JP2013141968A - Vehicle washing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reliably detect the position of the side face of a vehicle body and safely bring a side nozzle into contact with and away from the position, in a vehicle washing machine which detects the position of the side face of an automobile and brings the side nozzle into contact with and away from the position.SOLUTION: The vehicle washing machine includes: a first vehicle width detection part 39 which calculates a distance to the vehicle body side from the opening/closing position and the oscillation angle of a side brush 5; and a second vehicle width detection part 40 which detects a distance to the vehicle body side from the inner surface of a body frame. A vehicle washing control part 36 compares the side face positions of an automobile detected by the first and second detection parts by a relative move of the body frame; controls the side nozzle 7 based on the distance detected by the first vehicle width detection part 39 if the compared difference is a predetermined value or more; and controls the side nozzle 7 based on the distance detected by the second vehicle width detection part 40 if below the predetermined value.

Description

  The present invention relates to a car wash machine that detects the position of a side surface of an automobile and moves a side nozzle toward and away from it.

  As this type of car wash machine, there is known a car wash machine that detects the distance from the position where the side brush contacts the vehicle body to the side of the automobile, and makes the side nozzle contact and separate based on the detected distance (Patent Document 1). In the method of detecting the side position from the movement position of the side brush, the contact state with the vehicle body is not stable due to the movement of reversing the rotation direction of the brush or the repulsion of the brush due to the unevenness of the vehicle body surface, and the detection of the vehicle side surface position is not possible. It becomes stable.

  On the other hand, there is also known a car wash machine in which a plurality of reflective ultrasonic sensors are arranged vertically to measure the distance from the vehicle body side surface by irradiating the vehicle body side surface with ultrasonic waves from the inner surface of the main body frame and reflecting it. (Patent Document 2). In the method of detecting the side surface position with the ultrasonic sensor, the ultrasonic wave is not reflected at the portion where the side surface of the vehicle body is not flat, and the vehicle body side surface position cannot be detected. In addition, the position of the side surface of the vehicle body changes greatly in a partially recessed portion such as a tire house.

  As described above, the detection by the side brush mainly depends on the movement of the brush, and the detection by the ultrasonic sensor mainly depends on the shape of the vehicle body and cannot stably detect the side surface position of the vehicle body. There was a problem that it was not possible to contact and separate.

Japanese Patent Publication No. 8-527 JP-A-10-203321

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to reliably detect the position of a vehicle body side surface and to safely contact and separate the side nozzle in a car wash machine that detects the side surface position of an automobile and contacts and separates the side nozzle.

  In order to solve such a problem, the present invention provides a main body frame formed in a gate shape, a car wash processing device for performing a car wash process on a car body surface of an automobile, and a side face shape to be created while creating side face shape data of an automobile. In a car wash machine comprising a controller for controlling the operation of the car wash processing device based on the data, as the car wash processing device, a pair of left and right side brushes for brushing and washing the side surfaces of the automobile, and a pair of left and right sides for blowing and drying the side faces of the car Side nozzle, brush opening / closing means for opening / closing the side brush in the width direction of the automobile, brush swinging means for swinging the side brush in the width direction of the automobile, and nozzle advance / retreat means for moving the side nozzle in the width direction of the automobile A first vehicle width detection unit that measures the distance from the inner surface of the main body frame to the side surface of the vehicle body and detects the vehicle width of the vehicle as a control unit; A second vehicle width detection unit that detects the vehicle width of the vehicle based on the open / close position and swing angle of the lash, and the vehicle width detected by the first vehicle width detection unit and the second vehicle width detection unit as the main body frame moves relative to each other. If the difference is greater than or equal to a predetermined value, priority is given to the distance detected by the second vehicle width detection unit, and if the difference is less than the predetermined value, priority is given to the distance detected by the first vehicle width detection unit. The vehicle shape data creation unit for creating the side shape data and the car wash control unit for controlling the nozzle advance / retreat means based on the side shape data created by the vehicle shape data creation unit.

  According to the present invention, both the distance detection to the vehicle body side surface by the side brush and the distance detection to the vehicle body side surface by the ultrasonic sensor can be performed, and the vehicle body side surface shape can be detected while complementing. Can be contacted and separated from the side.

It is a top view which shows the car wash machine of this invention. It is a front view of a side brush. It is a side view of a side brush. It is a side view of a side nozzle. It is a block diagram which shows a control system. It is explanatory drawing explaining the distance detection to a vehicle body side surface. It is explanatory drawing which shows vehicle width data. It is explanatory drawing which shows operation | movement of a side nozzle.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a car wash machine of the present invention.
Reference numeral 1 denotes a main body frame, which is formed in a gate shape and reciprocates by being driven by a travel motor 3 on rails 2 and 2 laid on the floor surface. As shown in FIG. 1, the main body frame 1 stops at the rear end of the traveling range given by the rails 2 and 2 and starts car washing from this position. The main body frame 1 is provided with various cleaning devices for performing a car wash process, such as cleaning brushes 4, 5, 5, drying nozzles 6, 7, 7, watering nozzles (not shown), and the like. As the main body frame 1 travels, a cleaning operation for brushing by spraying water, detergent, wax, or the like, or a drying operation for blowing air from a blower nozzle is performed.

  The cleaning brush includes a top brush 4 that moves up and down along the upper surface of the vehicle body and brushes the upper surface, and a right and left brushing the front and rear surfaces and side surfaces of the vehicle body that is located behind the top brush 4 and moves toward and away from the vehicle body. It consists of a pair of side brushes 5 and 5 and forms a cleaning part on the front side of the main body frame 1. The drying nozzle is moved up and down along the upper surface of the vehicle body and blows air onto the upper surface to dry, and a pair of left and right nozzles positioned behind the top nozzle 6 and blown air to the side of the vehicle body to dry. It consists of side nozzles 7 and 7, and a drying part is formed on the rear side of the main body frame 1.

  Reference numeral 8 denotes a travel encoder, which is linked to the output shaft of the travel motor 3 and outputs a pulse every time the main body frame 1 travels a unit distance, and detects the travel position of the main body frame 1 by counting the pulse signals. Reference numeral 9 denotes an upper surface detection device, which is provided in front of the cleaning portion on the inner surface of the main body frame 1 and has a light emitting portion 9a in which a plurality of light emitting elements are arranged vertically, and a plurality of light receiving elements are arranged in correspondence with this. The light receiving unit 9b is opposed to the optical signal (infrared light) between the two in synchronization with the pulse signal from the encoder 8, thereby detecting the position of the upper surface of the vehicle body to be washed. Accordingly, each part of the automobile such as a bonnet, window, roof, and trunk, the type of the automobile, the position and type of the projection, etc. are detected. Reference numeral 10 denotes a vehicle width detecting device, which is composed of a pair of left and right ultrasonic sensors 10a and 10b mounted at a position that is front of the upper surface detecting device 9 on the inner surface of the main body frame 1 and that can detect the vehicle body from the front end to the rear end. The ultrasonic wave is applied to the side surface of the vehicle body in synchronization with the pulse signal from the encoder 8, and the distance from the side surface of the vehicle body is measured from the time it takes to reflect off the vehicle surface and return. Further, when the vehicle is on standby, the sensor 10a is used for transmission and the sensor 10b is used for reception (or vice versa), so that it functions as a transmission type detector and detects that the vehicle has entered.

2 and 3 are explanatory views showing the structure of the side brushes 5 and 5. FIG. In the drawing, only one side brush is shown.
The side brush 5 is planted around a carrier 12 that is sandwiched between guide rails 11 that are horizontally mounted on the upper part of the body frame 1, a rotary shaft 13 that is suspended from the carrier 12, and a periphery of the rotary shaft 13. And a brush body 14 made of cloth or resin. The carrier 12 travels along the guide rail 11 via the brush opening / closing device 15 and can be opened and closed separately with respect to the side of the automobile. It can be swung in the left-right direction via the moving device 16. A forward / reverse brush rotation motor 17 is attached to the carrier 12, and is linked to the rotary shaft 13 via a linkage device 18 including a pulley, a belt, and the like, and the brush body 14 is rotated forward and backward.

  The brush opening and closing device 15 opens and closes the side brush 5 to the left and right. The tip 20 is connected to both sides of the carrier 12 and the chain 20 suspended between the sprockets 19 and 19 and the brush opening and closing that drives one of the sprockets 19 to rotate. Motor 21 and a brush opening / closing position detection encoder 22 connected to the tip of the drive shaft of the motor.

  The brush oscillating device 16 oscillates the side brush 5 from a vertical position to a position where the lower side opens outward. A support plate 23 that connects and fixes the upper end of the rotating shaft 13 on the upper surface of the carrier 12, and the support plate 23. And a support shaft 24 that swings and supports the shaft in one direction. A swing angle sensor 25 is attached to the upper surface of the support plate 23, and the swing angle of the brush is detected.

  The side cleaning of the automobile is performed in a state where the left and right side brushes 5 and 5 are pressed against the side of the automobile and inclined at an angle suitable for the shape of the side of the vehicle body. The inclination angle is maintained within a predetermined angle range by driving the brush opening / closing motor 21 while detecting the swing angle by the swing angle sensor 25.

FIG. 4 is an explanatory view showing the structure of the side nozzles 7. In the drawing, only one side nozzle is shown.
The side nozzles 7 and 7 are composed of a carrier 27 that sandwiches a guide frame 26 that is horizontally attached to the leg portion of the main body 1 frame, and a nozzle body 28 that is fixed to the carrier 27. Thus, the carrier 27 travels along the guide frame 26 and can be moved forward and backward separately with respect to the side of the automobile.

  The nozzle advancing / retracting device 29 has a chain 31 that is connected at both ends to the carrier 27 and suspended between the sprockets 30, 30, a nozzle advancing / retreating motor 32 that rotationally drives one sprocket 30, and a tip of the motor drive shaft. The encoder 33 is connected to a nozzle advancing / retreating position detection, and the limit switch 35 is in contact with the dogs 34 and 34 provided at the front end and the rear end of the guide frame 26, respectively.

  The side drying of the automobile is performed while moving the left and right side nozzles 7, 7 so as to be held at a position separated from the side of the automobile by a predetermined distance. The predetermined distance is held in a predetermined distance range by driving the nozzle advance / retreat motor 31 while detecting the movement distance by the encoder 32 of the nozzle advance / retreat apparatus 28.

FIG. 5 is a block diagram showing a control system of the embodiment.
Reference numeral 36 denotes a control unit, which includes a travel position detection unit 37, an upper surface shape detection unit 38, a first vehicle width recognition unit 39, a second vehicle width recognition unit 40, a vehicle shape data creation unit 41, an advancing / retreating position detection unit 42, and a data storage unit. 43. Car wash control unit 44, travel encoder 8 of main body frame 1, upper surface detection device 9, vehicle width detection device 10, open / close encoders 22 and 22 of side brushes 5 and 5, swing angle sensor 25, side nozzle 7 7 forward / backward encoder 33, limit switch 35, and car wash drive unit 45 are connected.

  The travel position detector 37 detects the travel position of the main body frame 1 by counting the pulse signal output from the travel encoder 8 every time the main body frame 1 travels a unit distance as the travel motor 3 is driven. The data is transmitted to the vehicle shape data creation unit 41. The upper surface shape detection unit 38 uses the pulse signal of the traveling encoder 8 as a trigger to output a signal to the light emitting unit 9a of the upper surface detection device 9 to emit the light emitting elements in order from the top, and in synchronization with this, the light receiving element in the light receiving unit 9b The light receiving level is acquired to detect the upper surface position of the vehicle body, and is transmitted to the vehicle shape data creating unit 41 as vehicle height data.

  The first vehicle width detector 39 outputs an ultrasonic oscillation signal to the ultrasonic sensors 10a and 10b of the vehicle width detector 10 using the pulse signal of the traveling encoder 8 as a trigger, and simultaneously receives and reflects the received signal of the reflected wave. The distance to the vehicle body is calculated from the time until the wave is received, and transmitted to the vehicle shape data creation unit 41 as the first vehicle width data. The second vehicle width detection unit 40 counts the pulse signals output by the open / close encoders 22 and 22 each time the side brush 5 opens and closes a unit distance as the brush opening and closing motor 20 of the side brush 5 and 5 is driven. The distance from the number of pulses at the time when the swing angle sensor 25 detects that the side brush 7 touches the side surface of the vehicle body and swings to the control angle is calculated, and vehicle shape data is created as second vehicle width data. To the unit 41.

  The vehicle shape data creation unit 41 includes travel position data from the travel position detection unit 37, vehicle height data from the top surface shape detection unit 38, first vehicle width data from the first vehicle width recognition unit 39, and second vehicle width recognition. Based on the second vehicle width data from the unit 40, the top surface shape data and the side surface shape data of the automobile are created. The advance / retreat position detector 42 counts the pulse signals output by the advance / retreat encoders 33/33 each time the side nozzle 7 advances / retreats by a unit distance as the nozzle advance / retreat motor 32 of the side nozzles 7, 7 is driven. The distance from the vehicle body side to the vehicle body is calculated.

  The car wash control unit 44 controls the main body frame 1, the top brush 4, the side brush 5, the top nozzle 6, and the side nozzle 7 based on the top surface shape data and the side surface shape data of the automobile created by the vehicle shape data creation unit 41. . The car wash drive unit 45 is connected to the travel motor 3 of the main body frame 1, the brush rotation motor 17 and the brush opening / closing motor 21 of the side brushes 5 and 5, and the nozzle advance / retreat motor 32 of the side nozzles 7 and 7. The drive system of the top brush 4 and the top nozzle 6 is connected, and the main body frame 1, the top brush 4, the side brush 5, the top nozzle 6, and the side nozzle 7 are driven by a command from the car wash control unit 44.

Next, the operation of the car wash control unit 36 will be described.
When the car wash is started, a cleaning process accompanying the reciprocating traveling of the main body frame 1 and a drying process by the going-out are executed. In the first outbound path of the cleaning process, the shape of the automobile to be cleaned is created, and in the subsequent cleaning process and drying process, the brush and nozzle are controlled based on the vehicle shape data created here.
First, in the first forward path, when a predetermined number of pulse signals (for example, 12 pulses) are counted while counting the pulse signal of the travel encoder 8 and detecting the travel position of the main body frame 1 as the main body frame 1 travels, The top surface position data and the first vehicle width data of the vehicle are created by taking the top surface position and the side surface distance of the vehicle body from the top surface detection device 9 and the vehicle width detection device 10. Further, when the top brush 4 approaches the vehicle body, the brushing cleaning of the vehicle body upper surface is executed by performing elevation control along the created upper surface shape data. Further, when the side brush 5 approaches the vehicle body, the side brush 5 is pressed against the side surface of the vehicle body, and the left and right side brushes are tilted so as to have a C-shaped posture to perform brushing cleaning of the vehicle body side surface. Then, at the time of this side surface cleaning, second vehicle width data is created.

FIG. 6 shows a vehicle width detection method, in which (a) shows vehicle width detection by the first vehicle width detection unit 39, and (b) shows vehicle width detection by the second vehicle width detection unit 40. In the drawing, only one side is shown.
When the travel encoder 8 of the main body frame 1 outputs a pulse, the first vehicle width detection unit 39 detects the vehicle width by transmitting ultrasonic waves from the ultrasonic sensors 10a and 10b of the vehicle width detection device 10 to the side surface of the vehicle body. This is done by measuring the distance W1 to the side of the vehicle body based on the time from reception to reception of the reflected wave from the side. Then, the measured distance W1 to the vehicle body side surface is transmitted to the vehicle shape data creation unit 41 together with the travel position of the main body frame 1 detected by the travel position detection unit 37, and a predetermined number (for example, to allow measurement error) The distance data for 12 pulses of the travel encoder 8) is averaged and the first vehicle width data ΔW1n is accumulated.

  Further, the second vehicle width detection by the second vehicle width detection unit 40 is performed by detecting the distance L from the base point HP to the measurement point P when the side brush 5 contacts the side surface of the vehicle body and swings to the control angle θ. An inclination correction value C (= (fulcrum height AH) × measurement point P based on the vehicle body upper surface height H and the measurement distance L measured from the number of pulses of 22 and detected by the upper surface detection device 9 at that time. tan θ) is calculated to obtain the actual distance W2. As shown in FIG. 6B, when the contact state between the side brush 5 and the vehicle body is viewed, since the contact is made with the contact radius Br from the brush center axis CL, the measurement correction point Pa corrected by the inclination correction value C is performed. Is corrected to the contact point Pb in consideration of the brush contact radius Br, and the distance W2 (= LC−Br) to the side surface of the vehicle body is obtained. The calculated distance W2 to the vehicle body side surface is transmitted to the vehicle shape data creation unit 41 together with the travel position of the main body frame 1 detected by the travel position detection unit 37, and a predetermined number (for example, to allow measurement error) The distance data of 12 pulses of the traveling encoder 8) is averaged, and the second vehicle width data ΔW2n is accumulated.

FIG. 7 shows the vehicle width data obtained in this way. (A) shows the first vehicle width data, and (b) shows the second vehicle width data.
Here, in the first vehicle width data, the reflected wave of the ultrasonic wave is not detected in the tire house part of the automobile, and the data is greatly reduced (part A). In the second vehicle width data, the side brushes 5 and 5 are Data is disturbed at the part where the rotation direction is switched when avoiding the door mirror (B section). In this case, the vehicle shape data creation unit 41 compares the first vehicle width data and the second vehicle width data in units of vehicle width data ΔW obtained by averaging a predetermined number, and when the difference is larger than a predetermined value. The side shape data is created by giving priority to the second vehicle width data.

  For example, when the difference exceeds a predetermined value, such as the first vehicle width data ΔW1-5 and the second vehicle width data ΔW2-5, the side shape data is created with priority on the second vehicle width data ΔW2-5. To do. Thereby, non-detection of a tire house part can be supplemented. In addition, when the difference is below a predetermined value, such as the first vehicle width data ΔW1-17 and the second vehicle width data ΔW2-17, the side shape data is created with priority on the first vehicle width data ΔW1-17. To do. Thereby, the disturbance of data due to the rotation of the side brush can be corrected. In this way, all the first vehicle width data ΔW1 and the second vehicle width data ΔW2 are compared, and the side shape data shown in FIG. 7C is created.

  In the drying process, the top nozzle 6 and the side nozzles 7 and 7 are controlled using the top surface shape data and the side surface shape data. Of these, as shown in FIG. 8, the side nozzles 7 and 7 advance and retreat the nozzle by a distance F (= WD) in which the offset amount D between the side surface of the vehicle body and the nozzle blowing port is added to the side surface shape data. It moves by the device 29 and blows air toward the vehicle body from a short distance without contacting the vehicle body. Thereafter, the nozzle advancing / retreating device 29 is advanced / retracted so as to maintain the offset amount D with respect to the side surface of the vehicle body, the main body frame 1 travels to the travel stop position and stops, and the backward drying process is completed.

  As described above, the present invention detects both the distance to the vehicle body side surface by the side brush and the distance detection to the vehicle body side surface by the ultrasonic sensor, and detects the vehicle body side surface shape while complementing the mutual vehicle width data. As a result, safer side shape data can be created.

DESCRIPTION OF SYMBOLS 1 Main body frame 5.5 Side brush 7.7 Side nozzle 9 Car shape detection apparatus 10 Vehicle width detection apparatus 15 Brush opening / closing apparatus 16 Brush swing apparatus 29 Nozzle advance / retreat apparatus 36 Car wash control part 37 Traveling position detection part 39 1st vehicle width Detection unit 40 Second vehicle width detection unit 41 Vehicle shape data creation unit

Claims (1)

A main body frame formed in a gate shape, a car wash processing device for washing a car body surface of an automobile, and side shape data of the automobile are created, and the operation of the car wash processing device is controlled based on the created side shape data. A car wash machine equipped with a control unit
A pair of left and right side brushes for brushing and cleaning the side of the automobile, a pair of left and right side nozzles for blowing and drying the side of the automobile, and a brush opening and closing means for opening and closing the side brush in the width direction of the automobile as the car wash treatment device, Brush swinging means for swinging the side brush in the width direction of the automobile, and nozzle advancement / retraction means for moving the side nozzle in the width direction of the automobile,
As the control unit, a first vehicle width detection unit that detects the vehicle width of the vehicle by measuring the distance from the inner surface of the main body frame to the side surface of the vehicle body, and detects the vehicle width of the vehicle by the opening / closing position and swing angle of the side brush Comparing the side position of the vehicle detected by the first vehicle width detection unit and the second vehicle width detection unit with relative movement of the main body frame, and the difference is not less than a predetermined value. If the difference is less than a predetermined value, priority is given to the distance detected by the second vehicle width detector, and the side shape data is created to give priority to the distance detected by the first vehicle width detector. And a car wash control unit for controlling the nozzle advance / retreat means based on the side shape data created by the car shape data creation unit.

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