JP2021054339A - Vehicle processing device - Google Patents

Abstract

To provide a technology that can determine whether a vehicle has a vehicle front end that is lower than an installation height of a sensor part for detecting a vehicle.SOLUTION: A vehicle processing device 10 includes: a body part 11 installed while standing up from a ground surface G and movable forward and backward; a sensor part 26 installed in the body part 11 in a position higher than the ground surface G and capable of detecting a vehicle 100; and a control unit 30 including means 40 for determining whether a vehicle front end 101 is positioned lower than the sensor part 26.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle processing device, and more particularly to a technique effective when applied to a car washing device having a function of washing a vehicle.

Japanese Patent Application Laid-Open No. 9-1564772 (Patent Document 1) describes a vehicle position detecting device. This device includes a photoelectric sensor at a height (60 cm above the ground, which is restricted by the Fire Service Law) or higher, which does not require an explosion-proof structure, and a reflector at a position lower than the photoelectric sensor. The light from the floodlight is reflected by the reflector and received by the light receiver of the photoelectric sensor.

Japanese Unexamined Patent Publication No. 9-156472

According to the device of Patent Document 1, the front end of the vehicle can be detected without providing the photoelectric sensor with an explosion-proof structure. In particular, even for vehicles such as sports type vehicles with a low bonnet height, the front end of the vehicle (for example, bumper) can be detected, and for vehicles that have stopped cleaning, drying, etc. based on the position of the front end of the vehicle. Can be done properly. However, since the device of Patent Document 1 uses a reflector to form an optical axis (optical path), it is difficult to adjust the position of the reflector, which may cause misalignment and erroneous detection.

An object of the present invention is to provide a technique capable of determining that a vehicle has a vehicle front end lower than the installation height of a sensor unit for detecting the vehicle.

The vehicle processing device according to one solution is provided upright on the ground and has a main body that can move back and forth, a sensor unit that is provided on the main body at a position higher than the ground and can detect the vehicle, and a vehicle. A control unit having a means for determining whether or not the front end is lower than the sensor unit is provided.

According to one solution, it can be determined that the vehicle has a vehicle front end lower than the installation height of the sensor unit that detects the vehicle.

It is a schematic front view of the vehicle processing apparatus which concerns on embodiment of this invention. It is a schematic side view of the vehicle processing apparatus. It is a block diagram of the control system of a vehicle processing apparatus. It is explanatory drawing of the low level determination means of a vehicle processing apparatus, (a) shows the case of determining a sedan vehicle, (b) shows the case of determining a sports vehicle, and (c) shows the case of determining a van vehicle. It is a flow chart which detects the position of the front end of a vehicle by a vehicle processing apparatus. It is a schematic plan view of a side brush. It is a schematic front view of a side brush. It is a schematic side view of a side brush. It is explanatory drawing which shows the locus of a side brush.

In the embodiment of the present invention, a case where the vehicle processing device is applied to a car washing device having a processing function for washing the vehicle will be described with reference to the drawings. 1 and 2 are a schematic front view and side view of the car wash device 10 according to the present embodiment. Further, FIG. 3 is a block diagram of the control system of the car wash device 10.

The car wash device 10 includes a main body portion 11 (also referred to as a main body machine) provided upright on the ground G (laying surface). The main body 11 has a gate-shaped housing (frame) that straddles the vehicle 100 to be processed. Therefore, the main body portion 11 has a pair of leg portions 11A standing up from the ground G and a beam portion 11B extending over the pair of leg portions 11A.

Further, the car wash device 10 includes rails 12 and wheels 13 and 14. The pair of rails 12 are provided on the ground G so as to extend so as to be parallel to each other. The wheels 13 and 14 are provided on the bottoms of the pair of legs 11A, respectively. In the car wash device 10, the main body 11 moves back and forth (reciprocates) on the pair of rails 12 via the wheels 13 and 14 (four wheels in total) while the vehicle 100 is stopped (stopped) between the pair of rails 12. Will run). In the car wash device 10, the wheels 13 are the driving wheels and the wheels 14 are the driven wheels.

Further, the car wash device 10 includes a motor 15 and an encoder 16. The motor 15 is provided on each of the pair of leg portions 11A of the main body portion 11 so as to be connected to the wheel 13 from a position higher than the wheel 13 with respect to the ground G. The motor 15 is configured to be capable of forward and reverse rotation, and moves the main body 11 back and forth (reciprocating) via the wheels 13. The encoder 16 is provided on one of the legs 11A of the main body 11 and is connected to the output shaft of the motor 15. The encoder 16 detects the traveling position of the main body 11 on the rail 12. That is, the encoder 16 can give the position of the main body 11 on the rail 12 by outputting a pulse signal for each unit angle rotation while detecting the rotation direction of the motor 15, that is, the rotation direction of the drive wheels 13. In this way, the main body 11 is configured to be movable back and forth.

Further, the car wash device 10 includes a stop detection unit 17. The stop detection unit 17 detects that the vehicle 100 is stopped at a predetermined stop position. The stop detection unit 17 includes a tire stop plate provided on the ground G as shown in FIG. 2 (see, for example, Japanese Patent Application Laid-Open No. 2017-154605) and a stop sensor (photoelectric) provided on the front side of the main body 11. Sensor) can be used.

Further, the car wash device 10 includes a top brush 20 and a pair of side brushes 21 provided on the main body 11. The top brush 20 (rotary brush) is housed in the upper opening side (beam portion 11B side) of the gate-shaped main body portion 11. The top brush 20 moves up and down while rotating with the movement of the main body 11, and can mainly brush the upper surface of the vehicle 100. Further, the pair of side brushes 21 (rotating brushes) are housed on the opening side (pair of leg 11A side) of the gate-shaped main body 11, respectively. The pair of side brushes 21 can be opened and closed (moved toward and away from each other) while rotating with the movement of the main body 11, and can mainly brush the front surface, side surface, and rear surface of the vehicle 100.

Further, the car wash device 10 includes a top nozzle 22 and a pair of side nozzles 23 provided in the main body 11. The top nozzle 22 is housed on the opening upper side (beam portion 11B side) of the gate-shaped main body portion 11. The top nozzle 22 can inject a cleaning liquid such as water from a plurality of injection nozzles as the main body 11 moves, and can mainly clean the upper surface of the vehicle 100. Further, the pair of side nozzles 23 are housed on the opening side (the pair of legs 11A side) of the gate-shaped main body 11, respectively. The pair of side nozzles 23 can inject cleaning liquid such as water from a plurality of injection nozzles as the main body 11 moves, and can mainly clean the side surface of the vehicle 100. The top nozzle 22 and the side nozzle 23 are provided on the front side of the main body 11 with respect to the top brush 20 and the side brush 21 in order to brush and clean the vehicle 100 as the main body 11 advances.

Further, the car wash device 10 includes a top blower 24 and a pair of side blowers 25 provided in the main body 11. The top blower 24 is housed on the opening upper side (beam portion 11B side) of the gate-shaped main body portion 11. The top blower 24 moves up and down while blowing air as the main body 11 moves, and can mainly dry the upper surface of the vehicle 100. Further, the pair of side blowers 25 are housed on the opening side (the pair of legs 11A side) of the gate-shaped main body 11, respectively. The pair of side blowers 25 open and close (moving toward and away from each other) while blowing air as the main body 11 moves, and can mainly dry the side surfaces of the vehicle 100.

Further, the car wash device 10 is provided on the main body 11 at a position higher than the ground G, and includes a sensor 26 capable of detecting the vehicle 100. In this embodiment, the installation height of the sensor unit 26 is set to 600 mm or more above the ground, which does not require an explosion-proof structure, according to the Fire Service Act. Further, the sensor unit 26 is provided on the front side of the main body portion 11 with respect to the top brush 20 and the side brush 21 in order to perform brushing cleaning along the shape of the vehicle 100 as the main body portion 11 advances.

The sensor unit 26 has a plurality of detection elements 27 for detecting the vehicle 100. The plurality of (n) detection elements 27 of the main body 11 are the lowest detection element 27-1 and the next detection element 27-2 in order from the ground G side, up to the highest detection element 27-n. They are arranged side by side along the upright direction (vertical direction). The installation height H1 (installation height) of the lowest detection element 27-1 is set to, for example, 670 mm, and the lowest detection element 27-1 (installation height H1) and the next detection element 27-2 (installation height H2) are set. The pitch is arranged as 110 mm, for example, as in between. As a result, the height of the vehicle 100 detected by the sensor unit 26 can be obtained by referring to the installation height (H1 to Hn) of the detection element 27 that has detected the vehicle 100.

As described above, the sensor unit 26 is provided so as to extend in the upright direction (vehicle height direction of the vehicle 100) of the main body portion 11 on the front side of the main body portion 11. Therefore, the sensor unit 26 can detect the shape of the vehicle 100 from the side. More specifically, as the main body 11 moves, the shape of the vehicle 100 from the side (silhouette of the vehicle 100) can be read.

The detection element 27 is composed of, for example, a transmissive photoelectric sensor having a pair of light emitting units 27a and a light receiving unit 27b. The light emitting portion 27a and the light receiving portion 27b of the photoelectric sensor as the detection element 27 are housed on the left and right side of the opening (the pair of legs 11A side) of the portal-shaped main body 11, and are arranged to face each other at the same height. This forms a horizontal optical axis. The photoelectric sensor irradiates light from the light emitting unit 27a and receives a change in the amount of light by the light receiving unit 27b, so that the presence or absence of the vehicle 100 can be detected by light transmission / shading of the horizontal optical axis.

Further, the car wash device 10 includes a control unit 30 as shown in FIG. The control unit 30 is provided in the main body unit 11, is electrically connected to the encoder 16, the sensor unit 26, the operation panel 31, and the drive unit 32, and is a sequence programmed in advance according to the processing course received by the operation panel 31. Execute (means). The control unit 30 includes a travel detection means 33, a vehicle detection means 34, a data creation means 35, a data storage means 36, and a processing means 37. The travel detection means 33 detects the travel position (movement position) of the main body 11 from the pulse signal of the encoder 16. The vehicle detecting means 34 drives the sensor unit 26 every time the pulse signal of the encoder 16 moves a unit distance as a trigger to detect the upper surface of the vehicle 100. The data creating means 35 creates vehicle shape data from the detection results of the traveling detecting means 33 and the vehicle detecting means 34. The data storage means 36 stores vehicle shape data. The processing means 37 controls a device for driving a brush or the like by a drive unit 32 based on vehicle shape data. Although each means has been described as having the control unit 30, it may be provided as a control unit separate from the control unit 30.

The car wash device 10 configured in this way includes various means (functions), and each means is executed by the control unit 30.

Next, the operation of the car wash device 10 (step of the vehicle processing method) will be described. When the user makes a reception on the operation panel 31, the car wash device 10 permits the vehicle to enter the front of the main body 11, and guides the user to stop the vehicle 100 at a predetermined stop position by a display or the like. Next, when a process in which the main body 11 reciprocates once to wash the car is selected as the car wash course, the vehicle read by the sensor unit 26 while moving the main body 11 forward (forward travel) as the forward process. The vehicle body surface of the vehicle 100 is brushed and cleaned using a top brush 20, a side brush 21, or the like according to the shape. Next, as a return step, the main body 11 is moved backward (go-around), and water droplets are removed by blowing air to the vehicle 100 using a top blower 24 or the like to attempt drying. After that, the car wash device 10 guides the user to leave the car by a display or the like, and the car wash course ends.

In such a car wash course, in the present embodiment, the low position of the vehicle front end 101 (see FIG. 4) is determined before the vehicle 100 is brushed and washed with the side brush 21. In the car wash device 10, the sensor unit 26 is provided at a position higher than the ground G where it is not necessary to provide an explosion-proof structure, but the vehicle front end 101 is lower than the sensor unit 26 due to the processing by the control unit 30. Is judged (estimated). Therefore, the control unit 30 has a low-level determination means 40 (see FIG. 3). Then, by grasping the position of the vehicle front end 101 with respect to the main body 11 based on the result of the low position determination, it is possible to perform appropriate processing on the vehicle 100.

As an example of the vehicle 100 to be processed, FIG. 4A shows a sedan vehicle, FIG. 4B shows a sports vehicle, FIG. 4C shows a van vehicle, and FIG. 5 shows a vehicle front end including a low-level judgment. The processing flow for detecting the position of 101 is shown. As a case of determination by this processing flow, in FIG. 4A, it is detected by the vehicle stop detection unit 17 that the vehicle 100 is stopped, the vehicle front end 101 passes through the sensor unit 26, and the vehicle 100 is detected by the sensor unit 26. Is detected. Further, in FIG. 4B, it is detected that the vehicle 100 is stopped by the vehicle stop detection unit 17, and the vehicle front end 101 has passed the sensor unit 26, but the vehicle 100 is not detected by the sensor unit 26. If this is the case. Further, in FIG. 4C, it is detected that the vehicle 100 is stopped by the vehicle stop detection unit 17, the vehicle front end 101 does not pass through the sensor unit 26, and the vehicle 100 is not detected by the sensor unit 26. If this is the case. A means for detecting the position of the vehicle 101 will be described with reference to FIGS. 4 and 5.

First, the stop detection unit 17 is used to determine whether or not the vehicle 100 is stopped (step S10). When the vehicle 100 is detected to be stopped, it is determined whether or not the vehicle 100 is detected by the sensor unit 26 (step S20). If the vehicle 100 is not detected by the sensor unit 26, the low-level determination means 40 is performed (step S30). The low level determination means 40 obtains the detected height of the vehicle 100 from the installation heights (H1, H2, ... Hn) of the plurality of detection elements 27, and whether the vehicle front end 101 is lower than the sensor unit 26. Judge whether or not.

More specifically, in the low-level determination means 40 (control unit 30), the sensor unit 26 moves forward along with the main body unit 11, so that the sensor unit 26 first detects the vehicle 100 from the first position X1. The average value of the heights of the vehicles 100 is obtained up to the second position X2 separated by a predetermined distance. As described above, the height of the vehicle 100 can be obtained from the installation height of the detection element 27. Therefore, referring to this, the height of the vehicle 100 (specifically, the height of the bonnet) within a predetermined distance. ) Is calculated. According to such a low-level determination means 40, it is possible to determine (estimate) that even the vehicle tip 101, which is lower than the sensor unit 26 and cannot be detected by the sensor unit 26, is at a lower position. ..

If the height average of the predetermined distance is lower than the determination reference value stored in the control unit 30 in advance, it is determined that the vehicle front end 101 is lower than the sensor unit 26 (step S30). In this case (see FIG. 4B), the position of the vehicle front end 101 is determined based on the result of the contact member (the side brush 21 is used in the car wash device 10) abuts on the vehicle 100 (step S40).

Here, the side brush 21 as a contact member will be described in detail. As shown in FIG. 2, the side brush 21 is provided on the main body 11 behind the sensor 26 and extends in the upright direction (vertical direction, vehicle height direction) of the main body 11. 6 to 8 show the side brushes 21 in the plan view, the front view, and the side view, respectively. The pair of left and right side brushes 21 include a carrier 42 sandwiched between guide rails 41 horizontally laid horizontally on the upper rear side of the main body 11, a rotating shaft 43 suspended from the carrier 42, and a rotating shaft 43 suspended from the carrier 42. It is configured to have a brush body 44 made of cloth or resin to be flocked around the rotating shaft 43.

The pair of side brushes 21 travel on the guide rail 41 via the switchgear 45 and can be opened and closed separately on the left and right sides, and in the left-right direction and the front-back direction via the left-right swing device 46 and the front-back swing device 47. It is made swingable. A rotary motor 50 capable of forward and reverse rotation is attached to the carrier 42, and is linked to the rotary shaft 43 via a linking device 51 including a pulley, a belt, and the like to rotate the brush forward and reverse. That is, the side brush 21 has a rotating shaft 43 provided along the upright direction of the main body 11, and can brush the vehicle 100 while rotating.

The opening / closing device 45 opens and closes the side brush 21 separately on the left and right sides, and as shown in FIG. 6, the traveling motor 52 for opening and closing the brush, one end is connected to the carrier 42, and the other end is connected via the sprocket 53. It is composed of a chain 54 suspended on the drive shaft of the switchgear motor 52 and an encoder 55 for detecting the brush traveling position connected to the tip of the drive shaft of the motor.

The left-right swing device 46 swings the side brush 21 from a vertical position to a position where the lower side opens outward. As shown in FIG. 7, the left-right swing device 46 includes a support plate 56 that connects and fixes the upper end of the rotary shaft 43 on the upper surface of the carrier 42, and a support shaft 57 that swings and supports the support plate 56 in one direction. It is composed of a first proximity switch 60 in which the support plate 56 switches at a position tilted by a predetermined amount θ1, and a second proximity switch 61 in which the support plate 56 switches at a position tilted by a predetermined amount θ2 (> θ1).

The side surface cleaning of the vehicle 100 (see FIG. 9) is performed in a state where the side brush 21 is pressed against the vehicle body and tilted by a predetermined amount θ1 to the left and right. This inclination changes due to the change in the vehicle body, but when the first proximity switch 61 detects that the swing angle of the brush 21 is smaller than the predetermined amount θ1, the opening / closing device 45 approaches the brush 21 to the vehicle body. When the second proximity switch 61 detects that the swing angle of the brush 21 has reached a predetermined amount θ2, the opening / closing device 45 is driven to separate the brush 21 from the vehicle body so that the brush 21 is separated from the vehicle body. The swing angle θ is always maintained in the range of θ1 <θ <θ2.

The front-rear swing device 47 provides the guide rail 41 in a range from a vertical posture in which the side brush 21 is tilted in the front-rear direction to a forward leaning posture in which the upper side is tilted forward by a predetermined amount θ3 and a rearward tilting posture in which a predetermined amount θ3 is tilted backward. It swings. As shown in FIG. 8, the front-rear rocking device 47 includes an arm 62 connected to the guide rail 41, a first cylinder 63 connected to the upper end of the arm 62 and expanded and contracted in front of the arm, and expanded and contracted behind the arm. A second cylinder 64, a slide plate 65 that slides and supports the rod tip of the first cylinder 63, a fixed shaft 66 that fixes the rod tip of the second cylinder 64 to the main body, and one end connected to the slide plate 65. A wire 67 whose end penetrates the arm 62 and becomes a free end, a first spring 70 provided between the slide plate 65 and the arm 62 of the wire 67, and a second spring 71 provided between the arm 62 and the free end. Consists of. A switch plate 72 is provided at the tip of the guide rail 41. The tilted position of the brush 21 in the front-rear direction is grasped by the first proximity switch 73 in which the switch plate 72 is in contact with the tilted position by a predetermined amount and the second proximity switch 74 in which the switch plate 72 is in contact with the tilted position.

The position of the front end 101 of the vehicle can be determined from the result of detecting that the side brush 21 is brought into contact with the vehicle 100 as the main body 11 moves forward and the predetermined amount is θ3. Step S40). Further, if the side brush 21 is stopped from rotating in order to determine the position of the vehicle front end 101, the accurate position can be grasped.

Further, if the height average value of the predetermined distance is higher than the determination reference value stored in the control unit 30 in advance, it is determined that the vehicle front end 101 is not lower than the sensor unit 26 (step S30). In this case (see FIG. 4C), the first position X1 at which the sensor unit 26 first detects the vehicle 100 can be determined as the position of the vehicle front end 101 (step S50). Since the position of the vehicle front end 101 is determined by the sensor unit 26, it is not necessary to bring the side brush 21 into contact with the vehicle 100 to detect the vehicle 100. If the chances of driving the side brush 21 to determine the vehicle front end 101 are reduced, the life of the drive mechanism of the side brush 21 can be extended.

Further, even when the vehicle 100 is detected by the sensor unit 26 in the determination of whether or not the vehicle 100 is detected by the sensor unit 26 (step S20) (see FIG. 4A), until the predetermined amount θ3 is reached. The side brush 21 is brought into contact with the vehicle 100, and the position of the vehicle front end 101 can be determined from the result (step S60). Even if the vehicle front end 101 passes through the sensor unit 26 from the front of the main body portion 11 and the position of the vehicle front end 101 cannot be determined by the sensor unit 26, according to the detection of the vehicle 100 by the side brush 21, the vehicle front end 101 The position of 101 can be determined.

FIG. 9 shows the locus of the side brush 21 when brushing and cleaning the vehicle 100. The main body 11 starts moving forward (outward) and approaches the vehicle front end 101 of the stopped vehicle 100 by closing the side brushes 21 and 21. At this time, the position of the front end 101 of the vehicle can be determined. This makes it possible to safely perform brushing cleaning with the side brush 21. When the side brush 21 is brought into contact with the front end 101 of the vehicle to determine the position of the front end 101 of the vehicle, the main body 11 may be moved backward once to arrange the side brush 21 in a vertical posture (a posture along the vertical direction). preferable.

Next, the front surface of the vehicle 100 is brushed and washed by opening the side brushes 21 and 21 while rotating the side brushes 21 and 21 from a state in which the side brushes 21 and 21 are in contact with the front end 101 of the vehicle and tilted forward by a predetermined angle. Next, the side brushes 21 and 21 come into contact with the vehicle body surface with a force trying to return to the vertical posture, and brush following the curved surface from the front surface to the side surface of the vehicle body. As a result, the curved surface is cleaned by wrapping around from the front surface of the vehicle body to the side surface of the vehicle body. When the side brushes 21 and 21 are opened, they return to the vertical posture in the front-rear direction, so they are pressed against the side surface of the vehicle body by the opening / closing device 45 so that the left and right brushes 21 are in a V-shaped posture with the upper side tilted toward the vehicle 100. The side surface of the vehicle 100 is cleaned by inclining it.

When the sensor unit 26 detects the rear end of the vehicle 100 and the main body unit 11 travels for the distance between the sensor unit 26 and the side brushes 21 and 21, the side brushes 21 and 21 lose the pressing force in the left-right direction and are vertical. Return to posture. By this operation, the side brushes 21 and 21 follow the curved surface from the side surface to the rear surface of the vehicle 100 and wrap around to the rear surface, so that the curved surface is surely brushed. Brushing the rear surface of the vehicle 100 is performed by closing the side brushes 21 and 21 and further opening them to the left and right. After that, the main body 11 is made to run to the running stop position and stopped, and the cleaning process in one go is completed.

Although the present invention has been specifically described above based on the embodiments, it goes without saying that the present invention is not limited to the above-described embodiments and can be variously modified without departing from the gist thereof.

In the above-described embodiment, a car washing device (vehicle processing device) in which the main body moves with respect to a vehicle parked on the ground has been described. Not limited to this, for example, the vehicle may be placed on a carrier that can move in the direction of the length of the vehicle, and the vehicle may move with respect to the main body, or the vehicle and the main body may move together. .. Therefore, the present invention includes a relationship in which the main body moves relative to the vehicle to be processed.

Further, in the above-described embodiment, a case where the main body portion reciprocates once to wash the car as a car wash course has been described. Not limited to this, for example, the main body can be reciprocated two or three times to execute various processes.

Further, in the above-described embodiment, as the low-level determination means, the average value of the heights of the vehicles is obtained from the first position where the sensor unit first detects the vehicle to the second position separated by a predetermined distance, and based on this. The case where it is determined that the front end of the vehicle is a vehicle lower than the sensor unit has been described. Not limited to this, for example, the inclination of the bonnet can be obtained from the heights of the vehicles at the first position and the second position, and the low position of the front end of the vehicle can be determined from these values.

Further, in the above-described embodiment, a case where the presence / absence of a vehicle is detected by light transmission / shading of the horizontal optical axis using a photoelectric sensor in which a light emitting unit and a light receiving unit are arranged to face each other has been described. Not limited to this, for example, the distance between the first photoelectric sensor and the second photoelectric sensor is shortened, and the light emitting portion of the first photoelectric sensor and the light receiving portion of the second photoelectric sensor form an inclined optical axis. It can also be configured to detect the presence or absence of a vehicle by transmitting / blocking light.

10 Car wash device 11 Main body 26 Sensor 27 Detection element

Claims (4)

The main body, which is installed upright on the ground and can be moved back and forth,
A sensor unit that is provided on the main body at a position higher than the ground and can detect the vehicle,
A control unit having a means for determining whether or not the front end of the vehicle is lower than the sensor unit is provided.
Vehicle processing equipment. The sensor unit has a plurality of detection elements arranged along the upright direction of the main body unit.
In the control unit, the sensor unit moves with the main body unit, so that the sensor unit detects the vehicle from the first position where the sensor unit first detects the vehicle to the second position separated by a predetermined distance. The height is obtained from the installation heights of the plurality of detection elements, and if the average value of the heights of the vehicle is lower than the reference value, it is determined that the front end of the vehicle is lower than the sensor unit.
The vehicle processing device according to claim 1. A contact member provided on the main body portion behind the sensor portion and capable of contacting the vehicle is provided.
When the control unit determines that the front end of the vehicle is in a low position, the control unit determines the position of the front end of the vehicle based on the result of the contact member coming into contact with the vehicle as the main body moves.
The vehicle processing device according to claim 1 or 2. When the control unit determines that the front end of the vehicle is not in a low position, the control unit determines the position where the sensor unit first detects the vehicle as the main body moves, as the position of the front end of the vehicle.
The vehicle processing device according to any one of claims 1 to 3.

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