting / receiving scanning operation for sequentially enabling the light receiving signals from the light receiving elements that are directly opposed to the light projecting operations of the light projecting elements is repeated, By comparing this validated light reception signal level with a predetermined reference level, it is determined whether or not each optical axis formed by the opposing light projecting element and light receiving element is in the light incident state. Here, since up to the optical axis having a height corresponding to the vehicle shape among the plurality of optical axes is blocked by the vehicle, the height of each part of the vehicle is determined based on whether each optical axis is in the incident state. It is possible to recognize (displacement of the upper surface shape of the vehicle). And the raising / lowering control of a washing brush is carried out according to the displacement of the upper surface shape of the vehicle recognized by the said vehicle shape recognition apparatus in each movement position of the main body of a car wash machine (refer patent document 1).
JP-A-7-165026

  By the way, in order to recognize the vehicle shape with high accuracy, it is desired to accurately recognize not only a portion that is easy to detect but also a minute portion that is difficult to detect (such as a thin shape such as an antenna portion) as an overall shape.

Therefore, in order to recognize the shape of the vehicle with high accuracy, a slit is installed in the projector or receiver (or both) to reduce the amount of received light, and the slight change in the amount of received light caused by light shielding by a minute part such as an antenna is reduced. It is conceivable that the shape of the vehicle can be recognized with high accuracy by detecting it with high accuracy. However, if the vehicle is detected by such means, false detection due to inclusion of noise as the detection accuracy is increased. The risk of
In particular, when it is applied to a car wash machine that needs to detect the shape of the vehicle, water drops and mud may adhere outdoors. Mud is likely to be generated as noise. When the shape of the vehicle is detected in such a state, the optical axis that is blocked by water droplets or the like cannot be distinguished from the optical axis that is blocked by a minute portion of the vehicle, so that portion is erroneously detected. There was a problem that the shape of the vehicle was not correctly recognized.

  The present invention has been completed based on the above circumstances, and an object thereof is to provide a vehicle shape recognition device and the like that can reliably recognize the shape of a vehicle.

As means for achieving the above object, the invention of claim 1 is a projector in which a plurality of light projecting elements are arranged in the vertical direction of the vehicle,
A light receiver including a plurality of light receiving elements arranged opposite to the plurality of light projecting elements and constituting the light projecting elements and a plurality of optical axes;
Each of the light projecting elements is caused to sequentially perform a light projecting operation at a predetermined timing, and a light receiving signal output from a light receiving element corresponding to each light projecting element is synchronized with the light projecting operation of each of the light projecting elements. Control means for repeating the projecting / receiving light scanning operation to be enabled;
Based on the light reception signal level of the light receiving element activated by the control means, it is determined whether or not the optical axis generated between the activated light receiving element and the corresponding light projecting element is in a light shielding state. Determination means for performing,
Vehicle shape recognition means for recognizing the shape of the vehicle based on a determination result of the determination means when the vehicle, the light projector and the light receiver move relatively along the longitudinal direction of the vehicle. In the vehicle shape recognition device,
Sensitivity setting means for setting the detection sensitivity of the optical axis every predetermined number of optical axes in the plurality of optical axes to be different from the detection sensitivity of the other optical axes,
The vehicle shape recognition means
For each light emitting / receiving scan operation,
For continuous light shielding regions in which the number of optical axes determined to be in a light shielding state by the determining means exceeds the predetermined number of optical axes, it is determined that the vehicle is positioned within those optical axes,
For continuous light incident areas where the optical axis determined to be in the light incident state by the determination means continues for a number exceeding the predetermined optical axis number, it is determined that the vehicle is not located within those optical axes,
Further, among the non-continuous areas in which the optical axes determined to be in the light incident state or the light shielding state by the determining means do not exceed the predetermined number of optical axes, the predetermined axis adjacent to the continuous light shielding area is the optical axis. First recognition means for determining that the vehicle is located within,
In continuous light emitting / receiving scan operation,
A second recognizing unit that determines that the vehicle is positioned within the optical axis for a non-continuous region positioned within a predetermined range with respect to a region determined to be a vehicle by another continuous light projecting and receiving scan operation;
The first recognition unit and the second recognition unit recognize the shape of the vehicle based on an area where the vehicle is determined to be located.

  A plurality of light projecting elements are arranged side by side in the vertical direction of the vehicle, and a plurality of light receiving elements are disposed opposite to the plurality of light projecting elements and constitute a plurality of optical axes with the light projecting elements. And a light receiving element corresponding to each light projecting element in synchronism with the light projecting operation of each light projecting element. Based on the light receiving signal level of the light receiving element validated by the control means for repeating the light projecting / receiving light scanning operation for validating the output light receiving signal, and the corresponding light receiving element. Determining means for determining whether or not the optical axis generated between the light projecting elements is in a light shielding state, storage means for storing a scan position of the optical axis determined by the determining means, the vehicle, and the projector And the receiver Vehicle shape recognition device comprising: vehicle shape recognition means for recognizing the shape of the vehicle based on a determination result of the determination means when the vehicle moves relatively along the longitudinal direction of the vehicle. A sensitivity setting means for setting the detection sensitivity of the optical axis every predetermined number of optical axes to be different from the detection sensitivity of the other optical axes, and the vehicle shape recognition means is provided for each of the light projection / reception scanning operations. For the continuous light-blocking regions in which the optical axis determined to be in the light-blocking state by the determination means continues for a number exceeding the predetermined number of optical axes, it is determined that the vehicle is located within those optical axes, and the determination means enters For continuous light incident regions where the number of optical axes determined to be in the optical state continues for a number exceeding the predetermined number of optical axes, it is determined that the vehicle is not located within those optical axes, and the incident light is input by the determination means. Among the non-continuous areas where the optical axes determined to be in the state or the light-shielding state do not continue by the number exceeding the predetermined optical axis number, the predetermined area adjacent to the continuous light-shielding area is determined that the vehicle is positioned within the optical axis. In the first recognition unit that stores the determination result and the scan position in the storage unit, and in the light projection / reception scan operation that is continuous with the light projection / reception scan operation, the vehicle is determined as another continuous light projection / reception scan operation. For a non-continuous area located within a predetermined range with respect to the area, it is determined that the vehicle is positioned within the optical axis, and the vehicle shape recognition comprising the second recognition means for storing the determination result and the scan position in the storage means It may be configured as a device. Note that the scan position is, for example, information in which an X axis (left and right) direction and a Y axis (up and down) direction of the optical axis, or an area other than the optical axis, where light is incident or shielded is specified. Well, for example, the position of the light projecting element and the light receiving element in the projector and the light receiver in the X-axis direction and the Y-axis direction. If the scan position is stored, for example, the optical axis is formed obliquely. Even in the case where the position of the optical axis in the Y-axis direction does not necessarily match the position of the light projecting element or the light receiving element in the Y-axis direction, it is possible to specify a region where light is incident or shielded.

According to a second aspect of the present invention, there is provided the storage unit according to the first aspect, wherein the storage unit stores an area where the vehicle is determined to be located for each of the light projecting / receiving light scanning operations.
For each of the light projecting / receiving light scanning operations, a specifying unit for specifying an upper end portion and a lower end portion of an area stored in the storage unit is provided.
The vehicle shape recognizing means connects the upper end portion and the lower end portion specified by the specifying means for each of the light projecting / receiving light scanning operations by connecting the upper end portions and the lower end portions in a continuous light projecting / receiving light scanning operation. It is characterized by recognizing the shape of the vehicle.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, a predetermined number of scan operations performed between the start of movement and the end of relative movement between the vehicle, the projector, and the light receiver are performed. The present invention is characterized in that it includes an abnormal state determination unit that determines that the state is abnormal when all of the discontinuous regions are detected.

According to a fourth aspect of the present invention, there is provided the method according to any one of the first to third aspects, wherein the sensitivity setting means is disposed in at least one of the projector and the light receiver, and the plurality of optical axes. Having a light shielding member that at least partially blocks the optical axis,
The light shielding member is characterized in that the light shielding area of the optical axis every predetermined number of optical axes is configured to be different from the light shielding area of the other optical axes.

  The invention of claim 5 is characterized in that, in the invention of claim 4, a light-transmitting front cover having a flat surface is provided on the front surface of the light shielding member.

  The invention of claim 6 is characterized in that, in any one of claims 1 to 5, the predetermined optical axis is set every other optical axis.

The invention of claim 7 is a car wash machine that moves relative to the vehicle in the front-rear direction and is equipped with a cleaning brush that can be moved up and down.
A vehicle shape recognition device according to any one of claims 1 to 6 is provided, and the raising and lowering control of the cleaning brush is performed based on a vehicle shape recognition result by the vehicle shape recognition device.

The invention according to claim 8 is a projector in which a plurality of light projecting elements are arranged side by side in a vertical direction of a vehicle, and is disposed to face the plurality of light projecting elements, and constitutes the light projecting elements and a plurality of optical axes. A light receiving device including a plurality of light receiving elements, and causing each light projecting element to sequentially perform a light projecting operation at a predetermined timing, and in synchronization with the light projecting operation of each light projecting element, Based on the light receiving signal level of the light receiving element validated by the control means for repeating the light projecting / receiving light scanning operation for validating the light receiving signal output from the corresponding light receiving element, this activated light receiving element Determination means for determining whether or not the optical axis generated between the light projecting element and the corresponding light projecting element is in a light-shielding state, and the detection sensitivity of the optical axis for every predetermined number of optical axes in the plurality of optical axes Differ from the sensitivity of other optical axes. Allowed multi-optical axis photoelectric sensor can be set to is connected, an input means for inputting a judgment result of said judging means from said multi-optical axis photoelectric sensor,
Vehicle shape recognition means for recognizing the shape of the vehicle by relatively moving the vehicle, the projector and the light receiver along the longitudinal direction of the vehicle based on the determination result input by the input means; A sensor controller comprising:
The vehicle shape recognition means
For each light emitting / receiving scan operation,
For continuous light shielding regions in which the number of optical axes determined to be in a light shielding state by the determining means exceeds the predetermined number of optical axes, it is determined that the vehicle is positioned within those optical axes,
For continuous light incident areas where the optical axis determined to be in the light incident state by the determination means continues for a number exceeding the predetermined optical axis number, it is determined that the vehicle is not located within those optical axes,
Further, among the non-continuous areas in which the optical axes determined to be in the light incident state or the light shielding state by the determining means do not exceed the predetermined number of optical axes, the predetermined axis adjacent to the continuous light shielding area is the optical axis. First recognition means for determining that the vehicle is located within,
In continuous light emitting / receiving scan operation,
A second recognizing unit that determines that the vehicle is positioned within the optical axis for a non-continuous region positioned within a predetermined range with respect to a region determined to be a vehicle by another continuous light projecting and receiving scan operation;
The first recognition unit and the second recognition unit recognize the shape of the vehicle based on an area where the vehicle is determined to be located.

The invention according to claim 9 is the storage device according to claim 8, wherein the storage unit stores an area where the vehicle is determined to be located for each of the light projection / reception scan operations.
For each of the light projecting / receiving light scanning operations, a specifying unit for specifying an upper end portion and a lower end portion of an area stored in the storage unit is provided.
The vehicle shape recognizing means connects the upper end portion and the lower end portion specified by the specifying means for each of the light projecting / receiving light scanning operations by connecting the upper end portions and the lower end portions in a continuous light projecting / receiving light scanning operation. It is characterized by recognizing the shape of the vehicle.

<Invention of Claims 1 and 8>
According to this configuration, since the detection sensitivities of the optical axes every predetermined number of optical axes are different from the detection sensitivities of the other optical axes in a plurality of optical axes, the incident light continuously exceeds the predetermined number of optical axes. Alternatively, it is possible to determine that a non-continuous region where light is not shielded is a minute portion or the like (antenna or the like) of a vehicle that shields only the optical axis having a weak detection sensitivity.
Here, the objects in the non-continuous area include minute objects such as water droplets, mud and the like in addition to minute parts (antennas etc.) connected to the vehicle as a part of the vehicle. The minute part as a part should be connected to the vehicle (continuous light shielding region) at at least one place. Accordingly, it is possible to determine that a region adjacent to the continuous light shielding region that is continuously shielded by the number exceeding the predetermined number of optical axes among the non-continuous regions is a minute portion (vehicle).

By the way, for example, when a minute portion is inclined (for example, an antenna connected to a vehicle in an inclined state), a portion that is not adjacent to a continuous light shielding region (for example, an antenna) The intermediate portion to the tip portion are not determined as a minute portion (vehicle).
Therefore, the second recognizing unit detects a discontinuous region located within a predetermined range with respect to a region determined as a vehicle by another continuous light projecting / receiving light scanning operation in the light projecting / receiving light scanning operation. Therefore, even a portion that is not adjacent to the continuous light shielding region can be determined as a minute portion (vehicle), and the vehicle shape can be reliably recognized without being affected by noise or the like.

<Invention of Claims 2 and 9>
According to this configuration, the overall shape of the vehicle can be reliably recognized.

<Invention of Claim 3>
When the optical axis is blocked by an adhering substance such as water droplets, there is a possibility that the vehicle is erroneously determined due to the light blocking. Here, an adhering substance such as a water droplet tends to block the same optical axis for a long time, but a minute object attached to the vehicle such as an antenna does not block the light with relative movement of the vehicle. For this reason, it is difficult to conceal the same optical axis for a long time. Therefore, according to this configuration, when the non-continuous region is detected by all of the predetermined number of scanning operations by the abnormal state determination unit, it is determined that the state is abnormal. By removing, normal vehicle shape recognition becomes possible.

<Invention of Claim 4>
According to this configuration, the sensitivity setting can be realized by changing the light shielding area of the light shielding member, and when detecting the minute part of the vehicle, it can be adjusted to the amount of received light necessary to detect the minute part. Compared to other sensitivity setting methods (variable gain, variable reference level, etc.), the S / N ratio can be improved, and stable detection can be realized.

<Invention of Claim 5>
According to this configuration, even in an environment where objects such as water droplets and mud easily adhere to the vehicle shape recognition device, the front cover having a flat surface is provided on the front surface. Can be done easily and maintenance work can be simplified.

<Invention of Claim 6>
According to this configuration, since it is possible to distinguish between a vehicle and a non-vehicle every other optical axis, it is possible to improve the accuracy of shape recognition for a minute portion such as an antenna.

<Invention of Claim 7>
According to this configuration, since the vehicle shape recognition device is provided in the car wash machine, it is possible to recognize the shape of the vehicle with high accuracy without being affected by noise such as water droplets. Accordingly, the vehicle can be reliably prevented from being damaged by the collision of the cleaning brush with a minute portion or the like by accurately performing the elevation control.

<Embodiment 1>
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 9.
The car wash machine 1 according to the present embodiment moves the washing brush up and down in accordance with the displacement of the upper surface shape of the vehicle W while the car wash machine body 2 relatively moves in the front-rear direction with respect to the vehicle W to be cleaned. It has become. In this specification, the front-rear direction means the backward and forward directions of the vehicle W, which is the X-axis direction, and the vertical direction of the vehicle W is the Y-axis direction (see FIG. 9). Here, the front side of the vehicle W is configured to relatively enter the rear side of the car wash machine 1 during the car wash, and the front-rear direction of the vehicle W and the front-rear direction of the car wash machine 1 are reversed. . The approach direction of the vehicle W may be reversed.

(1) Structure of Car Wash Machine As shown in FIG. 1, the car wash machine main body 2 has a pair of leg portions 2a, 2a arranged so as to sandwich the vehicle W between the left and right during car wash and a connecting portion for connecting the upper ends thereof. 2b, and has a portal shape as a whole. A light projector 32 and a light receiver 33 are provided opposite to each other on the rear end side (the back side of the paper surface in FIG. 1 and the right side of the paper surface in FIG. 2) of the pair of leg portions 2a and 2a. Specifically, a light projector 32 in which a plurality of light projecting elements 11 are arranged at predetermined intervals in the vertical direction is provided on the rear end side on the inner surface side of the leg portion 2a on the left side of FIG. A light receiver in which a light receiving element 12 corresponding to the light projecting element 11 is arranged on the rear end side on the inner surface side of the right leg 2a so as to face each of the light projecting elements 11 at the same height. 33 is provided (only the projector 32 side is shown in FIG. 2). The projector 32 and the light receiver 33 are components of a vehicle shape recognition device 13 (see FIG. 3) described later. Here, the number of the light projecting elements 11 and the light receiving elements 12 is eight, but this is a conceptual illustration of a plurality of elements, and the numbers and arrangement intervals are exemplified in FIGS. 7 and 8. Various settings can be made. Further, an input means (keyboard 7) for performing setting of car wash contents, input operation for starting car wash, and the like is provided on the front surface of one leg 2a (right leg 2a in FIG. 1).

  Further, as shown in FIG. 2, a pair of rails L, L arranged in parallel along the front-rear direction of the vehicle W is laid below the both leg portions 2 a, 2 a. A pair of traveling wheels 8, 8 arranged in the front-rear direction are provided at the lower part of each leg 2 a, and the front traveling wheels 8 are rotated by a moving motor (not shown). On the other hand, corresponding to the rear traveling wheel 8, an encoder 9 is provided for detecting the traveling position of the car wash machine body 2 by outputting a pulse signal P every unit angle rotation. These traveling wheels 8 and 8 are arranged on the rails L and L installed on the site so that the car wash machine body 2 can move relative to the vehicle W in the front-rear direction.

  Next, as shown in FIG. 2, a plurality of cleaning nozzles 3 for injecting a cleaning liquid such as water, shampoo, and wax are provided in the vertical direction in front of the projector 32 and the light receiver 33 on the inner surface side of each leg 2 a. A pair of cleaning units arranged side by side are provided in a state of facing each other. Further, guide grooves 5 and 5 extending in the vertical direction are provided in front of the cleaning unit on the inner surfaces of both legs 2a and 2a, respectively, and support passing through the center of the columnar top brush 6 for cleaning the upper surface of the vehicle W. Both ends of the shaft are moved up and down along the guide grooves 5 and 5 by a lifting motor 31 (see FIG. 3) described later.

  Further, in front of the guide grooves 5 and 5, a pair of left and right side brushes 4 (FIG. 2) are provided so as to be rotatable about a shaft (not shown) in the vertical direction as a rotation center. 2, an example of one side brush 4 is provided.

(2) Control of Car Wash Machine As shown in FIG. 3, a start signal output by performing an input operation for starting a car wash with the keyboard 7 and a vehicle height signal T (in the Y-axis direction) from the vehicle shape recognition device 13 A signal related to the position) and a pulse signal P (signal related to the position in the X-axis direction) from the encoder 9 are input to the control device 21. The storage unit 22 stores in advance a horizontal distance X between the vehicle shape recognition device 13 (the projector 32 and the light receiver 33) and the top brush 6. And the control apparatus 21 outputs a raising / lowering signal to the raising / lowering motor 31 which raises / lowers the support shaft of the top brush 6 based on this distance X, the vehicle height signal T, and the pulse signal P. FIG. Further, based on a start signal from the keyboard 7, drive signals are output to the cleaning nozzle 3, the top brush 6 and the side brush 4.

(3) Configuration of Vehicle Shape Recognition Device The vehicle shape recognition device 13 includes a multi-optical axis photoelectric sensor 30 as shown in FIG. A projector 32 having a plurality of light projecting elements 11 arranged side by side and a plurality of light receiving elements 12 arranged to face the light projecting elements 11 constitute a plurality of optical axes with the light projecting element 11. And a light receiving device 33 for sequentially projecting the light projecting elements 11 based on a predetermined timing and outputting light from the corresponding light receiving elements 12 in synchronization with the light projecting operation of the light projecting elements 11. A light receiving side CPU 19 (corresponding to the “control means” of the present invention) for performing a light projecting / receiving light scanning operation for enabling a signal is provided.

  Then, the light receiving side CPU 19 repeatedly performs the light projecting / receiving light scanning operation of all the light projecting / receiving elements 11, 12 every predetermined time (or a predetermined movement distance in the X-axis direction). In FIG. 4, the number of optical axes is exemplified for the sake of explanation, but naturally the number of optical axes can be increased.

  The light receiving side CPU 19 blocks the optical axis generated between the activated light receiving element 12 and the light projecting element 11 disposed opposite thereto based on the light reception signal level of the activated light receiving element 12. It is only necessary to determine whether or not it is in a state, and this determination result and the optical axis (information other than the optical axis can be used to identify a region where light is incident or blocked, for example, the optical axis is formed obliquely. In the case where the position of the light axis in the Y-axis direction and the position of the light projecting element 11 or the light receiving element 12 in the Y axis direction do not always coincide with each other, the position of the light projecting element 11 or the light receiving element 12 or the like. (Good) in the X-axis direction and the Y-axis direction are stored in the storage means 22.

  Then, the light receiving side CPU 19 reads out the determination result and the positions (vehicle heights) of the optical axis of the multi-optical axis photoelectric sensor 30 in the X-axis direction and the Y-axis direction from the storage means 22, and the light projector 32, the light receiver 33 and the vehicle W. And the shape of the vehicle W are recognized based on the determination result when the relative movement is made along the longitudinal direction of the vehicle W and the optical axis position. Therefore, the light receiving side CPU 19 also functions as the “determination means and vehicle shape recognition means” of the present invention.

  Further, the vehicle shape recognition device 13 has a plurality of optical axes that are vertically arranged between the plurality of light projecting elements 11 and the plurality of light receiving elements 12, and detects the optical axis detection sensitivity for every predetermined number of optical axes. Sensitivity setting means for setting differently from the detection sensitivity of the optical axis other than the above is provided. In this embodiment, the light shielding member 41 shown in FIG. 5 functions as sensitivity setting means.

  The light shielding member 41 functions as an incident light amount setting means for setting an incident light amount to the light receiving element 12, and is disposed in at least one of the light projector 32 and the light receiver 33 and at least of the plurality of optical axes. A part of the optical axis is configured to be partially blocked. The light shielding member 41 can be configured so that the light shielding area of every predetermined number of optical axes is different from the light shielding area of the other optical axes. In the present embodiment, the light shielding area for every optical axis in a plurality of optical axes. Are different. The light shielding member 41 includes a plurality of openings 42 corresponding to the respective light receiving elements 12, and the openings 42 have a small diameter opening 42B with a small diameter and a large diameter as shown in FIG. Large diameter openings 42A are alternately arranged.

  As conceptually shown in FIG. 6, a light-transmitting front cover 50 having a flat surface (that is, an outer surface facing the vehicle W) is provided on the front side of the light shielding member 41. The front cover 50 can be configured as a separate member from the light shielding portion 41A of the light shielding member 41, for example, as shown in FIG. Specifically, for example, the front cover 50 may be arranged at a position away from the light shielding part 41A of the light shielding member 41, or the light shielding part 41A of the light shielding member 41 and the front cover 50 may be arranged in contact with each other. In this case, the front cover 50 may be configured to be detachable from the light shielding portion 41A. Further, as shown in FIG. 6B, the light shielding portion 41A may be integrated. As a method of integrally configuring, there is a method in which the light shielding part 41A and the front cover 50 are integrally molded, or a method of fixing the light shielding part 41A with an adhesive, welding, or other fixing means.

Next, the electrical configuration will be described.
As shown in FIG. 4, drive circuits 15 a to 15 d for lighting the plurality of light projecting elements 11 (11 a to 11 d in FIG. 4) are provided on the light projecting side, and each of the drive circuits 15 a to 15 d is provided. When the output signals P1 to P4 from the AND circuits 16a to 16d are received, drive currents are supplied to the light projecting elements 11a to 11d connected thereto. Each of the AND circuits 16a to 16d has one input terminal connected to the light projecting side CPU 18, and a light projecting timing signal P0 sequentially output from the light projecting side CPU 18 at a predetermined timing (hereinafter referred to as "light projecting timing"). Is entered. The other input terminal is connected to each of the four output terminals of the shift register 17. Each time the shift register 17 receives the shift signal S0 from the light-projecting CPU 18, the shift register 17 switches the output terminal to output the signal, and sequentially applies the shift output signal S1 (S2, S3, S4) to the AND circuits 16a to 16d. Works like this.

  With the above configuration, when both input terminals of the AND circuits 16a to 16d simultaneously receive the light projection timing signal P0 and the shift output signal S1 (S2, S3, S4), the corresponding drive circuits 15a to 15a. The output signals P1 to P4 are given to 15d, and the light projecting elements 11a to 11d connected thereto are caused to perform the light projecting operation.

  On the other hand, on the light receiving side, light receiving circuits 27a to 27d that amplify the respective signals from the light receiving elements 12a to 12d and output light receiving signals E1 to E4 corresponding to the amount of received light are provided. Outputs of the light receiving circuits 27a to 27d are commonly connected to signal lines via switch elements 26a to 26d, and the signal lines are connected to the input side of the comparator 28. The switch elements 26a to 26d are turned on by receiving the output signals G1 to G4 from the AND circuits 25a to 25d, respectively, and validate the light reception signals E1 to E4 from the light reception circuits 27a to 27d.

  Each of the AND circuits 25a to 25d has one input terminal connected to the light receiving side CPU 19 and inputs a light receiving timing signal G0 sequentially output from the light receiving side CPU 19 at a predetermined timing (hereinafter referred to as “light receiving timing”). The other input terminal is connected to each of the four output terminals of the shift register 24. Each time the shift register 24 receives the shift signal T0 from the light receiving side CPU 19, it switches the output terminal to output the signal and applies the shift output signal T1 (T2, T3, T4) to the AND circuits 25a to 25d in order. Operate.

  With the configuration as described above, when both input terminals of the AND times 25a to 25d simultaneously receive the light reception timing signal G0 and the shift output signal T1 (T2, T3, T4), the light reception circuits 27a to 27d corresponding thereto. The light reception signal E1 (E2, E3, E4) from is sequentially supplied to the comparator 28. The comparator 28 compares the received light reception signals E1 to E4 with a predetermined reference value set in advance, and outputs a light incident detection signal (high level) to the light receiving side CPU 19 when the reference value is exceeded.

(4) Processing and Operation of Vehicle Shape Recognition Device The vehicle shape recognition device 13 performs a light projection / reception scan operation sequentially performed on the plurality of light projection / reception elements 11 and 12 together with a relative movement with respect to the vehicle W by a predetermined movement distance (time). ) Repeatedly, the determination result of the light incident state or the light shielding state determined by the light receiving side CPU 19 and the optical axis (or information specifying the light incident or light shielding region) in the X axis direction and the Y axis direction. The position is stored in the storage means 22.

  Then, the vehicle shape recognition device 13 determines the light incident state or the light blocking state determination result and the position of the optical axis (information for specifying the light blocking region) in the X axis (front-rear) direction and the Y axis (vehicle height) direction. Is read from the storage means 22, and the number of optical axes determined to be in a light-shielding state by the light receiving side CPU 19 based on the read determination result and the optical axis position (here, one optical axis) exceeds the number (here, one optical axis). A continuous light shielding area P that is continuous by two or more optical axes) is determined to be a vehicle W (see FIG. 8).

  The light receiving side CPU 19 specifies the upper end and the lower end of the continuous light-shielding region P for each light projecting / receiving scan operation, and uses the specified upper end and lower end as the upper end in the continuous light projecting / receiving scan operation. The parts are joined to each other and to the lower ends. Therefore, the light receiving side CPU 19 corresponds to the “specifying means” of the present invention.

  Thereby, even if a part of the vehicle W has a special shape or the like and a space is generated above and below the vehicle by such a part, the upper end and the lower end of the special shape are specified. It is possible to determine a minute portion, which will be described later, with respect to the discontinuous regions generated above and below the portion, and to reliably recognize the entire shape of the vehicle W.

  On the other hand, the continuous light incident region R in which the number of optical axes determined to be in the light incident state by the light receiving side CPU 19 exceeds the predetermined number of optical axes (here, two or more optical axes) is determined as a non-vehicle (space). To do.

  Here, the light receiving side CPU 19 is not continuous with the predetermined number of optical axes (in this embodiment, two or more optical axes) where the optical axis determined to be in the light shielding state or the incident light state is not based on the read determination result and the optical axis position. For the regions (that is, the regions Q1 to Q3, S in which the incident light ◯ and the light shielding × in FIG. 8 are alternately repeated), the vehicle or non-vehicle is determined by performing the following processing.

  The light-receiving side CPU 19 shows a non-continuous area in which the light incident ○ and the light shielding x are alternately repeated (however, if the light incident or light shielding is not continuous for two optical axes, the area including only one optical axis is also included in FIG. ), As shown in FIG. 8A, when the discontinuous region is adjacent to the continuous light shielding region P, that is, the position of the optical axis at the end (upper end) of the discontinuous region during one scan operation is continuous. When the position of the light axis is adjacent to the position of the optical axis at the end (lower end) of the light shielding area P (the area determined as the vehicle), the discontinuous area Q1 is a vehicle (the vehicle in the optical axis is located). Judgment (corresponding to "first recognition means" of the present invention).

  Next, the light receiving side CPU 19 determines that the position of the optical axis of the non-continuous area in the next light projecting / receiving light scanning operation (continuous light projecting / receiving light scanning operation) is as shown in FIGS. Among the non-continuous areas in the (other) light projection / reception scan operation, the second optical axis corresponds to the second optical axis from the position of the optical axis in the area Q1 determined to be a vehicle (an optical axis having the same sensitivity in the present invention). (The range up to the nearest optical axis) in the case of the discontinuous area Q2 of the optical axis position of the second optical axis in the next light projection / reception scanning operation (vehicle in the optical axis is located) (Corresponding to “second recognition means” of the present invention). Note that the continuous light projection / reception scan operation may not be the next light projection / reception scan operation. For example, in the light projection / reception scan operation up to a predetermined number of times (a plurality of times), the discontinuous region determined as the vehicle. When there is a discontinuous area Q2 adjacent to Q1, the area may be determined as a vehicle.

  Further, the light receiving side CPU 19 indicates that the position of the optical axis in the non-continuous area in the next light projecting / receiving light scanning operation (continuous light projecting / receiving light scanning operation) is as shown in FIGS. 7 (C) and 8 (C). It corresponds to the second optical axis from the position of the optical axis of the region Q2 determined to be a vehicle among the discontinuous regions in the previous light projection / reception scan operation (the “predetermined range” of the present invention. In the case of the range up to the optical axis), the discontinuous area Q3 of the position of the optical axis of the second optical axis in the next light projection / reception scan operation is determined as a vehicle (in the “second recognition means” of the present invention). Equivalent).

  The above processing is continued until the non-continuous area in the next light projection / reception scan operation (or the light projection / reception scan operation within a predetermined number of times) is determined not to be a vehicle. And about the area | region S which is not determined with the said operation | movement among the non-continuous area | regions, a non-vehicle determination is carried out as noise (water droplet etc.). When a minute object is detected again, the same processing as described above is performed.

  Here, when the above-described processing is performed in a state where noise (water droplets or the like) is generated in a region adjacent to the region determined to be a vehicle, such a water droplet or the like may be erroneously detected as an antenna or the like. Therefore, the light receiving side CPU 19 performs all the light projecting / receiving light scanning operations among the light projecting / receiving light scanning operations performed before and after the vehicle W (from the start to the end of the relative movement between the vehicle W, the projector, and the light receiver). (Or all light emitting / receiving scanning operations within a predetermined number of times (time)), when it is determined that the region is a non-continuous region, it is determined that there is an abnormal state with water droplets or the like attached, and an external display means (not shown) or the like To display.

  As a result, adhering substances such as water droplets are likely to shield the same optical axis for a long time, while minute objects attached to the vehicle W such as an antenna are shielded with relative movement of the vehicle W. Since it is difficult to shield the same optical axis for a long time, it is possible to recognize a normal vehicle shape by removing water droplets or the like when it is determined as an abnormal state. Therefore, the light receiving side CPU 19 corresponds to the “abnormal state determining means” of the present invention.

The sensitivity of the multi-optical axis photoelectric sensor 30 is adjusted as follows. That is, for a plurality of optical axes, the sensitivity of each optical axis, the extension part detectable sensitivity that can detect the extension part of the antenna, carrier, etc. extended from the vehicle body, and the extension part cannot be detected. The sensitivity is set to any one of the undetectable sensitivities.
Specifically, the sensitivity is set such that the sensitivity of the extension portion detectable sensitivity or the extension portion undetectable sensitivity is set with regularity every predetermined number of optical axes. Here, in the large-diameter opening portion 42A, the sensitivity is set as the undetectable sensitivity of the extension portion (adjustment of the opening area), while in the small-diameter opening portion 42B, it is set as the sensitivity of the detection of the extension portion (adjustment of the opening area). ) For example, the extension part detectable sensitivity can be a sensitivity that an antenna extending from the vehicle body can be detected, while the extension part undetectable sensitivity can be set as a sensitivity that the antenna cannot detect. it can. As a result, as shown in FIG. 5B, when the extension portion (in this case, the antenna 60) is detected, the light-shielded portion and the non-light-shielded portion are alternately generated, which is different from the vehicle main body region. This is a detection result pattern.

(5) Operation of Entire Car Wash Machine Next, the operation of the entire car wash machine 1 will be described with reference to FIGS. 3 and 9.
First, when the vehicle W is stopped between the pair of rails L, L, the content of the car wash is selected with the keyboard 7 and the start operation of the washing is performed, the top brush 6 at the initial position in FIG. 9 rotates. At the same time, the car wash machine body 2 is driven backward (in the direction of the white arrow in the figure). And the control apparatus 21 which received the pulse signal P output from the encoder 9 with the movement of the car wash machine main body 2 detects the position of the vehicle shape recognition apparatus 13 based on this pulse signal P.

  And if the car wash machine main body 2 moves backward as it is and the projector 32 and the light receiver 33 come to a position sandwiching the bonnet part of the vehicle W, it is determined that the hood part is in a light-shielded state from the bottom to a certain height, and above it. The optical axis is determined to be in the incident state. The light receiving side CPU 19 of the vehicle shape recognition device 13 sequentially determines the presence or absence of a light incident detection signal from the comparator 28 in synchronization with the light receiving timing (determines the high / low level of the output signal from the comparator 28). Thus, it is determined whether or not each optical axis is in a light incident state, and the height of the bonnet portion of the vehicle W can be known from the determination result, and a vehicle height signal T corresponding to the height is given to the control device 21.

  The control device 21 reads the vehicle height signal T from the vehicle shape recognition device 13 and the pulse signal P from the encoder 9 at the traveling position at that time, and associates the vehicle height signal T with the vehicle height signal T at this time. The travel position of the machine body 2 is stored in the storage means 22. Then, when the car wash machine body 2 moves backward from the travel position stored in the storage means 22 by a distance X (the horizontal distance between the vehicle shape recognition device 13 (light projector 32 and light receiver 33) and the top brush 6). A lift signal corresponding to the stored vehicle height signal T is given to the lift motor 31. Accordingly, the top brush 6 is moved so as to be positioned at the height of the hood portion of the vehicle W (position B3 in FIG. 9).

  Similarly, when the light projector 32 and the light receiver 33 come to a position sandwiching the roof portion of the vehicle W, the optical axis below the height of the roof portion is determined to be in a light-shielding state, and the optical axis above that is the light incident state. The vehicle height signal T corresponding to the height of the roof portion based on the determination result is given to the control device 21. Then, when the car wash machine body 2 moves backward by a distance X from that time point, a lift signal corresponding to the vehicle height signal T (signal corresponding to the height of the roof portion) is given to the lift motor 31, and the top brush 6 is moved. The vehicle W is moved to the height of the roof portion (position B4 in FIG. 9). Thereafter, the top brush 6 is similarly moved to the height of the rear end (position B5 in FIG. 9) for the rear end of the vehicle W.

  Then, when the car wash machine main body 2 further moves backward and the projector 32 and the light receiver 33 come out to the rear of the vehicle W, all the optical axes M and N enter the light incident state. Therefore, for example, on the condition that all the optical axes are in the light incident state for a predetermined time, the car wash machine main body 2 is temporarily stopped when the car wash machine main body 2 further moves backward by the distance X from that time point. And the car-washing machine main body 2 moves forward this time and performs the operation | movement contrary to the above-mentioned series of operation | movement. When the car wash machine main body 2 returns to the initial position, the car wash machine main body 2 stops and the car wash tools such as the top brush 6 and the side brush 4 also return to the initial position.

(6) Effects of the present embodiment According to the present embodiment, the detection sensitivity of the optical axis every other optical axis (predetermined number of optical axes) is different from the detection sensitivity of the other optical axes. A non-continuous area where light is not continuously incident or blocked by a number exceeding the predetermined number of optical axes) is determined to be a minute part or the like (antenna or the like) of the vehicle W that blocks only the optical axis with weak detection sensitivity. can do.
Here, the objects in the non-continuous region include, in addition to a minute part (antenna etc.) connected to the vehicle W as a part of the vehicle W, a minute object as noise consisting of water droplets, mud, etc. The antenna 60 (a minute portion) as a part of the vehicle W should be connected to the vehicle W (continuous light shielding region) at at least one location. Therefore, in the non-continuous region, the region adjacent to the vehicle W (continuous light shielding region) can be determined as a minute portion (vehicle W) by the light receiving side CPU 19 (first recognition means).

By the way, for example, in the case where the minute portion is the inclined antenna 60, the portion that is not adjacent to the continuous light shielding region (for example, from the intermediate portion to the tip portion of the antenna 60) in the discontinuous region in the light projection / reception scan operation, The minute portion (vehicle W) is not determined.
Therefore, in the next (consecutive light projecting / receiving scan operation) by the light receiving side CPU 19 (second recognition means), the area determined as the vehicle W in the previous (other continuous light emitting / receiving scan operation). Since the non-continuous area located within the predetermined range is determined as the vehicle W, the first recognition means determines that the vehicle W is not adjacent to the continuous light-shielding area during the same light projection / reception scan operation. A portion that is not determined can also be determined as the vehicle W, and the vehicle shape can be reliably recognized without being affected by noise or the like.

Second Embodiment
In the second embodiment, a light shielding member 41 having a configuration different from that of the first embodiment will be described. In the example of FIG. 10, the shape of the light shielding member 41 is set so that the detection sensitivity differs every two optical axes. Here, the small-diameter opening 42B for two optical axes continues adjacent to the large-diameter opening 42A. The detection sensitivity is not limited to this, and the detection sensitivity may be varied every three optical axes or more. Further, the detection accuracy may be increased every predetermined number of optical axes (that is, small-diameter openings 42B are arranged every predetermined number of optical axes (every two optical axes or every three optical axes or more). May be configured as above).

  Moreover, in FIG. 11, the thing of opening shapes other than circular shape is illustrated, and the large diameter opening part 42A and the small diameter opening part 42B which consist of rectangular shapes are provided. As shown in FIGS. 12A and 12B, the large-diameter opening 42A and the small-diameter opening 42B may be configured continuously. Even in the case where the openings 42 are continuous in this way, the shape of the openings 42 can be various, such as a circle or a substantially circle (see FIG. 12A), a rectangle or a substantially rectangle (see FIG. 12B). Can be configured.

<Third Embodiment>
In the above embodiment, the configuration in which the amount of incident light on the light receiving element 12 is set using the light blocking member 41 is exemplified, but a light projection amount setting unit may be provided. For example, in the plurality of light projecting elements 11, it is possible to set the light projection amount from the light projecting elements 11 every predetermined number of optical axes to be different from the light projecting amounts from the other light projecting elements 11. In this case, in the drive circuit 15a to the drive circuit 15d shown in FIG. 4, it is possible to adjust the power so that the light projection amount every predetermined number of optical axes is different from the light projection amounts of other optical axes.

<Fourth embodiment>
In the first to third embodiments, the detection sensitivity is set so as to vary the incident amount. However, the detection sensitivity may be varied so as to set a signal processing condition for the light reception signal of the light receiving element. That is, in the plurality of light receiving elements 12, signal processing condition setting means is provided for making the signal processing conditions for the light receiving signals of the light receiving elements 12 every predetermined number of optical axes different from the signal processing conditions for the other light receiving elements 12. Also good.

  For example, as shown in FIG. 13, the reference level used for the light-shielding determination in the received light signal every predetermined number of optical axes (here, every other optical axis) is set to be different from the reference level used for the other received light signals. be able to. Specifically, the light reception signal for every optical axis is determined based on the first reference level in the comparator 28A, and the light reception signals for other optical axes are determined based on the second reference level in the comparator 28B. It has become. Here, the comparators 28A and 28B function as reference level setting means. In this case, the reference level setting means serves as signal processing condition setting means.

  Further, it may be configured to include an amplification factor setting means for setting the amplification factors of the received light signals every predetermined number of optical axes to be different from the amplification factors of the other received light signals. Specifically, the light receiving circuits 27a to 27d can be configured such that the amplification factor for every predetermined number of optical axes (for example, the amplification factor for every other optical axis) is different from the amplification factors for the other optical axes. In this case, the amplification factor setting means serves as a signal processing condition setting means.

<Other embodiments>
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention, and further, within the scope not departing from the gist of the invention other than the following. Various modifications can be made.

  (1) In the above-described embodiment, the vehicle washing operation is performed while recognizing the vehicle shape. However, the present invention is not limited to this, and the vehicle washing machine body 2 is temporarily moved across the vehicle W without washing the vehicle. After the shape is recognized, the car wash operation may be started based on the stored vehicle shape.

  (2) A sensor controller (not shown) is connected to the vehicle shape recognition device (multi-optical axis photoelectric sensor), and this sensor controller causes the vehicle shape recognition device (multi-optical axis photoelectric sensor) to start a light projection / reception scan operation. Transmitting means (not shown) for transmitting the signal, receiving means (not shown) for receiving the determination result of the light receiving side CPU 19 (determination means) from the vehicle shape recognition device (multi-optical axis photoelectric sensor) in synchronization with the transmission means, Based on the determination result received by the receiving means, the vehicle shape recognizing means (e.g., CPU (illustrated)) recognizes the shape of the vehicle by relatively moving the vehicle, the projector and the light receiver along the longitudinal direction of the vehicle. No))). In this way, the external sensor controller can start the operation and receive the determination result, and the sensor controller can recognize the shape of the vehicle.

  (3) In the above-described embodiment, an example in which about eight optical axes are configured has been described. However, the number of optical axes is merely an explanation, and of course, the number of optical axes may be eight or more or less than eight. Good.

  (4) In the above embodiment, the antenna 60 is exemplified as the minute portion, but other antennas may be used. For example, an emblem, a carrier, or another extension may be used.

  (5) In the above embodiment, the light shielding member 41 is disposed on the light receiving element 12 side, but may be disposed on the light projecting element 11 side.

Conceptual diagram conceptually showing the main configuration of a car wash machine from the front Conceptual diagram conceptually showing the main part of a car wash machine from the side Block diagram explaining the control configuration of the car wash machine Block diagram showing electrical configuration of multi-optical axis photoelectric sensor Conceptual diagram for conceptually explaining the shielding member Diagram illustrating the configuration of the front cover The figure which illustrates about the positional relationship in the case of vehicle detection The figure which illustrates about the pattern detected according to the positional relationship of a vehicle Explanatory drawing explaining operation at the time of car wash The figure which illustrates about the light-shielding member which concerns on 2nd Embodiment The figure shown about the structure of the light-shielding member different from FIG. The figure which illustrates about the light-shielding member of the structure where the opening part continued The block diagram which shows the electrical constitution of the multi-optical axis photoelectric sensor which concerns on 4th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Car wash machine 11 (11a-11d) ... Light projecting element 12 (12a-12d) ... Light receiving element 13 ... Vehicle shape recognition apparatus 21 ... Control apparatus 22 ... Memory | storage means 30 ... Multi-optical axis photoelectric sensor 32 ... Light projector 33 ... Light reception 41 ... Light-shielding member 41A ... Light-shielding part 42 (42A, 42B) ... Opening part 50 ... Front cover 60 ... Antenna 19 ... Light-receiving side CPU
P: Continuous light shielding area Q (Q1 to Q3), S: Non-continuous area R: Continuous light incident area W: Vehicle

Claims (9)

A projector in which a plurality of light projecting elements are arranged in the vertical direction of the vehicle;
A light receiver including a plurality of light receiving elements arranged opposite to the plurality of light projecting elements and constituting the light projecting elements and a plurality of optical axes;
Each of the light projecting elements is caused to sequentially perform a light projecting operation at a predetermined timing, and a light receiving signal output from a light receiving element corresponding to each light projecting element is synchronized with the light projecting operation of each of the light projecting elements. Control means for repeating the projecting / receiving light scanning operation to be enabled;
Based on the light reception signal level of the light receiving element activated by the control means, it is determined whether or not the optical axis generated between the activated light receiving element and the corresponding light projecting element is in a light shielding state. Determination means for performing,
Vehicle shape recognition means for recognizing the shape of the vehicle based on a determination result of the determination means when the vehicle, the light projector and the light receiver move relatively along the longitudinal direction of the vehicle. In the vehicle shape recognition device,
Sensitivity setting means for setting the detection sensitivity of the optical axis every predetermined number of optical axes in the plurality of optical axes to be different from the detection sensitivity of the other optical axes,
The vehicle shape recognition means
For each light emitting / receiving scan operation,
For continuous light shielding regions in which the number of optical axes determined to be in a light shielding state by the determining means exceeds the predetermined number of optical axes, it is determined that the vehicle is positioned within those optical axes,
For continuous light incident areas where the optical axis determined to be in the light incident state by the determination means continues for a number exceeding the predetermined optical axis number, it is determined that the vehicle is not located within those optical axes,
Further, among the non-continuous areas in which the optical axes determined to be in the light incident state or the light shielding state by the determining means do not exceed the predetermined number of optical axes, the predetermined axis adjacent to the continuous light shielding area is the optical axis. First recognition means for determining that the vehicle is located within,
In continuous light emitting / receiving scan operation,
A second recognizing unit that determines that the vehicle is positioned within the optical axis for a non-continuous region positioned within a predetermined range with respect to a region determined to be a vehicle by another continuous light projecting and receiving scan operation;
An apparatus for recognizing a vehicle shape, wherein the shape of the vehicle is recognized based on an area where the vehicle is determined to be located by the first recognizing unit and the second recognizing unit. Storage means for storing an area where the vehicle is determined to be located for each light emitting / receiving scan operation;
For each of the light projecting / receiving light scanning operations, a specifying unit for specifying an upper end portion and a lower end portion of an area stored in the storage unit is provided.
The vehicle shape recognizing means connects the upper end portion and the lower end portion specified by the specifying means for each of the light projecting / receiving light scanning operations by connecting the upper end portions and the lower end portions in a continuous light projecting / receiving light scanning operation. 2. The vehicle shape recognition apparatus according to claim 1, wherein the shape of the vehicle is recognized. When the discontinuous region is detected in all of the predetermined number of scanning operations performed between the start and end of relative movement between the vehicle, the projector, and the light receiver, it is determined that the state is abnormal. The vehicle shape recognition apparatus according to claim 1, further comprising an abnormal state determination unit. The sensitivity setting means includes a light blocking member that is disposed in at least one of the projector and the light receiver and partially blocks at least a part of the plurality of optical axes.
4. The light shielding member according to claim 1, wherein the light shielding area of the optical axis every predetermined number of optical axes is configured to be different from the light shielding area of the other optical axes. The vehicle shape recognition apparatus as described. The vehicle shape recognition device according to claim 4, wherein a light-transmitting front cover having a flat surface is provided on a front surface of the light shielding member. 6. The vehicle shape recognition apparatus according to claim 1, wherein the predetermined optical axis is set every other optical axis. A car washing machine that moves relative to the vehicle in the front-rear direction and that has a washing brush that can be moved up and down.
A car wash machine comprising the vehicle shape recognition device according to any one of claims 1 to 6, wherein the raising and lowering control of the washing brush is performed based on a vehicle shape recognition result by the vehicle shape recognition device. A light projector in which a plurality of light projecting elements are arranged side by side in the vertical direction of the vehicle, and a plurality of light receiving elements that are disposed to face the plurality of light projecting elements and constitute a plurality of optical axes with the light projecting elements. The light receiving device and each light projecting element sequentially perform a light projecting operation at a predetermined timing, and are output from the light receiving element corresponding to each light projecting element in synchronization with the light projecting operation of each light projecting element. Based on the light receiving signal level of the light receiving element validated by the control means for repeating the light projecting / receiving scan operation for validating the light receiving signal to be activated, and the corresponding light projecting light Determination means for determining whether or not the optical axis generated between the elements is in a light-shielding state, and the detection sensitivity of the optical axis for every predetermined number of optical axes in the plurality of optical axes is set to other optical axes. Can be set differently from the detection sensitivity of Multi-optical axis photoelectric sensor is connected, an input means for inputting a judgment result of said judging means from said multi-optical axis photoelectric sensor,
Vehicle shape recognition means for recognizing the shape of the vehicle by relatively moving the vehicle, the projector and the light receiver along the longitudinal direction of the vehicle based on the determination result input by the input means; A sensor controller comprising:
The vehicle shape recognition means
For each light emitting / receiving scan operation,
For continuous light shielding regions in which the number of optical axes determined to be in a light shielding state by the determining means exceeds the predetermined number of optical axes, it is determined that the vehicle is positioned within those optical axes,
For continuous light incident areas where the optical axis determined to be in the light incident state by the determination means continues for a number exceeding the predetermined optical axis number, it is determined that the vehicle is not located within those optical axes,
Further, among the non-continuous areas in which the optical axes determined to be in the light incident state or the light shielding state by the determining means do not exceed the predetermined number of optical axes, the predetermined axis adjacent to the continuous light shielding area is the optical axis. First recognition means for determining that the vehicle is located within,
In continuous light emitting / receiving scan operation,
A second recognizing unit that determines that the vehicle is positioned within the optical axis for a non-continuous region positioned within a predetermined range with respect to a region determined to be a vehicle by another continuous light projecting and receiving scan operation;
A sensor controller that recognizes the shape of the vehicle based on an area where the vehicle is determined to be located by the first recognition unit and the second recognition unit. Storage means for storing an area where the vehicle is determined to be located for each light emitting / receiving scan operation;
For each of the light projecting / receiving light scanning operations, a specifying unit for specifying an upper end portion and a lower end portion of an area stored in the storage unit is provided.
The vehicle shape recognizing means connects the upper end portion and the lower end portion specified by the specifying means for each of the light projecting / receiving light scanning operations by connecting the upper end portions and the lower end portions in a continuous light projecting / receiving light scanning operation. The sensor controller according to claim 8, wherein the shape of the vehicle is recognized.

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