JP3863060B2 - Car body detection method and apparatus for portal type car wash machine - Google Patents

Description

【数２】

【００１３】
以上の式（１）及び式（２）におけるＫａ及びＫｂは、角度θａ及びθｂが固定角であることから定数となる。したがって、直線Ｊの全長すなわち前端部Ｅの内壁面１７からの距離Ｌｂは、前記両ビーム１３，１４相互間における交点ａすなわち基準点ｃの相対的な移動距離Ｌａにより特定されることになる。同様に、前記ビーム１４と直線Ｊとの間隔Ｌｃも、両ビーム１３，１４相互間における交点ａすなわち基準点ｃの相対的な移動距離Ｌａにより特定されることになる。したがって、受光素子９，１０によりビーム１３，１４がそれぞれ遮光領域Ａａ，Ｂａへ突入する瞬間を検出するとともに、それらの突入時点における基準点ｃの位置を検出し、以上の検出データに基づいて基準点ｃの相対的な移動距離Ｌａを演算して、前記式（１）に代入すれば、前輪１９の外側近傍の前端部Ｅの内壁面１７からの距離Ｌｂが求められることになる。同様に、前記移動距離Ｌａを前記式（２）に代入すれば、前記ビーム１４と直線Ｊとの間隔Ｌｃが求められる。以上により、前輪１９の外側近傍の前端部Ｅの門型フレーム１に対する相対的な位置関係、すなわち前端部Ｅの門型フレーム１の内壁面１７からの距離Ｌｂと、門型フレーム１の移動方向に関する相対的な位置を求めることができる。
【００１４】
さらに、図４に示したように、受光素子９，１０によりビーム１３，１４がそれぞれ遮光領域Ａａ，Ｂａから脱出する瞬間を検出するとともに、それらの脱出時点における基準点ｃの位置を検出し、以上の検出データに基づいて基準点ｃの相対的な移動距離Ｌａを演算して、前記式（１）に代入すれば、前輪２０の外側近傍の後端部Ｈの内壁面１７からの距離Ｌｂが求められる。同様に、前記移動距離Ｌａを前記式（２）に代入すれば、前記ビーム１４と直線Ｊとの間隔Ｌｃが求められる。以上により、前輪２０の外側近傍の後端部Ｈの門型フレーム１の内壁面１７からの距離Ｌｂと、門型フレーム１の移動方向に関する相対的な位置を求めることができる。
【００１５】
同様に、他側の受光素子１１，１２により発光素子７，８からのビーム１５，１６がそれぞれ遮光領域Ａｂ，Ｂｂへ突入する瞬間あるいは脱出する瞬間を検出するとともに、それらの突入ないし脱出時点における基準点ｃの位置を検出し、以上の検出データに基づいて基準点ｃの相対的な移動距離Ｌａを演算して、前記式（１）及び式（２）に代入すれば、前輪２０の外側近傍の前端部Ｇ及び前輪１９の後端部Ｆの位置が求められる。なお、この場合の前輪２０の外側近傍の前端部Ｇ及び前輪１９の後端部Ｆの位置は、他方の内壁面１８からの距離として求められるが、内壁面１７，１８相互間の間隔が予め判っていることから、内壁面１７からの距離Ｌｂに換算することは容易である。以上により、前輪１９の外側近傍の前端部Ｅ及び後端部Ｆと、前輪２０の外側近傍の前端部Ｇ及び後端部Ｈの全ての門型フレーム１に対する相対位置が検出されたことになる。さらに、以上と同様の検出処理を後輪２１，２２にも適用すれば、それらの後輪２１，２２の外側近傍の前端部及び後端部の門型フレーム１に対する相対位置を検出することが可能である。因みに、相対的な移動距離Ｌａに対する距離Ｌｂ及び間隔Ｌｃの比率は変化しないことから、それらの間の長さの比率を予め決めておいてもよい。例えば、Ｌａ：Ｌｂ：Ｌｃ＝３：１２：１などのように整数の比で表せるように光軸の角度θａ，θｂを設定すれば、演算の簡略化にも有効である。
【００１６】
図６は車体２の前後方向の向きの求め方を示した説明図である。車体２の前後方向の向きを求めるには、先ず以上で求めた前輪１９の前端部Ｅと後端部Ｆとの中点Ｍと、前輪２０の前端部Ｇと後端部Ｈとの中点Ｎの位置を前記検出データに基づいて演算する。次に、それらの中点Ｍ，Ｎを結ぶ直線Ｐの中点Ｑを求めて該中点Ｑを通り直線Ｐに直交する直線Ｒを演算すれば、その直線Ｒが車体２の中心線を示し、車体２の前後方向の向きを示すことになる。
【００１７】
図７は車体２の側面位置の求め方を示した説明図である。車体２の側面位置を求めるには、図６で説明した方法で求めた前輪１９の外側近傍の中点Ｍ及び前輪２０の外側近傍の中点Ｎの直線Ｐ延長上に、車体２の側面がそれらの車輪の外側に突出する寸法を勘案して車種毎あるいは一律に予め設定した補足分Ｓを加算して求めた寸法を車幅Ｗと推測した上、前記直線Ｒを中心として両側にＷ／２ずつの間隔をとった平行線を演算すれば、車体２の側面位置を示す車体側面ラインＸ，Ｙを求めることが可能である。以上により、車体２の側面位置を示す車体側面ラインＸ，Ｙが求められたことになるが、更に後輪２１，２２に対しても同様の手法によりそれらの中点を求め、両中点の外側に前記補足分Ｓを加算して前記車体側面ラインＸ，Ｙを修正するように構成すれば、より高精度の検出結果が得られる。なお、前記車体側面ラインＸ，Ｙの前後方向の範囲に関しては、別途検出される車形データ等により特定されることになる。
【００１８】
なお、後輪２１，２２の向きは常に車体２の前後方向の向きと平行であることから、前記実施例のほか、対角線上の２つの車輪を選んだり、あるいは後輪２１，２２を選択して、以上の検出及び演算処理を実施することにより、車体２の側面位置を求めることも可能である。この場合には、一方の後輪２１あるいは２２の向きから直ちに車体２の前後方向の向きが検出できることから、車体２の向きに関する演算処理がより簡便になる。
【００１９】
以上のようにして、門型フレーム１に対する車体２の側面位置に関する検出データとして得られた車体側面ラインＸ，Ｙは、洗車作業におけるノズル等の制御データとしてきわめて有効である。例えば、洗浄ノズルや乾燥ノズルを車体２の側面に沿うように移動させるための制御データとして使用が可能である。特に、乾燥工程においては、乾燥ノズルを車体２の表面に接近して移動させるようにすれば乾燥効果をアップしやすいことから、前記車体側面ラインＸ，Ｙは乾燥ノズルの制御データとしてきわめて有効である。また、前記車体側面ラインＸ，Ｙを使用すれば、ノズルから車体２の側面までの距離がわかるので、噴射流の圧力制御に関する制御データとしても使用できる。なお、前述の車体２の側面位置に関する検出作業は、一般的には門型フレーム１の最初の相対移動において実施することになる。しかる後、その検出作業で得られた前記車体側面ラインＸ，Ｙを洗浄工程や乾燥工程のノズルの制御データとして使用することになるが、ノズルを車体２の側面にあまり接近させる必要のない洗浄工程に関しては、前記門型フレーム１の最初の相対移動における車体２の側面位置に関する検出作業と並行して実施することも可能である。この場合には、前輪１９，２０に関する検出データが得られてから車体２の側面に対する洗浄ノズルの制御データとして使用できるようになる。他方、その後の門型フレーム１の相対移動における乾燥工程等においては、後輪２１，２２に関する検出データも含めて使用が可能になることから、より精度の高い検出データに基づくノズル制御が可能になる。なお、図８に示したように、車体２の上面を洗浄する際の上面洗浄ノズルの車幅方向の移動範囲を規制するための制御データとして使用することも可能である。
【００２０】
以上ように、本発明によれば、車輪の位置や方向に拘束されることなく、門型フレームに対する車体側面の相対位置の検出が可能なことから、停車位置に関する自由度が大きく、また車体が門型フレームに対して偏ったり傾いた状態で停車しても構わないし、車輪が車体に対して傾いた状態で停車しても構わない。したがって、車両の門型フレームに対する停車状態に関する自由度が大幅に拡大されることになる。なお、車両の停車状態が規制され、門型フレームに対して車体及び車輪が必ず相対移動方向と平行になるように停車される場合には、例えばビーム１３，１４の組合わせからなる１対の光軸を用いて車体側面の相対位置の検出が可能である。すなわち、ビーム１３，１４を用いて一方の前輪１９の前端部Ｅの位置と他方の前輪２０の後端部Ｈの位置を検出すれば、車体２とそれらの前輪１９，２０が相対移動方向と平行であるという条件と組合わせることにより、簡便に車体側面の相対位置を演算することができる。なお、この場合には、前輪に替えて後輪の前端部及び後端部を検出することによっても、同様に車体側面の相対位置の演算が可能である。また、車輪の端面すなわちトレッド面が相対移動方向に対して直交する方向にあることから、ビーム１４に関する傾斜角は省略することも可能である。
【００２１】
【発明の効果】
本発明によれば、次の効果を得ることができる。
（１）車輪の外側近傍の前端部及び後端部を介して門型フレームに対する車体側面の相対位置の検出を行うようにしたので、投受光型の検出手段の使用が可能となり、気温や風等による影響や、水滴の付着による誤動作を排除しやすい。
（２）検出手段の車幅方向の移動は必要としないので、簡便で動作の安定した門型フレームに対する車体側面の相対位置の検出が可能である。
（３）車輪の位置や方向に拘束されることなく、門型フレームに対する車体側面の相対位置の検出が可能なことから、門型フレームに対する停車位置の自由度が大きく、しかも車体が門型フレームに対して偏ったり傾いた状態で停車しても構わないし、車輪が車体に対して傾いた状態で停車しても構わないことから、車両の門型フレームに対する停車状態に関する自由度が大幅に拡大される。
【図面の簡単な説明】
【図１】 本発明の実施例の要部を示した概略平面図である。
【図２】 同実施例の側面図である。
【図３】 車体検出の経過を例示した説明図である。
【図４】 図３の遮光領域Ａａ，Ｂａの部分を拡大して示した部分拡大図である。
【図５】 図４の前端部Ｅで交差したビーム１３，１４の部分を更に拡大して示した部分拡大図である。
【図６】 車体の前後方向の向きの求め方を示した説明図である。
【図７】 車体の側面位置の求め方を示した説明図である。
【図８】 本発明の適用例を示した概略平面図である。
【符号の説明】
１…門型フレーム、２…車体、３，４…門型フレームの両側部、５〜８…発光素子、９〜１２…受光素子、１３〜１６…ビーム、１７，１８…両側部の内壁面、１９，２０…前輪、２１，２２…後輪、ａ，ｂ…ビームの交点、ｃ…門型フレームに関する基準点、Ａａ，Ａｂ，Ｂａ，Ｂｂ…前輪による遮光領域、Ｃａ，Ｃｂ，Ｄａ，Ｄｂ…後輪による遮光領域、Ｅ…前端部、Ｆ…後端部、Ｇ…前端部、Ｈ…後端部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle body detection technique in a portal type car wash machine. More specifically, the present invention relates to a vehicle body detection technique for obtaining a relative positional relationship of a vehicle body side surface with respect to a portal frame.
[0002]
[Prior art]
Regarding the detection of the side of the vehicle body, the side surface of the vehicle body is recognized using an ultrasonic sensor provided on the left and right sides of the portal frame or a reflective photoelectric sensor provided on the upper part of the portal frame so as to be movable in the vehicle width direction. Vehicle detection means are known (Japanese Patent Laid-Open Nos. 6-127346 and 9-309411). However, in the case of the former prior art, the ultrasonic sensor is easily affected by wind and temperature, and malfunction due to adhesion of water droplets has also been a problem. In the case of the latter prior art, there has been a technical problem that the mechanism and control for moving the detection means in the vehicle width direction are complicated.
[0003]
[Problems to be solved by the invention]
The present invention was invented in view of the above-mentioned problems of the prior art, and it is easy to eliminate the effects of temperature, wind, etc., and malfunctions due to adhesion of water droplets, and also requires movement of the detection means in the vehicle width direction. An object of the present invention is to provide a vehicle body side surface detection technique that is simple and stable in operation.
[0004]
[Means for Solving the Problems]
In the present invention, as a result of intensive studies, it has been concluded that the above-mentioned problem can be solved by finding the position of the side surface of the vehicle body while paying attention to the wheels. In the invention relating to the vehicle body detection method in the portal type car wash machine according to claim 1, the vehicle body detection means is installed below the main body of the vehicle body, and the vehicle body detection means causes the front end portion and the rear part of at least the two left and right wheels near the outside. The technical means of detecting the end portion and obtaining the relative position of the side surface of the vehicle body with respect to the portal frame based on the detected data was adopted. Furthermore, in the invention of claim 2, based on the detection data relating to the pair of left and right wheels, a midpoint between the front end portion and the rear end portion in the vicinity of the outside of each wheel is calculated, and based on the position of the midpoint The technical means for obtaining the relative position of the side surface of the vehicle body with respect to the portal frame is employed. In the invention of claim 3, the line connecting the midpoints of the front end portion and the rear end portion in the vicinity of the outside of the pair of left and right wheels is used. The technical means of obtaining the relative position of the side surface of the vehicle body with respect to the portal frame with the orthogonal direction as the longitudinal direction of the vehicle body was adopted. According to the invention of claim 4, the front end and the rear end near the outside of the front wheel and the rear wheel are detected, and the front end and the rear end near the outside of the front wheel and the rear wheel are detected based on the detected data. The technical means of calculating the midpoint of the vehicle and calculating the relative position of the side of the vehicle body with respect to the portal frame based on the position of the midpoint. In the invention relating to the vehicle body detection device in the gate-type car wash machine according to claim 5, the vehicle body detection means is configured to perform light-shielding of a plurality of optical axes arranged across the vehicle body with different inclination angles in a plane lower than the vehicle body. A photoelectric sensor to be detected, and calculation means for obtaining a relative position of the side surface of the vehicle body with respect to the portal frame based on detection data relating to the front end portion and the rear end portion of each of at least two left and right wheels detected by the photoelectric sensor. The technical means to do was adopted. In the invention of claim 6, as the photoelectric sensor, two pairs of optical axes are arranged symmetrically at respective inclination angles that are large and small with respect to the direction orthogonal to the relative movement.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
The present invention is characterized in that the relative position of the side surface of the vehicle body with respect to the portal frame is obtained by detecting the front end portion and the rear end portion in the vicinity of the outside of the wheel, and is widely applied to various vehicles. Can do. Here, the reason for the vicinity of the outside of the wheel is that the actual detection position varies somewhat depending on the specific shape of the shoulder portion of the tire, that is, the both ends of the tread portion, and how the tire is reduced. Generally, the detection position is slightly inside the outer surface of the sidewall portion constituting the tire. As the vehicle body detection means, a wheel is configured by using a combination of light emitting and receiving sensors having different inclination angles with respect to the direction orthogonal to the relative movement of the portal frame in a plane lower than the vehicle body. The relative position of the front end portion or the rear end portion in the vicinity of the outer side of the tire is detected. That is, in the present invention, for example, a light emitting / receiving type detecting means that performs a detecting operation depending on whether or not a beam emitted from the light projecting element is received by the light receiving element can be used. It is easy to eliminate the influence of temperature, wind, etc., and malfunction due to the attachment of water droplets as in the vehicle body detection means. Moreover, since the detection means does not need to move in the vehicle width direction, the vehicle body is simple and stable in operation and easy to use compared to the conventional technique using a reflective photoelectric sensor that is movably provided in the vehicle width direction. A detection means is obtained. In addition, if it is a light projection / reception type, it is also possible to use a retroreflective photoelectric sensor comprising a light projection / reception unit and a mirror.
[0006]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic plan view showing a main part of an embodiment of the present invention, and FIG. 2 is a side view thereof. As shown in the figure, in this embodiment, the portal frame 1 side is movably installed so that it can be relatively moved while straddling the vehicle body 2. It is also possible to configure the stationary part of the vehicle body 2 with a movable flat stand or the like so as to move on the vehicle body 2 side. On both side portions 3 and 4 of the portal frame 1, four sets of light projecting and receiving light composed of combinations of light emitting elements 5 to 8 and light receiving elements 9 to 12 are provided as vehicle body detecting means for detecting the position of the side surface of the vehicle body 2. A type photoelectric sensor was provided.
[0007]
As shown in FIG. 1, the beams 13 to 16 emitted from the light emitting elements 5 to 8 are each irradiated with the beam 13 at a predetermined inclination angle with respect to the direction orthogonal to the relative movement of the portal frame 1. In addition, the beam 14 was set to be irradiated with an inclination angle smaller than that of the beam 13. Further, the beams 15 and 16 were set so as to be irradiated at an inclination angle that is symmetrical with respect to the beams 13 and 14. In this embodiment, the beams 13 and 14 emitted from the light emitting elements 5 and 6 intersect at a point a, and the beams 15 and 16 emitted from the light emitting elements 7 and 8 intersect at a point b. The inclination angle of the element is set, and the intersections a and b are set so as to be positioned on the inner wall surfaces 17 and 18 of the both side portions 3 and 4 of the portal frame 1, and on the inner wall surfaces 17 and 18. The relative position to the side surface of the vehicle body 2 is detected based on the intersection points a and b. It should be noted that the light emitting element and the light receiving element may be interchanged and reversed.
[0008]
The relative positional relationship between the portal frame 1 and the vehicle body 2 in the front-rear direction is, for example, a reference point at an appropriate position on a straight line in the vehicle width direction connecting the intersection point a and the intersection point b on the portal frame 1. c is set, and the relative position with respect to the vehicle body 2 is calculated using the reference point c as a reference position on the side of the portal frame 1. The installation heights of the light emitting elements 5 to 8 and the light receiving elements 9 to 12 are high enough to detect the main body of the vehicle body 1, that is, the wheels below the body as shown in FIG. For example, it is about 10 cm above the ground. In the present embodiment, the position of the front end portion and the rear end portion in the vicinity of the outside of the wheel is detected using the photoelectric sensor composed of the light emitting elements 5 to 8 and the light receiving elements 9 to 12, and the vehicle body is based on the detected data. The side surface position of 2 is calculated. The photoelectric sensor also reacts to static electricity removal fittings or the like that hang downward from the main body of the vehicle body 2. However, since the reaction time is very short, the photoelectric sensor may not be recognized as a wheel.
[0009]
Next, how to detect the relative position of the side surface of the vehicle body 2 with respect to the portal frame 1 will be described in detail. In this embodiment, the light receiving state of the beams 13 to 16 from the light emitting elements 5 to 8 in each of the light receiving elements 9 to 12 is continuously detected while moving the gate frame 1 side across the vehicle body 2. The detection result is converted into data and stored in association with the position of the reference point c. FIG. 3 is an explanatory diagram illustrating the course of vehicle body detection. In the figure, Aa indicates a light shielding region where the beam 13 from the light emitting element 5 is blocked by the front wheels 19 and 20 and the light receiving element 9 does not receive light, and Ab indicates that the beam 15 from the light emitting element 7 is blocked by the front wheels 19 and 20. The light-shielding area where the light-receiving element 11 does not receive light is shown. Ba represents a light shielding region in which the beam 14 from the light emitting element 6 is blocked by the front wheels 19 and 20 and the light receiving element 10 does not receive light. Bb represents the beam 16 from the light emitting element 8 by the front wheels 19 and 20. This shows a light shielding area where the light receiving element 12 does not receive light. Similarly, Ca indicates a light shielding region where the beam 13 from the light emitting element 5 is blocked by the rear wheels 21 and 22 and the light receiving element 9 does not receive light, and Cb is blocked by the rear wheels 21 and 22 and the light receiving element 11 receives light. The light shielding area Da is blocked by the rear wheels 21 and 22 so that the light receiving element 10 does not receive light, and Db is the light shielding area blocked by the rear wheels 21 and 22 where the light receiving element 12 does not receive light. .
[0010]
FIG. 4 is a partially enlarged view of FIG. 3 and shows enlarged portions of the light shielding areas Aa and Ba where the beams are blocked by the front wheels 19 and 20. As shown in the figure, the position of the front end E near the outside of the front wheel 19 is detected by the intersection of the beam 13 from the light emitting element 5 and the beam 14 from the light emitting element 6 when the light shielding by the front wheel 19 is started. can do. Further, the position of the rear end portion H in the vicinity of the outside of the front wheel 20 is such that the beam 13 from the light emitting element 5 and the beam 14 from the light emitting element 6 when the light shielding by the front wheel 20 is finished and light transmission is started. It can be detected by the intersection of Similarly, the position of the front end G in the vicinity of the outside of the front wheel 20 is determined between the beam 15 from the light emitting element 7 and the beam 16 from the light emitting element 8 installed on the other side when the light shielding by the front wheel 20 is started. It can be detected by the intersection. Further, the position of the rear end portion F of the front wheel 19 is determined by the intersection of the beam 15 from the light emitting element 7 and the beam 16 from the light emitting element 8 when the light shielding by the front wheel 19 is finished and light transmission is started. Can be detected. As described above, all positions of the front end portion E and the rear end portion F near the outside of the front wheel 19 and the front end portion G and the rear end portion H near the outside of the front wheel 20 can be detected. Further, with respect to the positions of the front end portion and the rear end portion in the vicinity of the outside of the rear wheels 21 and 22, the intersection of the beam 13 from the light emitting element 5 and the beam 14 from the light emitting element 6 is determined using the same method as described above. The detection is possible by the intersection of the beam 15 from the light emitting element 7 and the beam 16 from the light emitting element 8. The inclination angle of the beam 14 and the beam 16 with respect to the direction orthogonal to the relative movement of the portal frame 1 is set to be at least larger than the angle at which the wheel can be inclined.
[0011]
Next, a method for obtaining a specific position of the front end portion or the rear end portion in the vicinity of the outer side of each wheel will be described with reference to an example of how to obtain a specific position for the front end portion E in the vicinity of the outer side of the front wheel 19. FIG. 5 is a partially enlarged view of FIG. 4 further showing the portions of the beams 13 and 14 intersecting at the front end E near the outside of the front wheel 19. Here, as shown in the figure, the angle of the beam 13 emitted from the light emitting element 5 with respect to the inner wall surface 17 of the portal frame 1, that is, the relative movement direction is θa, and the angle of the beam 14 emitted from the light emitting element 6 is θb. . Further, the relative movement distance of the intersection point a between the beams 13 and 14, that is, the reference point c is La, and the movement direction of the intersection point a between the beams 13 and 14 from the front end E near the outside of the front wheel 19, that is, The dimension of the straight line J drawn perpendicularly to the inner wall surface 17 of one side 3 of the portal frame 1, that is, the distance between the inner wall surface 17 and the front end E is Lb, and the inner wall surface between the beam 14 and the straight line J The interval at 17 is Lc.
[0012]
Regarding the triangle shown in FIG. 5, the following relational expression is established.
[Expression 1]

[Expression 2]

[0013]
Ka and Kb in the above formulas (1) and (2) are constants because the angles θa and θb are fixed angles. Accordingly, the total length of the straight line J, that is, the distance Lb from the inner wall surface 17 of the front end E is specified by the relative moving distance La of the intersection point a between the beams 13 and 14, that is, the reference point c. Similarly, the distance Lc between the beam 14 and the straight line J is specified by the relative moving distance La of the intersection point a between the beams 13 and 14, that is, the reference point c. Therefore, the moments when the beams 13 and 14 enter the light shielding areas Aa and Ba are detected by the light receiving elements 9 and 10, respectively, and the position of the reference point c at the time of entry is detected, and the reference is based on the above detection data. If the relative movement distance La of the point c is calculated and substituted into the equation (1), the distance Lb from the inner wall surface 17 of the front end E near the outside of the front wheel 19 is obtained. Similarly, if the moving distance La is substituted into the equation (2), the distance Lc between the beam 14 and the straight line J can be obtained. As described above, the relative positional relationship of the front end E near the outside of the front wheel 19 with respect to the portal frame 1, that is, the distance Lb of the front end E from the inner wall surface 17 of the portal frame 1, and the moving direction of the portal frame 1. Relative position can be determined.
[0014]
Furthermore, as shown in FIG. 4, the light receiving elements 9 and 10 detect the moment when the beams 13 and 14 escape from the light shielding areas Aa and Ba, respectively, and detect the position of the reference point c at the time of the escape, If the relative movement distance La of the reference point c is calculated based on the above detection data and substituted into the equation (1), the distance Lb from the inner wall surface 17 of the rear end H near the outside of the front wheel 20. Is required. Similarly, if the moving distance La is substituted into the equation (2), the distance Lc between the beam 14 and the straight line J can be obtained. As described above, the distance Lb from the inner wall surface 17 of the portal frame 1 of the rear end H in the vicinity of the outside of the front wheel 20 and the relative position in the moving direction of the portal frame 1 can be obtained.
[0015]
Similarly, the moments when the beams 15 and 16 from the light-emitting elements 7 and 8 enter or exit the light-shielding regions Ab and Bb are detected by the other light-receiving elements 11 and 12, respectively, and at the time when they enter or exit. If the position of the reference point c is detected, the relative movement distance La of the reference point c is calculated based on the above detection data, and is substituted into the equations (1) and (2), the outer side of the front wheel 20 The positions of the front end G in the vicinity and the rear end F of the front wheel 19 are obtained. In this case, the positions of the front end portion G near the outside of the front wheel 20 and the rear end portion F of the front wheel 19 are obtained as distances from the other inner wall surface 18, but the interval between the inner wall surfaces 17 and 18 is predetermined. Since it is known, it is easy to convert the distance Lb from the inner wall surface 17. Thus, the relative positions of the front end portion E and the rear end portion F near the outside of the front wheel 19 and the front end portion G and the rear end portion H near the outside of the front wheel 20 with respect to all the portal frames 1 are detected. . Furthermore, if the same detection process as described above is applied to the rear wheels 21 and 22, it is possible to detect the relative positions of the front end portion and the rear end portion of the rear wheels 21 and 22 near the outside of the portal frame 1. Is possible. Incidentally, since the ratio of the distance Lb and the distance Lc to the relative movement distance La does not change, the ratio of the length between them may be determined in advance. For example, if the optical axis angles θa and θb are set so as to be expressed by an integer ratio such as La: Lb: Lc = 3: 12: 1, it is effective for simplifying the calculation.
[0016]
FIG. 6 is an explanatory view showing how to obtain the front-rear direction of the vehicle body 2. In order to determine the front-rear direction of the vehicle body 2, first, the midpoint M between the front end E and the rear end F of the front wheel 19 and the midpoint between the front end G and the rear end H of the front wheel 20 obtained above. The position of N is calculated based on the detection data. Next, if a midpoint Q of the straight line P connecting the midpoints M and N is obtained and a straight line R passing through the midpoint Q and orthogonal to the straight line P is calculated, the straight line R indicates the center line of the vehicle body 2. The direction of the vehicle body 2 in the front-rear direction is indicated.
[0017]
FIG. 7 is an explanatory diagram showing how to determine the side surface position of the vehicle body 2. In order to determine the side surface position of the vehicle body 2, the side surface of the vehicle body 2 is positioned on the straight line P extension of the midpoint M near the outside of the front wheel 19 and the midpoint N near the outside of the front wheel 20 obtained by the method described with reference to FIG. In consideration of the dimensions projecting outside the wheels, the size obtained by adding the supplementary amount S set in advance for each vehicle type or uniformly is estimated as the vehicle width W, and W / By calculating parallel lines at intervals of two, it is possible to obtain vehicle body side lines X and Y indicating the side surface position of the vehicle body 2. As described above, the vehicle body side lines X and Y indicating the side surface position of the vehicle body 2 are obtained. Further, the midpoints of the rear wheels 21 and 22 are obtained by the same method, and both the midpoints are obtained. If the vehicle body side lines X and Y are corrected by adding the supplement S to the outside, a more accurate detection result can be obtained. The range in the front-rear direction of the vehicle body side lines X and Y is specified by vehicle shape data detected separately.
[0018]
In addition, since the direction of the rear wheels 21 and 22 is always parallel to the front-rear direction of the vehicle body 2, in addition to the embodiment, two wheels on the diagonal line are selected, or the rear wheels 21 and 22 are selected. Thus, the side surface position of the vehicle body 2 can also be obtained by performing the above detection and calculation processing. In this case, since the front-rear direction of the vehicle body 2 can be detected immediately from the direction of one of the rear wheels 21 or 22, the arithmetic processing relating to the direction of the vehicle body 2 becomes easier.
[0019]
As described above, the vehicle body side lines X and Y obtained as detection data relating to the side surface position of the vehicle body 2 with respect to the portal frame 1 are extremely effective as control data for nozzles and the like in the car wash operation. For example, it can be used as control data for moving the cleaning nozzle and the drying nozzle along the side surface of the vehicle body 2. In particular, in the drying process, if the drying nozzle is moved closer to the surface of the vehicle body 2, the drying effect can be easily improved. Therefore, the vehicle body side lines X and Y are extremely effective as control data for the drying nozzle. is there. Further, if the vehicle body side lines X and Y are used, the distance from the nozzle to the side surface of the vehicle body 2 can be known, so that it can also be used as control data relating to the pressure control of the injection flow. Note that the above-described detection operation related to the side surface position of the vehicle body 2 is generally performed in the first relative movement of the portal frame 1. Thereafter, the vehicle body side lines X and Y obtained in the detection operation are used as nozzle control data for the cleaning process and the drying process, but the cleaning does not require the nozzle to be very close to the side surface of the vehicle body 2. Regarding the process, it is also possible to carry out in parallel with the detection work related to the side surface position of the vehicle body 2 in the initial relative movement of the portal frame 1. In this case, after the detection data regarding the front wheels 19 and 20 is obtained, it can be used as control data for the cleaning nozzle for the side surface of the vehicle body 2. On the other hand, since it becomes possible to use detection data relating to the rear wheels 21 and 22 in the drying process in the relative movement of the portal frame 1 thereafter, nozzle control based on detection data with higher accuracy is possible. Become. In addition, as shown in FIG. 8, it is also possible to use it as control data for regulating the movement range of the upper surface cleaning nozzle in the vehicle width direction when the upper surface of the vehicle body 2 is cleaned.
[0020]
As described above, according to the present invention, since the relative position of the side surface of the vehicle body with respect to the portal frame can be detected without being restricted by the position and direction of the wheel, the degree of freedom regarding the stop position is large, and the vehicle body The vehicle may be stopped in a state of being biased or inclined with respect to the portal frame, or the vehicle may be stopped in a state where the wheels are inclined with respect to the vehicle body. Therefore, the degree of freedom regarding the stop state of the vehicle with the portal frame is greatly expanded. In addition, when the stop state of the vehicle is regulated and the vehicle body and the wheel are always stopped parallel to the relative movement direction with respect to the portal frame, for example, a pair of beams 13 and 14 are combined. The relative position of the vehicle body side surface can be detected using the optical axis. That is, if the position of the front end E of one front wheel 19 and the position of the rear end H of the other front wheel 20 are detected using the beams 13 and 14, the vehicle body 2 and the front wheels 19 and 20 are moved in the relative movement direction. By combining with the condition of being parallel, the relative position of the side surface of the vehicle body can be calculated easily. In this case, the relative position of the side surface of the vehicle body can be similarly calculated by detecting the front end portion and the rear end portion of the rear wheel instead of the front wheel. Further, since the end face of the wheel, that is, the tread surface is in a direction orthogonal to the relative movement direction, the inclination angle with respect to the beam 14 can be omitted.
[0021]
【The invention's effect】
According to the present invention, the following effects can be obtained.
(1) Since the relative position of the side surface of the vehicle body with respect to the portal frame is detected via the front end and the rear end in the vicinity of the outside of the wheel, it is possible to use light emitting / receiving type detection means, and It is easy to eliminate the influence by the etc. and the malfunction by the adhesion of water drops.
(2) Since it is not necessary to move the detection means in the vehicle width direction, it is possible to detect the relative position of the side surface of the vehicle body with respect to the portal frame that is simple and stable in operation.
(3) Since the relative position of the side surface of the vehicle body with respect to the portal frame can be detected without being constrained by the position and direction of the wheels, the degree of freedom of the stopping position with respect to the portal frame is great, and the vehicle body is the portal frame. The vehicle can be parked in a state where it is biased or inclined with respect to the vehicle, or the vehicle can be parked in a state in which the wheels are tilted with respect to the vehicle body. Is done.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing a main part of an embodiment of the present invention.
FIG. 2 is a side view of the same embodiment.
FIG. 3 is an explanatory view exemplifying the progress of vehicle body detection.
4 is a partially enlarged view showing an enlarged portion of light shielding regions Aa and Ba in FIG. 3; FIG.
5 is a partially enlarged view showing a further enlarged portion of beams 13 and 14 intersecting at the front end E of FIG. 4; FIG.
FIG. 6 is an explanatory diagram showing how to obtain the front-rear direction of the vehicle body.
FIG. 7 is an explanatory diagram showing how to determine the side position of the vehicle body.
FIG. 8 is a schematic plan view showing an application example of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Portal frame, 2 ... Vehicle body, 3, 4 ... Both sides of portal frame, 5-8 ... Light emitting element, 9-12 ... Light receiving element, 13-16 ... Beam, 17, 18 ... Inner wall surface of both sides , 19, 20 ... front wheels, 21, 22 ... rear wheels, a, b ... intersections of beams, c ... reference points for the gate-type frame, Aa, Ab, Ba, Bb ... light-shielding areas by the front wheels, Ca, Cb, Da, Db: Shading area by rear wheel, E: Front end, F ... Rear end, G ... Front end, H ... Rear end

Claims (6)

In a vehicle body detection method in a portal type car wash machine for detecting a vehicle body by means of a vehicle body detection means provided on the side of the portal frame while moving the gate frame relative to the vehicle body while straddling the vehicle body, the vehicle body detection means comprises: Installed below the main body of the vehicle body, the vehicle body detection means detects the front and rear end portions of at least the two left and right wheels, and detects the relative position of the side surface of the vehicle body with respect to the portal frame based on the detected data. A vehicle body detection method for a gate type car wash machine, characterized in that a position is obtained. Based on the detection data relating to the pair of left and right wheels, the midpoint between the front end and the rear end near the outside of each wheel is calculated, and the relative position of the side of the vehicle body with respect to the portal frame based on the position of the midpoint The vehicle body detection method in the portal type car wash machine according to claim 1, wherein: Based on the detection data on the pair of left and right wheels, the midpoint of the front end and the rear end near the outside of each wheel is calculated, and the direction orthogonal to the line connecting the midpoints is The vehicle body detection method in the gate type car wash machine according to claim 1 or 2, wherein a relative position of the side surface of the vehicle body with respect to the gate type frame is obtained as a direction. The front end and the rear end near the outside of each front wheel and rear wheel are detected, and based on the detected data, the midpoint between the front end and the rear end near the outside of the front and rear wheels is calculated, The vehicle body detection method in the gate type car wash machine according to any one of claims 1 to 3, wherein a relative position of the side surface of the vehicle body with respect to the portal frame is obtained based on the position of the middle point. In a vehicle body detection device in a gate type car wash machine that detects a vehicle body by vehicle body detection means provided on the gate frame side while moving the gate frame relative to the vehicle body in a state of straddling the vehicle body, the vehicle body detection means includes: A photoelectric sensor for detecting light transmission / shielding of a plurality of optical axes arranged across the vehicle body at different inclination angles in a lower plane than the vehicle body, and an outer side of each of at least two left and right wheels detected by the photoelectric sensor A vehicle body detection apparatus for a gate-type car wash machine, characterized in that the vehicle-body detection apparatus comprises a calculation means for obtaining a relative position of a side surface of the vehicle body with respect to a portal frame based on detection data relating to the front and rear end portions in the vicinity. 6. The vehicle body detection device for a gate-type car wash machine according to claim 5, wherein the photoelectric sensor has two pairs of optical axes symmetrically arranged at respective inclination angles large and small with respect to a direction orthogonal to relative movement.

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