JP2021081327A - Vehicle processor - Google Patents

Abstract

To provide a technique that can increase the accuracy of detecting a vehicle.SOLUTION: A car washer 10 includes: a body part 11 having a pair of leg frames 11A standing on a ground G, the body part being movable to a vehicle C relatively back and forth; and a vehicle detector 26 having a light emission unit EU and a light reception unit RU provided in the leg frames 11A, respectively, the vehicle detector detecting the vehicle C between the light emission unit EU and the light reception unit RU. The light emission unit EU has a plurality of light emission elements E, and the light emission elements E are arranged in a matrix along the direction in which the body part 11 stands and in the front-back direction.SELECTED DRAWING: Figure 1

Description

The present invention is particularly effective when applied to a vehicle washing device having a function of performing detection processing on a vehicle (vehicle body) to be processed and performing cleaning processing according to the shape (vehicle shape) of the vehicle processing device. Regarding technology.

Japanese Unexamined Patent Publication No. 10-338103 (Patent Document 1) describes a vehicle shape detecting device and a car washing device including the vehicle shape detecting device.

Japanese Unexamined Patent Publication No. 10-338103

In a car wash device as described in Patent Document 1, a pair of light emitting (light emitting) elements and light receiving elements are provided at predetermined intervals in the upright direction (vertical direction) of the main body (frame) that can be moved back and forth. There is. In this car wash device, the presence or absence of a vehicle is detected by light transmission / shading of an optical axis formed between a light emitting element and a light receiving element as the main body moves. The light transmission / shading of the optical axis is determined by whether or not the amount of light received by the light receiving element reaches a predetermined threshold value, and is converted into binary data by setting the light-transmitting optical axis to 1 and the light-shielding optical axis to 0. .. Vehicle-shaped image data can be acquired by showing each cell constituting the matrix arrangement with the standing direction vertical and the moving direction horizontal as binary data.

For example, the length of one cell on the vertical (row) side corresponds to the vertical pitch (pitch in the standing direction) of adjacent light emitting elements, and the length of one cell on the horizontal (column) side is for detecting the position of the traveling main body. It corresponds to the pulse generation timing of the rotary encoder. Therefore, the arrangement of a plurality of elements arranged in the upright direction of the main body contributes to the vertical resolution of one cell, and the performance of the rotary encoder contributes to the horizontal resolution. In order to improve the accuracy of vehicle detection, it is conceivable to improve these resolutions. However, even if the vertical resolution is improved (the number of light emitting elements in the upright direction is increased to narrow the vertical pitch) or the horizontal resolution is improved (encoder performance is improved), the light emitting elements and the light receiving elements become dirty. If the optical axis itself is obstructed, the accuracy of vehicle detection may not be sufficiently improved.

An object of the present invention is to provide a technique capable of improving the accuracy of vehicle detection.

The vehicle processing device according to one solution has a pair of frames standing on the ground, a main body portion that can move back and forth relative to the vehicle, a light emitting portion provided on each of the pair of frames, and a light emitting unit. It has a light receiving unit, and includes a vehicle detection unit that detects a vehicle between the light emitting unit and the light receiving unit. Here, the light emitting unit has a plurality of light emitting elements, and the light emitting elements are arranged in a matrix along the standing direction and the front-rear direction of the main body portion.

According to one solution, the accuracy of vehicle detection can be improved.

It is a schematic view from the front view of the vehicle processing apparatus which concerns on one Embodiment of this invention. It is the schematic from the side view of the vehicle processing apparatus shown in FIG. It is a schematic diagram explaining the vehicle detection part of the vehicle processing apparatus shown in FIG. 1, (a) is a light emitting part seen from the light receiving part side, (b) is a light receiving part seen from a light emitting part side, (c) is a plan view. It is a light emitting part and a light receiving part. It is the schematic of the control system of the vehicle processing apparatus shown in FIG. It is the schematic of the vehicle shape detection processing flow of the vehicle processing apparatus shown in FIG. It is a schematic diagram explaining the vehicle detection part of the vehicle processing apparatus which concerns on another embodiment of this invention, (a) is a light emitting part seen from the light receiving part side, (b) is a light receiving part seen from the light receiving part side, (c). ) Are a light emitting part and a light receiving part in a plan view. It is a schematic diagram explaining the vehicle detection part of the vehicle processing apparatus which concerns on another embodiment of this invention, (a) is a light emitting part seen from the light receiving part side, (b) is a light receiving part seen from the light receiving part side.

In the following embodiments of the present invention, if necessary, the description will be divided into a plurality of sections and the like, but in principle, they are not unrelated to each other, and one is related to a part or all of the other, such as modifications and details. It is in. Therefore, in all the drawings, members having the same function are designated by the same reference numerals, and the repeated description thereof will be omitted. In addition, the number of components (including the number, numerical value, quantity, range, etc.) is limited to a specific number unless otherwise specified or in principle clearly limited to a specific number. It is not a thing, and may be more than or less than a specific number. In addition, when referring to the shape of a component, etc., it shall include those that are substantially similar to or similar to the shape, etc., unless otherwise specified or when it is considered that this is not the case in principle. ..

(Embodiment 1)
In the first embodiment of the present invention, a case where the vehicle is applied to a car wash device as a vehicle processing device will be described with reference to the drawings. 1 and 2 are schematic views of the car wash device 10 according to the present embodiment from a front view and a side view. 3A and 3B are schematic views for explaining the vehicle detection unit 26, in which FIG. 3A is a light emitting unit EU viewed from the light receiving unit RU side, FIG. 3B is a light receiving unit RU viewed from the light emitting unit EU side, and FIG. 3C is a plan view. The light emitting unit EU and the light receiving unit RU. FIG. 4 is a schematic view of the control system of the car wash device 10. FIG. 5 is a schematic view of a vehicle shape detection processing flow 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 is composed of a gate-shaped frame (housing) so as to straddle the vehicle C to be processed. Therefore, the main body 11 has a pair of leg frames 11A that stand up from the ground G, and a beam frame 11B that covers the pair of leg frames 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 leg frames 11A, respectively. In the car wash device 10, the wheels 13 are the driving wheels and the wheels 14 are the driven wheels. In the car wash device 10, the wheels 13 and 14 (4 in total) are on the pair of rails 12 in a state where the vehicle C is stopped between the pair of rails 12 (in FIG. 2, the front end of the vehicle C is directed toward the main body 11). The main body 11 moves back and forth (reciprocating) via the wheel). The right direction of FIG. 2 is the front direction of the main body 11, and the left direction is the rear direction.

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 frames 11A of the main body 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 via wheels 13 (driving wheels). The encoder 16 is provided on one of the leg frames 11A of the main body 11, and is connected to the output shaft of the motor 15 on the one side. 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 wheels 13.

Further, the car wash device 10 includes a front / rear switch 17 and docks 18A and 18B. The front / rear switch 17 is provided on the bottom of one leg frame 11A. Further, the dock 18A is provided on one end side of one rail 12 (front side in the front-rear direction of the main body 11), and the dock 18B is provided on the other end side (rear side in the front-rear direction) of the same rail 12. The front / rear switch 17 switches between the docks 18A and 18B by moving the main body 11, and detects the movement limit of the main body 11 between the dock 18A and the dock 18B. Therefore, in the car wash device 10, the main body 11 can move within the range of the movement limit so as to straddle the stopped vehicle C and pass in the vehicle length direction. The state in which the car wash device 10 is waiting for entry (standby state) is a state in which the front / rear switch 17 switches with the dock 18B and the main body 11 is stopped.

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 on the opening upper side (beam frame 11B side) of the gate-shaped main body 11 during standby. The top brush 20 can move up and down while rotating as the main body 11 moves as a movable portion, and can mainly brush the upper surface of the vehicle C. Further, each of the pair of side brushes 21 (rotating brushes) is housed on the opening side (pair of leg frames 11A side) of the gate-shaped main body 11 during standby. The pair of side brushes 21 can open and close (moving toward and away from each other) while rotating as the main body 11 moves as a movable portion, and can mainly brush the front surface, side surface, and rear surface of the vehicle C. it can.

Further, the car wash device 10 includes a top spray 22 and a pair of side sprays 23 provided on the main body 11. The top spray 22 is housed on the opening upper side (beam frame 11B side) of the gate-shaped main body 11. The top spray 22 can mainly clean the upper surface of the vehicle C by injecting a cleaning liquid such as water from a plurality of injection nozzles (not shown) provided on the pipe as the main body 11 moves. Further, the pair of side sprays 23 are housed on the opening side (the pair of leg frames 11A side) of the gate-shaped main body 11, respectively. The pair of side sprays 23 can mainly clean the side surface of the vehicle C by injecting a cleaning liquid such as water from a plurality of injection nozzles (not shown) provided on the pipe as the main body 11 moves. In the car wash device 10, the top spray 22 and the side spray 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 wash the vehicle C as the main body 11 advances. ..

Further, the car wash device 10 includes a top nozzle 24 (blower nozzle) and a pair of side nozzles 25 (blower nozzles) provided in the main body 11. The top nozzle 24 is housed on the opening upper side (beam frame 11B side) of the gate-shaped main body 11 during standby. The top nozzle 24 can move up and down without contacting the vehicle C while blowing air as the main body 11 moves as a movable portion, and can mainly dry the upper surface of the vehicle C. Further, each of the pair of side nozzles 25 is housed on the opening side (pair of leg frames 11A side) of the gate-shaped main body 11 during standby. The pair of side nozzles 25 open and close (moving toward and away from each other) without contacting the vehicle C while blowing air as the main body 11 moves as a movable portion, and mainly dries the side surfaces of the vehicle C. can do.

Further, the car wash device 10 is provided in the main body portion 11 and includes a vehicle detection unit 26 for detecting the vehicle C. The vehicle detection unit 26 includes a light emitting unit EU and a light receiving unit RU provided on each of the pair of leg frames 11A, and is configured to detect the vehicle C between the light emitting unit EU and the light receiving unit RU. The light emitting unit EU is housed on the right side of the opening (one leg frame 11A side) of the gate-shaped main body 11 so that the light emitting unit EU and the light receiving unit RU face each other, and the light receiving unit RU is a gate type. It is housed on the left side of the opening of the main body 11 (the other leg frame 11A side).

The vehicle detection unit 26 has a function as a transmission type photoelectric sensor by the light emitting element E included in the light emitting unit EU and the light receiving element R included in the light receiving unit RU. More specifically, an optical axis B is formed by exchanging an optical signal (for example, infrared rays) between a light emitting element E (for example, an LED) and a light receiving element R (for example, a photodiode). Based on the light transmission / shading of the optical axis B, the vehicle detection unit 26 can detect the presence / absence of the vehicle C and acquire various data. For example, it is possible to acquire vehicle shape image data as a shape from the side of the vehicle C based on binary data obtained by converting the light-transmitting optical axis to 1 and the light-shielded optical axis to 0. Further, since the light emitting element E and the light receiving element R are provided along the upright direction (vertical direction) of the main body 11, the light emitting element E and the light receiving element R that have detected the vehicle C are based on the installation height of the light emitting element E and the light receiving element R. The height of the vehicle C can be obtained.

As shown in FIG. 3A, the light emitting unit EU has a plurality of light emitting elements E, and the light emitting elements E are arranged in a matrix along the standing direction y and the front-rear direction x of the main body portion 11. In the present embodiment, the plurality of light emitting elements E form a matrix arrangement (number of elements m × 3) in three rows of m rows in the standing direction y and x in the front-rear direction. Further, as shown in FIG. 3B, the light receiving unit RU has a plurality of light receiving elements R, and the light receiving elements R are arranged in a matrix along the standing direction y and the front-back direction x of the main body portion 11. There is. In the present embodiment, the plurality of light receiving elements R form a matrix arrangement (number of elements m × 3) in three rows of m rows in the standing direction y and x in the front-rear direction.

As described above, the matrix arrangement of the light emitting element E in the light emitting unit EU is the first row, the second row, ... mth row from the ground G side, and the first and second columns from the front 11F side of the main body portion 11. It is composed of the third row. In the present embodiment, for example, a light emitting element E having 1 row and 1 column is numbered as a light emitting element E11, and a light emitting element E having 3 rows and 3 columns is numbered as a light emitting element Em3. The same applies to the matrix arrangement of the light receiving elements R in the light receiving unit RU.

Here, if the light emitting elements E are in the same row, their installation heights from the ground G are the same. Specifically, the light emitting elements E11, E12, and E13 in the first row are all at the same installation height as the height y1 from the ground G. Further, in the case of the light emitting elements E21, E22, and E23 in the second row, all of them have the same installation height as the height y2 from the ground G. The intervals between the light emitting elements E in the adjacent rows are the same. The fact that the light emitting elements E in the standing direction of the main body 11 are at equal intervals is referred to as a vertical pitch py (pitch in the standing direction).

Further, if the light emitting elements E are in the same row, the installation distance from the front surface 11F of the main body 11 is the same. Specifically, in the case of the light emitting elements E11, E21, E31, ... Em1 in the first row, all of them have the same installation distance as the distance x1 from the front surface 11F. Further, in the case of the light emitting elements E12, E22, ... Em2 in the second row, all of them have the same installation distance as the distance x2 from the front surface 11F. Further, in the case of the light emitting elements E13, E23, ... Em3 in the third row, all of them have the same installation distance as the distance x3 from the front surface 11F. The intervals between the light emitting elements E in the adjacent rows are the same. The fact that the light emitting elements E in the front-rear direction of the main body 11 are evenly spaced is referred to as a horizontal pitch px (front-back direction pitch).

Both the matrix arrangement of the light receiving element R in the light receiving unit RU and the matrix arrangement of the light emitting element E in the light emitting unit EU are configured in m rows × 3 columns. Therefore, the plurality of light emitting elements E of the light emitting unit EU and the plurality of light receiving elements R of the light receiving unit RU are the same number, and in the present embodiment, the elements in the same row and in the same column are arranged so as to face each other. For example, as shown in FIG. 3C, the light emitting element E11 and the light receiving element R11 face each other at a distance W. The light emitting element E11 emits light, and the light receiving element R11 receives light, so that the optical axis B11 horizontal to the ground is formed. The same applies to the light emitting element E12 and the light receiving element R12, and the light emitting element E13 and the light receiving element R13. It is formed. The light from these optical axes B11, B22, and B33 travels the same distance W in parallel in the vehicle width direction z (direction parallel to the front surface 11F).

By the way, from the viewpoint of improving the vertical resolution, it is preferable that the vertical pitch py is narrow. However, for example, when water droplets adhere to the light emitting element E21 shown in FIG. 3A, the water droplets fall downward due to gravity, so that if the vertical pitch py becomes narrower, the possibility of the water droplets adhering to the light emitting element E11 increases. It ends up. Therefore, in the present embodiment, by providing a plurality of light emitting elements E in the front-rear direction x of the main body portion 11, elements having the same installation height complement each other. For example, even if water droplets are attached to the light emitting element E21, the light emitting elements E22 and E23 provided so as to be adjacent to the front-rear direction x of the main body 11 serve as the light emitting element E at the height y2 where they are installed. The function (the formation of the optical axis B sufficient for detection) can be ensured. Therefore, the accuracy of vehicle detection can be improved. Further, in the present embodiment, the light receiving unit RU is also provided with a plurality of light receiving elements R in the front-rear direction x of the main body portion 11, and the same effect can be obtained.

Further, in order to prevent water droplets from falling downward due to gravity and adhering to the light emitting element E adjacent to the bottom, it is conceivable to secure a certain vertical pitch py. Even if the vertical pitch py is secured so that water droplets are hard to adhere, it is better to make the horizontal pitch px narrower than the vertical pitch py to avoid the influence of water droplets due to gravity from the aspect of light directivity. Cheap. Therefore, in the present embodiment, the light emitting element E of the light emitting unit EU is arranged so that the horizontal pitch px (front-back direction pitch) is narrower than the vertical pitch py (standing direction pitch). By approaching the light emitting elements E in the front-rear direction x in this way, objects having the same installation height can complement each other more closely, and the accuracy of vehicle detection can be further improved. Further, as the light emitting element E, for example, a bullet type or surface mount type (chip type) LED can be used. In the case of the surface mount type, the main body 11 can be arranged close to each other in the front-rear direction x.

As shown in FIG. 4, the car wash device 10 including the vehicle detection unit 26 having such a light emitting unit EU and a light receiving unit RU has a scanning drive unit 30 for the light emitting unit EU and a scanning drive unit 31 for the light receiving unit RU. And have. In the present embodiment, the scanning drive unit 30 sequentially lights the light emitting elements E in the first row arranged in the standing direction (row direction) of the main body 11 from the bottom to the top (or from the top to the bottom) at the time of vehicle detection, and then similarly. The second and third rows are lit in sequence. Further, the scanning drive unit 31 sequentially puts the light receiving element R facing the scanning of the light emitting element E into a light receiving state. As a result, an optical signal is exchanged between the corresponding light emitting element E and the light receiving element R, and an optical axis B horizontal to the ground G is formed.

Further, the car wash device 10 includes a car shape control unit 32. The vehicle-shaped control unit 32 has various processing units (processing means) composed of electronic components such as a CPU, and operates the scanning drive units 30 and 31 by pulse signals from the traveling encoder 16 of the main body unit 11. The top surface shape of the vehicle C is detected. The vehicle shape control unit 32 includes a traveling position detection unit 33, a light reception detection unit 34, a threshold value setting unit 35, a vehicle detection unit 36, a vehicle data creation unit 37, an image processing unit 40, and a data storage unit 41. And have.

The traveling position detection unit 33 detects the traveling position of the main body 11 by a pulse signal from the traveling encoder 16. The light receiving detection unit 34 detects the amount of light received (light receiving level) at each light receiving element R. The threshold value setting unit 35 sets a threshold value for determining light transmission / shading of the optical axis B based on the amount of light received by each light receiving element R in a state where the vehicle C does not exist between the light emitting unit EU and the light emitting unit RU. To do. Here, the threshold value is a numerical value to be compared with an increase in the amount of light received by the corresponding light receiving element R due to the light emitting element E emitting light. If the amount of received light increases by more than a threshold value due to light emission, the optical axis B is determined to be transmitting light and is determined to be vehicle non-detection, and if the threshold value is not reached, the optical axis B is determined to be light-shielded and vehicle detection is determined.

Further, the vehicle detection unit 36 operates the scanning drive units 30 and 31 with the pulse signal from the traveling encoder 16 as a trigger, and the threshold value setting unit 35 sets the amount of light received by each light receiving element R detected by the light receiving detection unit 34. The light transmission / shading of each optical axis B is determined by comparing with the set threshold value. The vehicle data creation unit 37 creates binary image data from the travel position of the main body 11 given by the travel position detection unit 33 and the light transmission / shading of each optical axis B detected by the vehicle detection unit 36. The image processing unit 40 analyzes and processes the binary image data created by the vehicle data creation unit 37 to create car wash data. The data storage unit 41 includes running position data of the main body 11 detected by the running position detection unit 33, a threshold value set by the threshold value setting unit 35, binary image data created by the vehicle data creation unit 37, and image processing. The car wash data extracted by the unit 40 and the like are stored.

Further, the car wash device 10 includes a car wash control unit 42, a car wash drive unit 43, and an operation panel 44. The car wash control unit 42 drives a processing device (moving unit) such as a top brush 20 and a top nozzle 24 and a motor 15 of the main body 11 via the car wash drive 43 according to the car wash processing program to move the main body 11. At the same time, the vehicle C is washed and dried. For example, the car wash control unit 42 controls the top brush 20 and the top nozzle 24 to move up and down based on the created car wash car shape data, and operates so as to faithfully trace the vehicle body surface. The operation panel 44 is provided in a car wash reception device (not shown) provided separately from the main body 11, and the user performs selection input of car wash contents and car wash start input.

Next, a processing method of vehicle shape detection using the vehicle shape control unit 32 will be described. As shown in FIG. 5, the vehicle shape detection processing includes threshold value setting processing (step S10), vehicle detection processing (step S20), determination processing (step S30), vehicle shape data creation processing (step S40), and image processing (step S40). S50) is included, and this is performed in this order.

<Threshold setting process (step S10)>
In the threshold value setting unit 35, the discrimination threshold value is set based on the difference light receiving amount between the light receiving amount in the light receiving element R before the light emitting element E is made to emit light and the light receiving amount in the light receiving element R when the light emitting element E is made to emit light. Set. Since this discrimination threshold is a reference value for discriminating light transmission / shading according to the individual performance and accuracy of each light emitting element E and light receiving element R, vehicle detection can allow a decrease in the amount of light received due to adhesion of dirt or the like. Before, it is always set for each light receiving element R.

More specifically, first, the vehicle C is performed in a state where the vehicle C does not enter the main body 11 between the light emitting unit EU and the light receiving unit RU of the vehicle detecting unit 26, and drives the scanning drive unit 31 of the light receiving unit RU. , The light receiving amount ra of the light receiving element R before the light emitting element E is made to emit light is taken in. Next, the scanning drive unit 30 of the light emitting unit EU and the scanning drive unit 31 of the light receiving unit RU are synchronously driven, and the light receiving amount rb of the light receiving element R when the light emitting element E is made to emit light is taken in. After that, the differential light receiving amount rc between the light receiving amount ra and the light receiving amount rb is calculated, a predetermined ratio (for example, 50%) is set as the threshold value S with respect to the differential light receiving amount rc, and the data is stored in the data storage unit 41.

In the above procedure, the threshold value S is set for all of the light receiving elements R. For example, when the differential light receiving amount rc11 = 10 of the light receiving element R11 detected by this setting operation, the threshold value S = 5 of the light receiving element R11 is set. Although the predetermined ratio when setting the threshold value S is set to 50% here, it is desirable to set it each time depending on the environment in which the car wash device 10 is used (generation of steam, etc.) and the accuracy of detection.

<Vehicle detection process (step S20)>
The vehicle detection unit 36 first drives the scanning drive unit 31 of the light receiving unit RU to capture the light receiving amount ra of the light receiving element R before causing the light emitting element E to emit light. Next, the scanning drive unit 30 of the light emitting unit EU and the scanning drive unit 31 of the light receiving unit RU are synchronously driven, and the light receiving amount rb of the light receiving element R when the light emitting element E is made to emit light is taken in. After that, the difference light receiving amount rc between the light receiving amount ra and the light receiving amount rb is calculated.

Next, the threshold value S stored in the data storage unit 41 by the threshold value setting process is read out and compared with the calculated difference light receiving amount rc. If the differential light receiving amount rc is lower than the threshold value S, the optical axis B is determined to be "light shielding", and if it is higher than the threshold value S, the optical axis B is determined to be "light transmission". Then, when the detection of one scan (one row of the matrix arrangement) is completed, it is stored in the data storage unit 41 as vehicle data. Similarly, the other columns in the matrix arrangement are also detected by scanning and stored in the data storage unit 41 as vehicle data.

It should be noted that the light emitting elements E (arranged in the front-rear direction at the same height in the standing direction of the main body 11) in the same row of the matrix arrangement can be made to emit light at the same time. For example, on the light emitting unit EU side, the light emitting elements E11, E12, and E13 at the same installation height y1 are simultaneously emitted, and on the light receiving unit RU side, the light receiving elements R11, R12, and R13 at the same installation height y1. It is also possible to receive light in order. Since the amount of light emitted is increased by emitting light at the same time, even if there is water droplets between the light emitting unit EU and the light receiving unit RU, it is possible to make it less susceptible to the influence. That is, it is possible to prevent erroneous detection of water droplets when there is a vehicle C, so that the accuracy of vehicle detection can be improved.

<Judgment process (step S30)>
Here, a majority decision is made on the determination result of the light receiving element R at the same set height. For example, in the three (three columns) light receiving elements R11, R12, and R13 in the first row of the matrix arrangement having the same set height, if two or more are "light-transmitting", the light receiving element R in the first row. If two or more of them are "light-shielding", it is determined that the light-receiving element R in the first line is "light-shielding". When the same is performed for the light receiving element R in the other rows of the matrix arrangement, those data are sent to the vehicle data creation unit 37.

In this embodiment, the case of three rows along the standing direction of the main body 11 in the matrix arrangement of the light emitting element E and the light receiving element R is described. Not limited to this, the matrix arrangement may be two columns, four columns, or more, and even in these cases, the above-mentioned majority determination can be performed. Further, in the case where the matrix arrangement is an even number column, if the majority decision determination has the same number of both "light transmission" and "light shielding", it may be determined as "light shielding", for example. From this judgment result, the car wash data to be described later is created, and based on this, the brush or the like is brought closer to the vehicle C to perform the processing. Therefore, the person who is judged to be "light-shielding" is too close to the vehicle C and causes damage. This is because it is possible to prevent the data from being lost.

<Vehicle data creation (step S40)>
The vehicle data creation unit 37 creates binary data in which the “light transmission” included in the vehicle data received from the vehicle detection unit 36 is “0” and the “light shielding” is “1”. Then, this binary data is created every time the main body 11 travels a predetermined distance, and is executed until the main body 11 goes back and forth, and is placed on a matrix in which the horizontal axis is the horizontal pitch px and the vertical axis is the vertical pitch py. Form the expanded vehicle shape data. The created vehicle data is stored in the data storage unit 41, and the image processing unit 40 performs image processing on the car wash data.

<Image processing (step S50)>
The image processing unit 40 applies a logical filter to the binarized vehicle data to extract contour lines. In this process, the cell located at the bottom and the leftmost of the connected components in which "1" exists consecutively next to each other in the vehicle data is set as the tracking start point, and the cell is adjacent to the center of this point. Eight cells are examined clockwise, cells changing from "0" to "1" are detected, and the detected cells are used as contour lines. Actually, since the vehicle body image data of the vehicle C is sequentially sent and expanded as the main body 11 travels and the contour line is tracked, the entire contour line is extracted when the image data acquisition of the entire vehicle is completed. To. From the contour of the vehicle C thus obtained, it is possible to create car wash data in which the data of the standing direction y of the main body 11 with respect to the front-rear direction x of the main body 11 is determined.

Next, the operation of the car wash device 10 (vehicle processing method) will be described. When the user makes a reception on the operation panel 44, the car wash device 10 notifies the user by a display or the like to stop the vehicle C at a predetermined stop position. As a result, the vehicle C is stopped at a predetermined stop position that is not detected by the vehicle detection unit 26. Next, as described above, the vehicle shape detection process is performed (steps S10 to S50), and vehicle wash data is created. The creation of the car wash data is continuously executed while the main body 11 travels on the outward route, and a continuous upper surface contour of the vehicle C is obtained. It is possible to detect the vehicle shape and wash the vehicle at the same time during one trip.

When the shape of the vehicle C is detected, the car wash operation is performed based on the detected contour of the vehicle C. In the car wash operation, for example, a brushing process for the vehicle C accompanied by shampoo injection and a blow process by injection of high-speed wind are sequentially executed as the main body 11 travels. Of these, the top brush 20 and the top nozzle 24 are controlled to move up and down along the detected contour of the vehicle C. When the car wash operation is completed, the car wash device 10 prompts the user to leave the vehicle C by means of a display or the like.

(Embodiment 2)
In the first embodiment, the case where the light receiving elements of the light receiving unit are arranged in a matrix (m rows × 3 columns) has been described. In the second embodiment of the present invention, a case where the light receiving elements of the light receiving portion are arranged in a single row (m rows × 1 column) arranged along the standing direction of the main body portion will be described with reference to the drawings. 6A and 6B are schematic views for explaining the vehicle detection unit 26a according to the second embodiment, in which FIG. 6A is a light emitting unit EU viewed from the light receiving unit RUa side, and FIG. 6B is a light receiving unit RUa viewed from the light emitting unit EU side. (C) is a light emitting unit EU and a light receiving unit RUa in a plan view.

The vehicle detection unit 26a includes a light emitting unit EU and a light receiving unit RUa provided on each of the pair of leg frames 11A (see FIG. 1), and is configured to detect the vehicle C between the light emitting unit EU and the light receiving unit RUa. Has been done. The light emitting unit EU of the vehicle detection unit 26a shown in FIG. 6A is the same as that shown in FIG. 3A, and a plurality of light emitting elements E are arranged in a matrix of m rows and 3 columns (number of elements m). × 3). On the other hand, the light receiving unit RUa of the vehicle detection unit 26a shown in FIG. 6B has a plurality of light receiving elements R, and the light receiving elements R are arranged in a row along the standing direction y of the main body portion 11 ( Number of elements m x 1). The light receiving unit RUa shown in FIG. 6 (b) is shown assuming that the light receiving elements R12, R22 ... Rm2 in the second row are left in the matrix arrangement of the light receiving unit RU shown in FIG. 3 (b). ing.

In the present embodiment, at the same installation height (for example, y1) in the standing direction y of the main body 11, three light emitting elements (E11, E12, E13) arranged in the front-rear direction x are simultaneously emitted to emit one light receiving element (for example, y1). It is configured to receive light at R12). More specifically, the scanning drive unit 30 simultaneously lights the light emitting elements E in the first to third rows arranged along the standing direction y of the main body unit 11 from bottom to top (or from top to bottom) in order, and scan drive unit 30. The light receiving element R at the same set height facing the scan of the light emitting element E is sequentially brought into the light receiving state. As a result, an optical signal is exchanged between the three light emitting elements E at the same set height and the corresponding light receiving element R, and an optical axis B horizontal to the ground G is formed.

For example, as shown in FIG. 6C, the light emitting element E11 emits light, and the light receiving element R12 receives light to form an optical axis B12 horizontal to the ground G. The same applies to the light emitting element E12 and the light receiving element R12, and the light emitting element E13 and the light receiving element R12, and the optical axis B22 and the optical axis B32 horizontal to the ground G are formed. Since the amount of light emitted is increased by emitting light at the same time, even if there is water droplets between the light emitting unit EU and the light receiving unit RUa, it is possible to make it less susceptible to the influence. That is, it is possible to prevent erroneous detection of water droplets when there is a vehicle C, so that the accuracy of vehicle detection can be improved.

Further, in the present embodiment, among the light emitting elements E (for example, E11, E12, E13) arranged in the front-rear direction x of the main body portion 11, the front end (for example, E11) and the rear end (for example, E13) are used. Light receiving elements are arranged in a row so as to face each other at an intermediate position (for example, an installation distance x2 where E12 is provided) (R12, R22, R32 ... Rm2). For example, as shown in FIG. 6C, the light from the optical axis B22 travels parallel to the vehicle width direction z (direction parallel to the front surface 11F) and is received by the light receiving element R12, and further, the light from the optical axes B12 and B32. Is received (condensed) so as to cross the vehicle width direction z and collect on the light receiving element R12. Therefore, it is possible to form the optical axis B22 which is apparently thick on the light emitting side and becomes thinner toward the light receiving side. By using such an optical axis, the accuracy of vehicle detection can be improved.

(Embodiment 3)
In the second embodiment, the case where the light emitting elements of the light emitting unit are arranged in a matrix (m rows × 3 columns) has been described. In the third embodiment of the present invention, a case where one row of the matrix arrangement of the light emitting portions extends in the upright direction of the main body portion more than the other rows will be described with reference to the drawings. 7A and 7B are schematic views for explaining the vehicle detection unit 26b according to the third embodiment. FIG. 7A is a light emitting unit EUa seen from the light receiving unit RUa side, and FIG. 7B is a light receiving unit RUa seen from the light receiving unit EUa side. is there.

The vehicle detection unit 26b includes a light emitting unit EUa and a light receiving unit RUa provided on each of the pair of leg frames 11A (see FIG. 1), and is configured to detect the vehicle C between the light emitting unit EUa and the light receiving unit RUa. Has been done. The light receiving unit RUa of the vehicle detection unit 26b shown in FIG. 7 (b) is the same as that shown in FIG. 6 (b), and a plurality of light receiving elements R are arranged in a row (number of elements m × 1). On the other hand, the light emitting unit EUa of the vehicle detection unit 26b shown in FIG. 7A has a plurality of light emitting elements E, and the light emitting elements E are arranged in a matrix along the standing direction y and the front-rear direction x of the main body unit 11. (Number of elements n × 3), and one row thereof is arranged so as to extend above the standing direction y from the other rows (number of elements (mn) × 1). That is, in the light emitting unit EUa, the first row to the nth row are arranged in three columns, and the n + 1th row to the mth row are arranged in one column. The one-row arrangement of the light-emitting unit EUa shown in FIG. 7 (a) is the second-row light-emitting element E (n + 1) 2, ... Em2 in the matrix arrangement of the light-emitting unit EU shown in FIG. 6 (a). Is shown as leaving.

Since water droplets fall due to gravity, it is preferable to arrange many light emitting elements E below the upper side of the standing direction y of the main body portion 11. In this way, the amount of light emitted is increased by simultaneously emitting light from the three light emitting elements E arranged in the front-rear direction x arranged below the standing direction y, and water droplets are generated between the light emitting unit EU and the light receiving unit RUa. Even in some cases, it can be less affected. That is, it is possible to prevent erroneous detection of water droplets when there is a vehicle C, so that the accuracy of vehicle detection can be improved.

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 case where the vehicle is applied to a car wash device as a vehicle processing device has been described. Not limited to this, for example, it can be applied to a vehicle shape detecting device that detects the shape of a vehicle.

Further, in the above-described embodiment, both processing devices in which the main body portion moves with respect to a vehicle parked on the ground have been described. Not limited to this, for example, when the vehicle is mounted on a carrier (conveyor) that can move in the direction of the vehicle length and the vehicle moves with respect to the main body fixed to the ground, or both the vehicle and the main body are used. It may be the case of moving. 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 an optical axis horizontal to the ground is formed by receiving an optical signal from a light emitting element by a light receiving element having the same installation height has been described. Not limited to this, it is also possible to form an optical axis inclined with respect to the ground by receiving with a light receiving element having an installation height different from that of the light emitting element. For example, the light signal from the light emitting element E21 as shown in FIG. 4 is not only received by the light receiving element R21 (optical axis horizontal to the ground), but also received from the light receiving element R31 above and below the light receiving element R21. By receiving light with the light receiving element R11 of the above, it is also possible to form an optical axis inclined with respect to the ground G. According to this, between the light emitting element E11 and the light emitting element E21 (between the light receiving element R11 and the light receiving element R21), between the light emitting element E21 and the light emitting element E31 (between the light receiving element R21 and the light receiving element R31). The vehicle C can be detected even at the height of. Therefore, the resolution can be higher than the vertical resolution based on the vertical pitch py of the light receiving element R.

10 Car wash device 11 Main body 11A Leg frame C Vehicle EU Light emitting part RU Light receiving part G Ground

Claims (7)

A main body that has a pair of frames that stand on the ground and can move back and forth relative to the vehicle,
Each of the pair of frames has a light emitting unit and a light receiving unit, and includes a vehicle detecting unit that detects a vehicle between the light emitting unit and the light receiving unit.
The light emitting unit has a plurality of light emitting elements, and the light emitting elements are arranged in a matrix along the standing direction and the front-rear direction of the main body portion.
Vehicle processing equipment. The light receiving portion has a plurality of light receiving elements, and the light receiving elements are arranged side by side in a row along the upright direction of the main body portion.
The vehicle processing device according to claim 1. Among the light emitting elements arranged in the front-rear direction of the main body portion, the light receiving elements are arranged in a row so as to face each other at an intermediate position between the front end and the rear end.
The vehicle processing device according to claim 2. The light emitting elements arranged in the front-rear direction at the same height in the standing direction of the main body portion emit light at the same time.
The vehicle processing device according to any one of claims 1 to 3. In the matrix arrangement of the light emitting elements, the pitch in the front-rear direction is narrower than the pitch in the standing direction.
The vehicle processing device according to any one of claims 1 to 4. The light emitting element is a surface mount type LED.
The vehicle processing device according to any one of claims 1 to 5. The vehicle processing apparatus according to any one of claims 1 to 6, wherein one row of the matrix arrangement of the light emitting elements extends upward in the upright direction of the main body portion with respect to the other rows.

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