JP4714761B2 - Self-propelled car wash machine - Google Patents

Description

The present invention relates to a self-propelled car wash, particularly, with the self-propelled along the vehicle body outer circumferential surface, in which relates to an improved structure of the self-propelled car washes for washing a vehicle body outer peripheral surface at carwash brushes is there.

  2. Description of the Related Art Conventionally, as a type of automobile washing apparatus, there is a structure having a gate-type main body frame, and a structure in which a car wash brush is rotatably attached to each of a plurality of opposing support columns of the main body frame. is there. As is well known, this portal type washing apparatus is such that the main body frame is guided by two rails and runs in the front-rear direction of the automobile to be washed, or the automobile passes through the main body frame. By being allowed to run, the main body frame and the automobile can be moved relative to each other. At that time, the car wash brush that is rotated is pressed against the outer peripheral surface of the automobile, and the outer peripheral face of the automobile is washed. However, there are inherent problems such as a large structure and an expensive structure, and a large installation place.

  Under such circumstances, as a washing apparatus for solving the above-described problems, a wheel that allows the car wash brush to run rotatably is attached to a frame that is rotatably supported, and the wheel is driven. An independent self-propelled car wash machine in which a drive source is installed has been proposed (see, for example, Patent Documents 1 and 2).

  However, all of these conventional self-propelled car wash machines have a structure in which wheels are steered by manual operation of an operator using a handle or a remote controller. For this reason, it is not easy to control the traveling direction of the car wash machine along the outer peripheral surface of the vehicle body so that the rotating car wash brush reliably contacts the outer peripheral surface of the vehicle body to be cleaned. Therefore, it has been unavoidable that the finished state of the car wash varies due to the steering skill of the operator. In addition, since washing is normally performed while water is sprayed on the vehicle body, there is a problem that an operator who operates the handle or the remote control has to perform work in a poor environment where splashing is applied. .

  Therefore, the inventors of the present invention have a detection unit that detects a distance from the vehicle body in Patent Document 3, and the distance from the vehicle body detected by the detection unit is smaller than a preset allowable range. Proposed a self-propelled car washer that would move away from the car body, but would approach the car body if the detected value was greater than a preset tolerance. As a result, it is possible to automate the steering operation of the car wash machine, so that the finish of the car wash is not affected by the operator's steering skill, and the burden on the operator such as splashing can be reduced. It was.

  However, the self-propelled car wash machine described in Patent Document 3 still has room for improvement. That is, the self-propelled car wash machine described in Patent Document 3 is allowed to run in the separation direction when the car wash brush is excessively close to the vehicle body and in the approach direction when the car wash brush is excessively separated from the vehicle body. Therefore, the traveling direction was likely to be zigzag with respect to the outer peripheral surface of the vehicle body. Therefore, the place where the car wash brush hits the vehicle body and the place where the car wash brush hit weakly occur alternately, and the car wash finish tends to be uneven. In particular, when the self-propelled car washer approaches too much and tries to change the direction in the separation direction, the direction changes so as to bite into the vehicle body, so there is a possibility that the direction change cannot be performed smoothly. In order to avoid the direction change that bites into the vehicle body, it is conceivable that the self-propelled car washer changes the direction at an early stage when approaching the vehicle body. However, in this case, the contact pressure of the car wash brush with the vehicle body becomes small throughout the car wash process, and there is a possibility that a sufficient washing effect cannot be obtained.

JP-A-52-107172 Japanese Patent Laid-Open No. 2003-127843 JP 2006-264676 A

  Here, the present invention has been made in the background as described above, and the problem to be solved is that the finish of the car wash can be further improved and more smoothly along the outer peripheral surface of the vehicle body. It is to provide an improved structure of a self-propelled car wash machine that can be driven by a vehicle.

  Hereinafter, embodiments of the present invention made to solve the above-described problems will be described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

That is, the first aspect of the present invention relating to a self-propelled car wash machine is a frame, a wheel attached to the frame and capable of running the frame without a rail, and driving for driving at least one of the wheels. A car wash brush rotatably supported about a rotation axis extending in a vertical direction with respect to the frame; and while pressing the car wash brush against the outer peripheral surface of the vehicle body, In a self-propelled car wash machine that cleans the outer peripheral surface of the vehicle body by running along the outer peripheral surface of the vehicle body, (a) the frame is moved in at least two directions: an approach direction and a separation direction with respect to the outer peripheral surface of the vehicle body. Steering means for changing; (b) distance detection means for detecting a separation distance of the frame from the outer peripheral surface of the vehicle body; and (c) the steering means based on a detection value of the distance detection means. If the detected value falls outside the preset allowable range, the frame is moved in the reverse direction so that the detected value is within the preset allowable range, and the frame is moved to the predetermined range. Self-running direction control means for steering in a direction parallel to the outer peripheral surface of the vehicle body , and (d) the frame from one end of the outer peripheral surface of the vehicle body to the end of the pair of outer peripheral surfaces facing the vehicle body And (e) the frame based on the movement time measured by the movement time measurement means, and the other frame. The self-propelled car wash machine is characterized by including a movement time control means for moving along the outer peripheral surface of the vehicle body .

  In the self-propelled car wash machine structured according to this aspect, the direction of travel of the car wash machine is set so that it can run substantially parallel to the vehicle body based on the detection value of the distance detection means for detecting the distance from the vehicle body. Is configured to be controlled. Therefore, in such a self-propelled car wash machine according to the present invention, the travel direction is sufficiently reliable and highly accurate and stable so that the vehicle can travel along the outer peripheral surface of the vehicle body to be washed. It can be controlled and the automation of the steering operation can be advantageously realized. As a result, even those who are not accustomed to the work can easily perform the work, and the variation in the finished state of the car wash due to the difference of the workers can be suppressed. Moreover, it is possible for the worker to perform the car washing work advantageously by remote control under a favorable work environment.

  In particular, in this aspect, when the detected value deviates from a preset allowable range, steering is performed so that the traveling direction of the frame is parallel to the outer peripheral surface of the vehicle body. As a result, the contact pressure of the car wash brush to the outer peripheral surface of the vehicle body can be made substantially uniform over a wider range, so that unevenness of the car wash can be suppressed and a more uniform finish can be obtained.

  In addition, when the detected value is out of the preset allowable range, the frame travels in the reverse direction. That is, for example, assuming that the vehicle is running while washing the outer peripheral surface of the vehicle body in one direction, if the detected value deviates from the allowable range during the forward car wash, the vehicle is moved backward as it is or appropriately steered. . Thereby, the distance between the frame and the outer peripheral surface of the vehicle body can be stably maintained within an appropriate range. In particular, when control by the self-propelling direction control means is performed when the vehicle body is excessively approached, steering is performed while being separated from the vehicle body by a reverse operation. Thereby, in order to smoothly perform the steering as described above, unlike the case where the direction change is started at an early stage of approaching the outer peripheral surface of the vehicle body, while sufficiently securing the contact pressure of the car wash brush to the vehicle body, The direction can be changed smoothly.

In this aspect, the case where the detected value is out of the preset allowable range means that the detected value is smaller than the allowable range, in other words, the case where the detected value is excessively close to the vehicle body, When it becomes larger than the allowable range, in other words, it may be both when excessively separated from the vehicle body, or either one may be sufficient. That is, the direction control by the self-propelled direction control means may be performed both when the vehicle body is excessively approached and when the vehicle body is excessively separated from the vehicle body. The direction control by the self-running direction control means may be performed only in either case of separation.
According to this aspect, since the other vehicle body outer peripheral surface is moved based on the time required for cleaning one vehicle body outer peripheral surface among the pair of opposing vehicle body outer peripheral surfaces, when the other cleaning is completed, The running of the frame can be automatically stopped. In particular, this embodiment can be suitably used in combination with the third embodiment described later. In this way, when the end of one vehicle body outer peripheral surface is reached, the vehicle body outer peripheral surface connecting these two vehicle outer peripheral surfaces is turned toward the other vehicle outer peripheral surface and automatically steered into a U-shape. It is possible to dampen. Thus, for example, in the loading platform portion of the truck, if cleaning is started from the front end portion of either one of the left and right surfaces, the rear surface of the loading platform portion at the rear end portion of the surface after running back along the surface. And run along the rear surface to the rear end of the other surface. And, by traveling forward along the outer surface of the other vehicle body for the time required for movement of one surface, the traveling of the frame is automatically stopped when the front end of the other surface is reached. I can do it. Thereby, the operator can clean the left and right surfaces and the rear surface of the loading platform portion automatically only by performing the cleaning start operation.

According to a second aspect of the present invention relating to a self-propelled car wash machine, in the self-propelled car wash machine according to the first aspect, (f) a change for measuring a change amount per predetermined time of a detection value by the distance detection means. And (g) correction steering means for correcting and steering the frame in a direction parallel to the outer peripheral surface of the vehicle body based on the measurement result of the change amount measurement means. And

  According to this aspect, it is possible to detect the degree of inclination with respect to the outer peripheral surface of the vehicle body in the traveling direction of the frame from the change with time of the detection value of the distance detection means. That is, when the detection value gradually decreases as the frame travels, the frame gradually approaches the outer peripheral surface of the vehicle body. When the detected value gradually increases, the frame gradually separates from the outer peripheral surface of the vehicle body. It will be. Thereby, for example, even when a single distance sensor is used as the distance detecting means, the inclination of the frame in the traveling direction with respect to the outer peripheral surface of the vehicle body can be detected, and the distance from the outer peripheral surface of the vehicle body is set in advance. Prior to deviating from the range, the traveling direction of the frame can be made parallel to the outer peripheral surface of the vehicle body. That is, since the degree of inclination of the frame with respect to the outer peripheral surface of the vehicle body is not constant, if the moving direction of the frame is brought closer to a fixed target value (traveling direction parallel to the outer peripheral surface of the vehicle body), variations in the inclination of the frame are caused. As a result, the deviation from the target value is likely to occur, and the frame may travel zigzag relative to the outer peripheral surface of the vehicle body. Therefore, by correcting so that the amount of change in the detection value of the distance detection means becomes 0, the frame traveling direction can be made more parallel to the outer peripheral surface of the vehicle body, and the frame may travel more zigzag. It can be advantageously reduced. Therefore, the contact pressure of the car wash brush to the outer peripheral surface of the vehicle body can be made substantially uniform over a wider range, and a more uniform finish can be obtained.

According to a third aspect of the present invention relating to a self-propelled car wash machine, in the self-propelled car wash machine according to the first or second aspect, (h) an end detection means for detecting an end of the outer peripheral surface of the vehicle body; (I) When the end detection means detects the end of the outer peripheral surface of the vehicle body, the end of the outer peripheral surface of the vehicle body is common and parallel to the outer peripheral surface of the vehicle body continuous from the outer peripheral surface of the vehicle body. A swiveling means for swiveling the frame is further provided.

  According to this aspect, automatic steering can be performed so as to go around the corners of the vehicle body, and washing can be performed continuously over a plurality of vehicle outer peripheral surfaces, and automatic steering can be performed over the entire periphery of the vehicle body. It is also possible to do.

A fourth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to any one of the first to third aspects, wherein the distance detecting means includes a non-contact sensor. It is characterized by that.

  According to this aspect, since the distance to the outer peripheral surface of the vehicle body can be detected without contacting the outer peripheral surface of the vehicle body, the possibility of damaging the outer peripheral surface of the vehicle body due to the contact can be avoided. As such a non-contact type sensor, for example, a photoelectric sensor that uses laser light such as infrared light, an ultrasonic sensor that uses ultrasonic waves, a proximity sensor that detects a distance based on an electromagnetic induction action or a change in capacitance, etc. Various conventionally known sensors can be appropriately employed.

A fifth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to any one of the first to fourth aspects, wherein the distance detecting means includes a contact type sensor. It is characterized by being.

  According to this aspect, the distance to the outer peripheral surface of the vehicle body can be accurately detected without being affected by water spray or mud, as in the case of using an optical sensor, for example. As such a contact-type sensor, for example, various conventionally known sensors such as a sensor using a piezoelectric element such as a limit switch and a piezoelectric element, and a potentiometer can be appropriately employed. Note that this aspect and the fifth aspect may be used in combination. That is, the separation distance of the frame from the outer peripheral surface of the vehicle body may be detected using both a non-contact sensor and a contact sensor. By doing so, the separation distance between the frame and the outer peripheral surface of the vehicle body can be detected with higher accuracy.

A sixth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to the fifth aspect, wherein the contact-type sensor presses the car wash brush against the outer peripheral surface of the vehicle body. It is characterized by comprising resistance force detecting means for detecting the resistance force generated in the brush.

  In this way, as described above, the distance to the outer peripheral surface of the vehicle body can be detected with high accuracy. In addition, by using a car wash brush as a contact portion to the detection target (vehicle body outer peripheral surface) in the contact type sensor, it is possible to reduce the number of parts that come into contact with the vehicle outer peripheral surface and advantageously reduce the risk of damaging the vehicle outer peripheral surface. I can do it.

According to a seventh aspect of the present invention relating to a self-propelled car wash machine, in the self-propelled car wash machine according to any one of the first to sixth aspects, of the wheels attached to the frame, the frame travels. Wheels located on both the left and right sides with respect to the direction are a left drive wheel and a right drive wheel that are driven by the travel drive source, and the steering means includes a rotation speed and a rotation direction of the left drive wheel. An adjustment mechanism that adjusts the rotation speed and the rotation direction of the right drive wheel so as to be different from each other, and the rotation speed and the rotation direction of the left drive wheel and the right drive wheel adjusted by the adjustment mechanism. Based on the difference, the travel direction of the frame is changed in the left-right direction, so that the travel direction of the frame is changed in two directions, an approach direction and a separation direction with respect to the outer peripheral surface of the vehicle body. It is characterized.

  According to this aspect, the drive wheels that cause the frame to travel function as steering wheels that change the travel direction. Therefore, the number of parts can be advantageously reduced as compared with the case where a steering wheel is provided separately from the drive wheel.

An eighth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to the seventh aspect, wherein the travel drive source is a first travel drive source that drives the left drive wheel; The right driving wheel is configured to have a second traveling drive source that is separate from the first traveling drive source, and the adjustment mechanism is configured to be connected to the left of the first traveling drive source. By relatively changing the driving force with respect to the driving wheel and the driving force with respect to the right driving wheel of the second traveling driving source, the rotational speed and the rotational direction of the left driving wheel and the right driving wheel are mutually changed. It is characterized by being configured to be adjustable differently.

  According to this aspect, the rotation speed and the rotation direction of the left driving wheel and the right driving wheel can be adjusted more reliably, and the traveling direction of the frame can be controlled with higher accuracy.

A ninth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to the eighth aspect, wherein the detected value of the distance detection means is smaller than a preset allowable range. The vehicle body so that the detected value is within a preset allowable range by reversing the driving of the first travel drive source and the second travel drive source by the adjusting mechanism. The first traveling drive source or the second traveling drive source of the left driving wheel and the right driving wheel with respect to the driving wheel proximal to the outer peripheral surface of the vehicle body is moved away from the outer peripheral surface. The self-propelled direction control means is configured to be able to control the adjustment mechanism so that the frame is steered in a direction parallel to the outer peripheral surface of the vehicle body by stopping driving by the adjustment mechanism. Is a feature.

Further, a tenth aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to the eighth or ninth aspect, wherein the detection value of the distance detection means is greater than a preset allowable range. When it becomes larger, the detection value is set within a preset allowable range by reversing the driving of the first travel drive source and the second travel drive source by the adjusting mechanism. The first driving source or the second driving source for the driving wheel distal to the outer peripheral surface of the left driving wheel and the right driving wheel is moved in the approaching direction to the outer peripheral surface of the vehicle body. The self-propelling direction control means can control the adjusting mechanism so that the frame is steered in a direction parallel to the outer peripheral surface of the vehicle body by stopping the driving of the traveling driving source by the adjusting mechanism. It is characterized by being configured.

According to these ninth and tenth aspects, the control of the traveling direction of the frame with respect to the outer peripheral surface of the vehicle body can be performed more stably. For example, in the ninth and tenth aspects, a timer that measures the preset reverse drive time and drive stop time of the first travel drive source or the second travel drive source by the drive control of the adjustment mechanism. An apparatus is further provided, and the first travel drive source and the second travel drive source are driven in reverse until the time measured by the timer device reaches the reverse drive time, and the time measured by the timer device Until the drive stop time is reached, the adjusting mechanism can be controlled by the self-running direction control means so that the drive of the first travel drive source or the second travel drive source is stopped. The embodiment is preferably adopted. By adopting such a timer device, the steering amount is set in units, and the amount of change in the frame traveling direction in the approach direction and the separation direction with respect to the outer peripheral surface of the vehicle body is controlled by the self-running direction control means. It can be prevented in advance that the amount of water is excessive, and the control of the traveling direction of the car wash machine can be performed with higher accuracy.

An eleventh aspect of the present invention relating to a self-propelled car wash machine is the self-propelled car wash machine according to any one of the first to sixth aspects, wherein at least one of the wheels attached to the frame. The steering wheel is configured to be rotatable about a rotation axis extending in the vertical direction, and is configured as a steering wheel that changes the traveling direction of the frame by the rotation, and the steering means rotates the steering wheel. It is characterized by including a turning mechanism that turns around the moving axis.

  According to this aspect, the traveling direction of the frame can be changed in a simple structure in which the steering wheel is simply rotated. Therefore, the complication of the structure of the entire car wash machine accompanying the addition of the control structure for the steering operation of the car wash machine can be suppressed as much as possible.

Further, if the self-propelled car wash machine of the present invention is adopted , a frame, a wheel attached to the frame and capable of running the frame without a rail, and a driving source for driving at least one of the wheels And a car wash brush rotatably supported about a rotation axis extending in the vertical direction with respect to the frame, and while pressing the car wash brush against the outer peripheral surface of the car body, A traveling control method for a self-propelled car washer that cleans the outer peripheral surface of the vehicle body by running along the surface, wherein the separation distance of the frame from the outer peripheral surface of the vehicle body is out of a preset allowable range to, the frame allowed travel in the opposite direction so as to be within an allowable range in which the distance is set in advance, the traveling system of the self-propelled car washes for steering the frame to the vehicle body outer peripheral surface parallel to the direction Aspect of the method, the feasible.

According to this aspect , the traveling direction of the self-propelled car wash machine can be made parallel to the outer peripheral surface of the vehicle. Thereby, the spot of a car wash can be suppressed and a more uniform finish can be obtained. Furthermore, when the detected value deviates from the preset allowable range, the frame is moved backward, so that the distance between the frame and the outer peripheral surface of the vehicle body can be stably maintained within an appropriate range, The direction can be changed smoothly. In this aspect , the case where the detected value is out of the preset allowable range means that the detected value is smaller than the allowable range, in other words, the case where the detected value is excessively close to the vehicle body, When it becomes larger than the allowable range, in other words, it may be both when excessively separated from the vehicle body, or either one may be sufficient.

  Hereinafter, in order to clarify the present invention more specifically, embodiments of the present invention will be described in detail with reference to the drawings.

  First, in FIG. 1 to FIG. 3, as an embodiment of a self-propelled car wash machine having a structure according to the present invention, a self-propelled car wash machine used for washing an automobile has a front form, a side form, and a top form. And are shown schematically. As is clear from these drawings, the self-propelled car wash machine 10 of this embodiment has a frame 11. The four casters 12 and the left and right traveling tires 14a and 14b, which are two types of wheels capable of traveling on the frame 11, are attached to the frame 11, respectively. Further, the car wash brush 16 is supported so as to be rotatable around the rotation shaft 17.

  More specifically, the frame 11 is configured to further include a base portion 18. And the base part 18 of this flame | frame 11 is exhibiting the substantially longitudinal rectangular flat plate form, as FIG. 4 thru | or FIG. 7 shows. In addition, one caster 12 having wheels that freely rotate is attached to each of the four corners of the lower surface. Further, the caster 12 is a conventionally known buffer caster having a pivot shaft (not shown) extending in the vertical direction and capable of pivoting around the pivot shaft. Thus, the four casters 12 provide a buffering action against the downward impact input to the base portion 18. At the same time, the frame 11 is configured to be allowed to travel in a free direction without a rail on the road surface or the like. 4 to 7, members and parts on the upper surface of the base portion 18 of the frame 11 are omitted, and members such as left and right traveling tires 14a and 14b are shown in FIG. 5 and FIG. And parts are omitted.

  Further, left and right traveling tires 14a and right traveling tires 14b are respectively attached to the left and right side ends in the width direction at the longitudinal center portion of the lower surface of the base portion 18 with an axle 20 fixed thereto. The portions 18 are respectively arranged in a state of extending horizontally toward the inner side in the width direction. Further, the axles 20 are rotatably attached to the lower surface of the base portion 18 by a stay 24 having two bearings 22 and 22.

  Further, between the left traveling tire 14a and the right traveling tire 14b on the lower surface of the base portion 18, a left traveling motor 26a and a right traveling motor 26b are disposed as a traveling drive source for rotationally driving them. ing. That is, the left and right traveling motors 26a and 26b are provided in the state in which the respective drive shafts 28 are extended in the longitudinal direction of the base portion 18, that is, on the axles 20 of the left and right traveling tires 14a and 14b. It is arranged in a state extending perpendicularly. Note that the left and right traveling motors 26a and 26b are, for example, conventionally known dielectric motors that can rotate in both forward and reverse directions.

  Then, the drive shafts 28 of the left and right traveling motors 26a, 26b arranged in this manner are gears attached to the end portions of the respective axles 20 opposite to the traveling tire 14 side. It is connected via a gear (not shown) accommodated in the box 30 that changes the rotation direction. Thus, the left and right traveling tires 14a and 14b are rotated in the same direction as the left and right traveling motors 26a and 26b are driven to rotate in the same direction. And the whole frame 11 is made to run toward the one side of the longitudinal direction of the base part 18 shown by the arrow: (a) in FIG. In the present embodiment, the direction indicated by the arrow: A is the forward direction of the frame 11, the forward and backward rotation directions of the left and right traveling motors 26a and 26b that move the frame 11 forward are rotated, and the frame 11 is moved backward. The rotation direction of the left and right traveling motors 26a and 26b is referred to as reverse rotation.

  As is clear from this, in the present embodiment, the left driving wheel is configured by the left traveling tire 14 a located on the left side with respect to the traveling direction of the frame 11. The first traveling drive source is configured by the left traveling motor 26a that drives the left traveling tire 14a. On the other hand, the right driving wheel is configured by the right traveling tire 14b positioned on the right side with respect to the traveling direction of the frame 11. Further, a second traveling drive source is configured by the right traveling motor 26b that drives the right traveling tire 14b. In the following, in the width direction of the frame 11, the side on which the left traveling tire 14a is located is referred to as the left side, and that portion is referred to as the left side portion. Further, the side on which the right traveling tire 14b is located is referred to as the right side, and that portion is referred to as the right side portion. In addition, in the length direction of the frame 11, the front side in the running direction (the side indicated by the arrow: A in FIG. 4) is the front part, and the rear side (the arrow: in FIG. 4, the opposite side to the arrow A) ) The part is called the rear part.

  As shown in FIGS. 1 to 9, a tank table 36 is supported above the left side of the base 18 by a plurality of support pillars 34 at a predetermined distance from the upper surface of the base 18. Are installed (see FIGS. 8 and 9). In addition, a protective cover 37 made of a plate material having a substantially U-shape is provided on the left and right front portions of the base portion 18 so as to cover the space between the base portion 18 and the tank table 36. It is installed. In FIG. 9, an extension pipe 58 (to be described later) is omitted.

  Further, on the left side of the base portion 18, an internal combustion engine type generator 38 such as a gasoline engine type or a diesel engine type and a control device 40 are sandwiched between two protective covers 37, 37, It is installed so as to be lined up below the tank table 36. Thereby, the generator 38 and the control device 40 are positioned in a state where the front and rear directions are protected by the two protective covers 37 and 37.

  Although not shown in each figure, the generator 38 is guided by a rail laid on the base portion 18 so as to extend in the left-right direction, moves on the base portion 18, and moves to the base portion. 18 can be taken from the top to the left. Further, the material and structure of the protective covers 37, 37 are not particularly limited. However, for example, a plate such as a mesh plate or a non-porous transparent plate that is visible from the one surface side through the other surface side is configured. Thereby, the states of the generator 38 and the control device 40 can be easily confirmed from the outside. Among these, in particular, if a breathable material such as a mesh plate is used, the internal combustion engine generator 38 can be effectively cooled. Moreover, if a non-porous plate is used, the advantage that water, mud, etc. adhere to the generator 38 and the control device 40 is advantageously prevented.

  As is well known, the internal combustion engine generator 38 used here generates an alternating voltage by driving an internal combustion engine (engine) that uses gasoline, kerosene, or the like as fuel. In the present embodiment, the generator 38 is configured to control the current flowing through the rotor coil and to keep the output voltage constant, for example, so as to attenuate the power fluctuation and stabilize it. It incorporates a known automatic voltage regulator (not shown).

  Such a generator 38 is electrically connected to the control device 40 arranged side by side and the left and right traveling motors 26a and 26b attached to the lower surface of the base portion 18 in the frame 11. Yes. Accordingly, a constant voltage is stably supplied to each traveling motor 26, and the power supply is controlled by the control device 40.

  In addition, a remote control device 41 as an operation means is further electrically connected to the control device 40. Then, based on pressing operations of various push buttons provided on the remote control device 41, power supply from the generator 38 to each traveling motor 26 is started and stopped. In other words, the driving and stopping of each traveling motor 26 is controlled by the control device 40 so that the frame 11 is moved forward and backward and stopped. Here, the remote control device 41 has a structure in which, for example, an ON state and an OFF state are alternately obtained each time the push button is pressed once.

  More specifically, although not explicitly shown in the figure, the remote control device 41 has a push button for simultaneously driving and stopping the left and right traveling motors 26a and 26b and only one of them. And a push button for driving and stopping. The left and right traveling motors 26a and 26b are simultaneously driven and stopped by pressing the push button once to drive both the traveling motors 26 and the left and right traveling tires 14a and 14b. Are rotated at the same rotational speed in the same rotational direction. As a result, the frame 11 can be moved straight in one direction. Also, from this state, by pressing the push button once again, the driving of the left and right traveling motors 26a and 26b is stopped, and the left and right driving motors 26 are detent torqued by the detent torque. The rotation of the traveling tires 14a and 14b is stopped simultaneously. As a result, the traveling of the frame 11 is stopped.

  On the other hand, when both the left and right traveling motors 26a and 26b are driven, the left traveling motor is operated by pressing the push button for driving / stopping only the left traveling motor 26a once. The driving of the left traveling tire 14a is stopped by the detent torque of the left traveling motor 26a (the rotational speed of the left traveling tire 14a is set to zero). At this time, the rotation of the right traveling tire 14b is continued. As a result, the frame 11 is temporarily stopped and turned to the left side on the spot. In this state, the push button for driving / stopping only the left traveling motor 26a is pressed once again, so that the driving of the left traveling motor 26a is resumed, and the left traveling tire 14a is also reactivated. It can be rotated. As a result, the traveling of the frame 11 is resumed in a state where the direction of the frame 11 is changed to the left side before the frame 11 is temporarily stopped.

  Similarly, when the push button for driving / stopping only the right traveling motor 26b is pressed once while the frame 11 is traveling, only the rotation of the right traveling tire 14b is stopped ( Only the rotation speed of the right traveling tire 14b is set to zero), and the frame 11 is temporarily stopped and the direction is changed to the right side. When the push button is pressed once more, the frame 11 is configured to resume running in a state where the direction of the frame 11 is changed to the right with respect to that before the stop.

  Thus, in the self-propelled car wash machine of the present embodiment, the traveling direction of the frame 11 can be manually changed to the left and right directions based on the pressing operation of the push button of the remote control device 41. . As a result, the vehicle can easily run to the vicinity of the car to be washed. In addition, the left and right traveling tires 14a and 14b that enable the frame 11 to travel can be rotationally driven by the power supply of the left and right traveling motors 26a and 26b from the generator 38 installed in the frame 11. ing. Therefore, for example, unlike the case where each traveling tire 14a, 14b is rotationally driven by power supply from a power source provided at a fixed position, the frame 11 can be moved more freely and over a wide range. .

  On the other hand, on the tank table 36, a tank 42 in which washing water as a washing liquid is accommodated is installed. That is, the tank 42 is fixed above the generator 38 at a position that is biased to the left of the central portion in the width direction of the base portion 18. A submersible pump 44 is accommodated in the tank 42. The submersible pump 44 is connected to a water supply pipe 46 that extends to the outside of the tank 42. Thus, the washing water in the tank 42 is sent to the outside through the water supply pipe 46 by driving the submersible pump 44. Further, the submersible pump 44 is driven by being supplied with power from the generator 38 by a pressing operation of a push button provided in the remote control device 41. 1 and 2, reference numeral 48 denotes a water supply pipe for supplying water into the tank 42. Reference numeral 50 denotes a water level meter for confirming the amount of washing water contained in the tank 42.

  Further, as shown in FIGS. 3, 8, and 9, the right side portion of the base portion 18 of the frame 11 opposite to the installation side of the generator 38, the control device 40, and the tank 42 as a whole A brush cover 52 having a substantially half-divided cylindrical shape is erected so that the half surface side is on the right side. The brush cover 52 includes a cover plate 53 made of a substantially halved cylindrical resin plate or stainless steel plate, and a frame-like column portion 54 that is fixed to and supports the outer surface.

  In the brush cover 52, one guide roller 55 and one illumination device 56 are respectively attached at appropriate positions in the height direction of both side portions in the width direction (circumferential direction) of the frame-shaped column portion 54. ing. The guide roller 55 is installed in a state where the guide roller 55 protrudes to the right side of the base portion 18 and the tip roller surface thereof is positioned further to the right side than the arrangement position of the rotating shaft 17 of the car wash brush 16 installed as described later. Has been. Accordingly, even when the frame 11 is too close to the outer peripheral surface 57 (shown by a two-dot chain line in FIGS. 1 and 3) of the automobile to be washed during a car washing operation as described later, the guide roller 55 Is brought into contact with the outer peripheral surface 57 of the vehicle body to prevent contact between the frame 11 and the automobile. The lighting device 56 is installed at an appropriate position that can brighten the washing position of the outer peripheral surface 57 of the vehicle body during the car washing operation.

  Further, two extension pipes 58 branched from the water supply pipe 46 connected to the submersible pump 44 are provided on both sides of the frame-shaped support column 54 of the brush cover 52 along the height direction of the brush cover 52. It is arranged to extend. In each of the extension pipes 58, a plurality of injection ports 59 are provided at predetermined intervals. As a result, as the submersible pump 44 is driven, the washing water is jetted simultaneously from the plurality of jet ports 59 positioned on both sides of the brush cover 52. Further, as described above, the submersible pump 44 is driven by power supply from the generator 38 installed on the base portion 18 of the frame 11 capable of self-running. Therefore, the washing water can be jetted from any jet port 59 at any place. As is clear from this, here, the submersible pump 44, the water supply pipe 46, the extension pipe 58, and the injection port 59 constitute an injection device having a comparatively simple structure. In FIG. 8, reference numeral 60 denotes a lifting ladder.

  Further, a reinforcing body 62 is provided at the upper end portion of the frame-like column portion 54 of such a brush cover 52. The reinforcing body 62 includes a first narrow rib-shaped first rib 61a extending between both side portions of the upper end portion of the frame-shaped column portion 54, and a central portion in the length direction of the first rib 61a. The second and third ribs 61b and 61c have a narrow flat plate shape extending toward two places in the middle in the width direction at the upper end of the brush cover 52.

  Of the side surfaces of the first rib 61a in the reinforcing body 62 provided in the brush cover 52, the side opposite to the cover plate 53 side, that is, on the right side of the base portion 18 is the lengthwise central portion. On the other hand, the first bearing 64 is fixed in a state where the inner hole is opened in the vertical direction. Also, in the base portion 18, the second bearing 66 is open at the center in the front-rear direction on the right side surface of the base portion 18 with the inner hole opened in the vertical direction and positioned concentrically with the first bearing 64. It is fixed.

  And the rotating shaft 17 of the car wash brush 16 is inserted and fixed in each inner hole of the said 1st bearing 64 and the 2nd bearing 66 in the upper end part and lower end part. As a result, the car wash brush 16 is fixed in position with respect to the frame 11 with a part of the car wash brush 16 protruding rightward from the base portion 18, and thus stably rotates around the rotary shaft 17 extending in the vertical direction. Supported where possible. Thus, here, in the state where the brush cover 52 is positioned so as to surround the entire left half of the periphery of the car wash brush 16 over the entire length, the car wash brush 16, the generator 38, and the control device 40 It is arranged in between.

  As is clear from this, in this embodiment, the brush cover 52, the reinforcing body 62, and the first and second bearings 64 and 66 constitute a support portion. A cover member is configured. Further, the left traveling tire 14a is more distal to the vehicle outer peripheral surface 57 than the right traveling tire 14b during a car wash operation of the outer peripheral surface 57 described later. The car wash brush 16 has an upper brush 19a with long bristles located on the upper side and a plurality of lower brushes 19b with shorter bristles than the upper brush 19a located on the lower side.

  Thus, in the present embodiment, the heavy generator 38 and the control device 40 and the car wash brush 16 are installed separately on the left side portion and the right side portion of the base portion 18 of the frame 11. Yes. As a result, a good weight balance of the entire car wash machine is ensured, and thus the running stability of the frame 11 is improved. Further, during the car washing operation as described later, the washing water spray or mud sprayed from each injection port 59 splashed by the rotation of the car wash brush 16 is applied to or attached to the generator 38 or the control device 40. Is effectively prevented by the brush cover 52. Thereby, the durability of the generator 38 and the control device 40 can be effectively enhanced.

  In addition, a brush drive motor 68 made of, for example, an induction motor is fixed to the upper surface of the reinforcing body 62 provided at the upper end portion of the rotating shaft 17 of the car wash brush 16 in a state where a drive shaft (not shown) extends in the horizontal direction. Has been. Further, a gear box 70 is interposed between the drive shaft of the brush drive motor 68 and the upper end edge of the rotary shaft 17 extending through the inner hole of the first bearing 64. The rotary shaft 17 and the drive shaft of the brush drive motor 68 are connected via a gear (not shown) that changes the rotational direction accommodated in the gear box 70. As a result, the car wash brush 16 is driven to rotate about the rotary shaft 17 as the brush drive motor 68 is driven.

  Further, such a brush drive motor 68 is driven and stopped under the control of the control device 40 by a pressing operation of a push button provided in the remote control device 41. That is, by pressing the push button once, the brush drive motor 68 is powered and driven from the generator 38 installed on the self-running frame 11. In such a state, when the push button is pressed once more, the driving of the brush drive motor 68 is stopped. As a result, in the present embodiment, the car wash brush 16 can be driven to rotate at an arbitrary place, so that the car can be washed at a desired place.

  Furthermore, the rotational speed of the brush drive motor 68 is arbitrarily adjusted by a rotational speed adjusting device built in the control device 40. As described above, the brush drive motor 68 is constituted by an induction motor. Therefore, the rotation speed control by the rotation speed adjusting device is easily realized by, for example, conventionally known duty ratio control, control using both converter control and inverter control, and cycle converter control.

  As described above, the brush drive motor 68 is configured such that the rotation speed is arbitrarily adjusted by the rotation speed adjustment device built in the control device 40. The rotational speed of the car wash brush 16 can be increased or decreased according to the dirt state of the outer peripheral surface 57 or the like. Further, it is possible to perform a so-called soft start in which the rotation of the car wash brush 16 is started at a moderate speed. As a result, the efficiency of the washing operation and the avoidance of danger due to the impact of the rapid start of the car wash brush 16 can be advantageously achieved.

  Thus, in the self-propelled car wash machine having such a structure, as shown in FIG. 1 and FIG. 3, first, the frame 11, the car wash brush 16, and the vehicle body of the automobile to be washed. It arrange | positions so that it may press on the outer peripheral surface 57. FIG. That is, the frame 11 is arranged so that the outer peripheral surface of the vehicle body is located on the right side in the traveling direction. In this state, the washing water in the tank 42 is sprayed from both sides of the brush cover 52 by the operation of the submersible pump 44. At the same time, the car wash brush 16 is rotated by the brush drive motor 68. While the left and right traveling motors 26a, 26b are driven to rotate, the left and right traveling tires 14a, 14b are rotationally driven, while the car wash brush 16 is pressed against the outer peripheral surface 57 of the automobile to be washed, the frame 11 Is caused to travel along the outer peripheral surface 57 of the vehicle body. As a result, the outer peripheral surface 57 of the automobile can be cleaned.

  In addition, in the self-propelled car wash machine according to the present embodiment, the frame 11 that is caused to travel along the vehicle outer peripheral surface 57 of the automobile to be washed in the car wash operation as described above is the vehicle outer peripheral surface 57. The closer the vehicle is to the vehicle, that is, the closer the traveling direction is to the right, the greater the amount of pressing of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body. Thereby, the resistance force generated in the car wash brush 16 pressed against the outer peripheral surface 57 of the vehicle body is increased. On the contrary, the more the frame 11 is separated from the outer peripheral surface 57 of the vehicle body, that is, the more the traveling direction is on the left side, the less the pressing amount of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body. Will decrease. Therefore, here, in particular, the traveling direction of the frame 11 is set so that the distance between the frame 11 (car wash machine) and the outer peripheral surface 57 of the vehicle body is within a preset range based on such resistance. It is designed to be controlled.

  That is, as apparent from FIG. 10 showing the control system of the traveling direction of the frame 11 as described above, here, the power is supplied from the generator 38 to the brush drive motor 68 by the ON operation of the switch 74, and the brush drive motor 68. Is started (rotation drive of the car wash brush 16). This switch 74 is turned ON / OFF based on a pressing operation of a push button provided on the remote control device 41 as described above.

  In addition, between the generator 38 and the brush drive motor 68, the generator 38 to the brush drive motor 68 when the brush drive motor 68 is rotationally driven (when power is supplied from the generator 38 to the brush drive motor 68). An ammeter 76 for detecting the supply current value is provided.

  Here, as described above, the generator 38 has a built-in automatic voltage regulator, so that the output voltage is kept constant. The brush drive motor 68 is an induction motor. In this brush drive motor 68, the amount of pressing of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body increases due to the approach of the frame 11 to the outer peripheral surface 57 of the vehicle body, and the rotational resistance force of the car wash brush 16 is increased. As a result, the rotational speed is inevitably lowered. On the other hand, as is well known, when the applied voltage is constant, the current value of the induction motor increases as the rotational speed decreases.

  Therefore, here, when the brush drive motor 68 is driven to rotate, the resistance force generated by pressing the car wash brush 16 against the outer peripheral surface 57 of the car wash is based on the magnitude of the current value detected by the ammeter 76. It is detected as a rotational resistance force of the brush 16. In other words, the separation distance of the frame 11 from the vehicle body outer peripheral surface 57 is detected as the rotational resistance force of the car wash brush 16. As is clear from this, in the present embodiment, the resistance detection means is configured with a relatively simple and compact structure in the ammeter 76, and the separation between the frame 11 and the outer peripheral surface 57 of the vehicle body. A contact-type sensor constituting distance detection means for detecting a distance includes resistance force detection means. In the present embodiment, the detection value of the resistance force detecting means increases as the frame 11 approaches the outer peripheral surface 57 of the vehicle body, and the detection value of the resistance force detecting means decreases as the frame 11 moves away from the outer peripheral surface 57 of the vehicle body. Become. That is, when the detection value (resistance value) of the resistance detection means is large, the detection value of the distance detection means is small (close to the outer peripheral surface 57 of the vehicle body), and the detection value (resistance value) of the resistance detection means is When it is small, the detection value of the distance detection means is large (far from the outer peripheral surface 57 of the vehicle body).

  The generator 38 is connected to the left and right traveling motors 26a and 26b via the control device 40. The control device 40 includes an adjustment unit 78, an operation unit 79, and a timer unit 80. Then, the detected value by the ammeter 76 is sequentially input to the adjusting unit 78 of the control device 40. Further, the upper limit reference value and the lower limit reference value of the current supplied from the generator 38 to the brush drive motor 68 when the brush drive motor 68 is rotationally driven are input in advance to the adjustment unit 78 of the control device 40. .

  In the present embodiment, the upper limit reference value and the lower limit reference value are determined as follows. That is, first, the brush drive motor 68 is set in a state where the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is within a permissible range determined to be suitable for cleaning the outer peripheral surface 57 of the vehicle body by the car wash brush 16. The upper limit value and the lower limit value of the supply current value from the generator 38 to the brush drive motor 68 when the motor is rotated are measured in advance. The range of the rotational resistance when the supply current value is between the lower limit value and the upper limit value was set as the allowable range. In addition, the upper limit value and the lower limit value of the current value are set as the upper limit reference value and the lower limit reference value input in advance to the control device 40.

  Note that the distance between the car wash brush 16 suitable for such washing and the outer peripheral surface 57 of the vehicle body is, for example, that an excessive load is applied to the brush drive motor 68 by pressing the rotated car wash brush 16 against the outer peripheral surface 57 of the vehicle body. The distance is such that the outer peripheral surface 57 of the vehicle body is not damaged and the outer peripheral surface 57 of the vehicle body can be reliably cleaned. Therefore, it should be understood that the upper and lower reference values set as described above are appropriately changed according to the shape of the outer peripheral surface 57 of the vehicle body, the state of dirt, and the like.

  And in the adjustment part 78 of the said control apparatus 40, the said detection value sequentially input from the ammeter 76 and the upper limit and lower limit reference value input previously are compared at any time. As a result, when the detected value is larger than the upper limit reference value or smaller than the lower limit reference value, that is, when the rotational resistance force of the car wash brush 16 grasped based on the detected value is out of the allowable range, the adjustment is performed. A drive stop signal for the left traveling motor 26 a and the right traveling motor 26 b is output from the unit 78 to the operation unit 79. As a result, the operation unit 79 stops power feeding from the generator 38 to the left and right traveling motors 26a and 26b, and the driving of the left and right traveling motors 26a and 26b is stopped. Thus, the rotation of the left traveling tire 14a and the right traveling tire 14b is stopped (the rotation speed is set to zero).

  Subsequently, the reverse rotation signals of the left and right traveling motors 26 a and 26 b are output from the adjustment unit 78 to the operation unit 79. As a result, the operation unit 79 starts power feeding from the generator 38 to the left and right traveling motors 26a and 26b, and the left and right traveling motors 26a and 26b are driven in the opposite directions. Thus, the left and right traveling tires 14a and 14b are rotated in the opposite directions.

  Further, in the control device 40, the elapsed time from the start of reverse drive of the left and right traveling motors 26a, 26b by the operation unit 79 based on the input signal from the adjusting unit 78 is measured by the timer unit 80 as a timer device. It has come to be. Then, when the left and right traveling motors 26a and 26b are driven to rotate in the reverse direction and the measurement time by the timer unit 80 reaches the reverse drive time which is a preset set time, the detection value is set to the upper limit at the operation unit 79. When the value is larger than the reference value, power supply from the generator 38 to the right traveling motor 26b for driving the right traveling tire 14b located in the vicinity of the outer peripheral surface 57 of the vehicle body is stopped, and only the right traveling tire 14b is obtained. When the detected value is smaller than the lower limit reference value, the generator 38 with respect to the left traveling motor 26a for driving the left traveling tire 14a located distal to the outer peripheral surface 57 of the vehicle body is provided. The power feeding is stopped, and the rotation of only the left traveling tire 14a is stopped. Note that the reverse drive time, which is the time to reverse the left and right traveling motors 26a, 26b, is the vehicle body outer peripheral surface 57 in the traveling direction of the frame 11 that is assumed when the detection value input from the ammeter 76 is out of the allowable range. In consideration of the inclination with respect to the angle, the retraction speed of the frame 11, and the like, the time when the detection value input from the ammeter 76 is within the allowable range when the frame 11 is retracted by the reverse drive time is set.

  In addition, the timer unit 80 can measure the elapsed time from the start of the drive stop operation of the left traveling motor 26a or the right traveling motor 26b by the operation unit 79 based on the input signal from the adjusting unit 78. When the measurement time by the timer unit 80 becomes a drive stop time that is a preset set time, if the detected value is larger than the upper limit reference value by the operation unit 79, the reverse drive is performed. The power supply from the generator 38 to the left traveling motor 26a is stopped, and the rotation of the left traveling tire 14a is stopped. On the other hand, if the detected value is smaller than the lower limit reference value, the left traveling motor 26a is driven in reverse. The power supply from the generator 38 to the right traveling motor 26b is stopped, and the rotation of the right traveling tire 14b is stopped. Then, after the power supply from the generator 38 to the left and right traveling motors 26a and 26b is stopped, the forward rotation driving of the left and right traveling motors 26a and 26b is resumed. The driving stop time, which is the time for stopping only one of the left and right traveling motors 26a and 26b, is the vehicle body in the traveling direction of the frame 11 that is assumed when the detection value input from the ammeter 76 is out of the allowable range. In consideration of the inclination with respect to the outer peripheral surface 57, the radius of rotation of the frame 11, and the like, when the frame 11 is turned for the drive stop time, a time for the traveling direction of the frame 11 to be substantially parallel to the outer peripheral surface 57 of the vehicle body is set. did.

  That is, here, the driving force of the left traveling motor 26a and the right traveling motor 26b is relatively changed by the operation unit 79 of the control device 40 based on the detection value by the ammeter 76, and the left Each of the traveling tire 14a and the right traveling tire 14b is configured to be adjusted to have different rotational speeds and rotational directions. The adjustment unit 78 that compares the detected value with the upper limit and lower limit reference values uses, for example, two known meter relays, and detects one of them, whether the detected value exceeds the upper limit reference value. It can be easily realized by using a combination as a high level detector and another one as a low level detector for detecting whether or not the detected value falls below the lower limit reference value.

  Further, as described above, the upper limit and lower limit reference values input in advance to the adjustment unit 78 of the control device 40 can be changed as appropriate. Therefore, here, an input device 82 having a numeric keypad or the like is connected to the control device 40. The upper and lower reference values can be easily input and changed to the control device 40 by operating the numeric keypad of the input device 82 or the like.

  Thus, in the self-propelled car wash machine 10 of the present embodiment, the size of the distance between the frame 11 and the vehicle body outer peripheral surface 57 is within a preset range based on the detection value by the ammeter 76. Is determined, and when it is determined that the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is smaller than the set range, the adjustment unit 78, the operation unit 79, and the timer unit 80 of the control device 40. Thus, after the left and right traveling motors 26a and 26b are once stopped, they are driven to rotate in reverse for a predetermined reverse driving time and separated from the outer peripheral surface 57 of the vehicle body. Thereafter, only the drive of the right traveling motor 26b is stopped for a predetermined drive stop time. As a result, the frame 11 is swung in the right direction of the traveling direction around the right traveling tire 14b, in other words, in the direction away from the outer peripheral surface 57 of the vehicle body, while being retracted. Accordingly, the frame 11 is steered so that the traveling direction of the frame 11 is substantially parallel to the outer peripheral surface 57 of the vehicle body, and is allowed to travel along the outer peripheral surface 57 of the vehicle body.

  On the other hand, when it is determined that the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is larger than a predetermined setting range, the adjustment unit 78, the operation unit 79, and the timer unit 80 of the control device 40 are used for left and right traveling. After the motors 26a and 26b are temporarily stopped, the motors 26a and 26b are driven to rotate in the reverse direction only for a predetermined reverse driving time and are brought close to the outer peripheral surface 57 of the vehicle body. Thereafter, only the driving of the left traveling motor 26b is stopped for a predetermined drive stop time. As a result, the frame 11 is swung in the left direction of the traveling direction around the left traveling tire 14a, in other words, in the direction approaching the outer peripheral surface 57 of the vehicle body, while being retracted. Accordingly, the frame 11 is steered so that the traveling direction of the frame 11 is substantially parallel to the outer peripheral surface 57 of the vehicle body, and is allowed to travel along the outer peripheral surface 57 of the vehicle body.

  As a result, the traveling direction of the frame 11 is controlled by a so-called control method that follows the outer peripheral surface 57 of the vehicle body. As is apparent from these, in this embodiment, the steering means is configured including the left and right traveling motors 26a and 26b and the operation unit 79 of the control device 40, and the operation of the control device 40 is also performed. In the part 79, an adjustment mechanism is configured. Further, the adjustment unit 78 of the control device 40 constitutes a self-running direction control means. The timer unit 80 of the control device 40 constitutes a timer device.

  Next, the traveling direction control of the frame 11 (self-propelled car wash machine 10) will be described based on the flowchart shown in FIG.

  That is, the control program for the traveling direction of the frame 11 is started when the switch 74 is turned on while the left traveling motor 26a and the right traveling motor 26b are rotationally driven. From this start, first, in step S1 (hereinafter, simply represented by S1, the same applies to other steps), the rotation of the brush drive motor 68 is started, and the rotation of the car wash brush 16 is started.

  Next, in S2, it is determined whether or not the detected value A by the ammeter 76 is larger than the upper reference value Kmax. When the determination result is NO, in S3, it is determined whether or not the detection value A by the ammeter 76 is smaller than the lower limit reference value Kmim. When the determination result is NO, S4 is executed.

  In S4, it is further determined whether or not the rotational drive of the brush drive motor 68 is stopped. When this determination result is NO, the process returns to S2, and S2 to S4 are repeatedly executed, and the car wash brush 16 is continuously rotated. On the other hand, when the determination result in S4 is YES, the control program for the running direction of the frame 11 is terminated.

  In the determination results in S2 and S3, if it is determined that the detection value A by the ammeter 76 is smaller than the upper reference value Kmax and larger than the lower reference value Kmim, the self-propelled car wash machine It is determined that the entire vehicle is driven at an appropriate distance from the outer peripheral surface 57 of the automobile. Both the left traveling motor 26a and the right traveling motor 26b are continuously driven to rotate forward. As a result, the frame 11 can travel straight without changing the traveling direction.

  On the other hand, when the determination result in S2 is YES, it is determined that the entire self-propelled car washer has excessively approached the outer peripheral surface 57 of the automobile body. In S5, the driving of the left and right traveling motors 26a and 26b is stopped.

  Subsequently, in S6, the reverse drive of the left and right traveling motors 26a and 26b is started. In S7, the timer unit 80 of the control device 40 starts measuring the time from when the left and right traveling motors 26a and 26b are driven in reverse rotation in S6 to the preset reverse drive time. In the subsequent S8, the timer unit 80 finishes timing, and the timer unit 80 is reset. As a result, the frame 11 is retracted and separated from the outer peripheral surface 57 of the vehicle body over a reverse drive time from the start to the end of the time measurement by the timer unit 80.

  Thereafter, in S9, only the drive of the right traveling motor 26b proximal to the outer peripheral surface 57 of the vehicle body is stopped. In S10, the timer unit 80 starts measuring the time from when the driving of the right traveling motor 26b is stopped in S9 to a preset driving stop time. In S11, the timer unit 80 finishes timing, and the timer unit 80 is reset. Thereafter, in S12, the driving of the left traveling motor 26a that has been reversely driven is also stopped. As a result, the frame 11 is turned over the driving stop time from the start to the end of the time measurement by the timer unit 80, and the traveling direction of the frame 11 is steered so as to be parallel to the outer peripheral surface 57 of the vehicle body. .

  In S13, the forward rotation driving of the left and right traveling motors 26a and 26b is resumed. As a result, the self-propelled car wash machine 10 is allowed to travel along the outer peripheral surface 57 of the vehicle body. Thereafter, the process returns to S2, and S2 and subsequent steps are executed.

  On the other hand, when the determination result in S3 is YES, it is determined that the entire self-propelled car washer is excessively separated from the outer peripheral surface 57 of the automobile body. In S14, the driving of the left and right traveling motors 26a and 26b is stopped.

  Subsequently, in S15, the reverse drive of the left and right traveling motors 26a and 26b is started. In S16, the timer unit 80 of the control device 40 starts measuring the time from when the left and right traveling motors 26a and 26b are driven in reverse rotation in S15 to a preset reverse drive time. In the subsequent S17, the timer unit 80 finishes timing and the timer unit 80 is reset. As a result, the frame 11 is retracted and brought closer to the outer peripheral surface 57 of the vehicle body over the reverse drive time from the start to the end of the time measurement by the timer unit 80.

  Thereafter, in S18, only the driving of the left traveling motor 26a distal to the vehicle body outer peripheral surface 57 is stopped. In S19, the timer unit 80 starts measuring the time from when the driving of the left traveling motor 26a is stopped in S18 to a preset driving stop time. In S20, the timer unit 80 finishes timing, and the timer unit 80 is reset. Thereafter, in S21, the driving of the right traveling motor 26b that has been reversely driven is also stopped. As a result, the frame 11 is turned over the driving stop time from the start to the end of the time measurement by the timer unit 80, and the traveling direction of the frame 11 is steered so as to be parallel to the outer peripheral surface 57 of the vehicle body. .

  In S22, the forward rotation driving of the left and right traveling motors 26a and 26b is resumed. As a result, the self-propelled car wash machine 10 is allowed to travel along the outer peripheral surface 57 of the vehicle body. Thereafter, the process returns to S2, and S2 and subsequent steps are executed.

  Next, a method for controlling the traveling direction of the frame 11 based on the program as described above will be described with reference to FIG.

  That is, first, as shown in process number 0, the self-propelled car wash machine 10 is moved to the vicinity of the vehicle body outer peripheral surface 57 of the automobile to be washed. This is because the brush drive motor 68 is not driven to rotate, and therefore, the adjustment value 78 of the control device 40 sets the detected value of the current supplied to the brush drive motor 68 by the ammeter 76 to zero (brush current value: H and L are both OFF), and the left driving motor G and the right driving motor N are both driven, for example, pressing the push button of the remote control device 41 This is easily done by carrying out in the manner described above.

  Next, when the self-propelled car wash machine 10 is moved to the vicinity of the outer peripheral surface 57 of the vehicle body, the switch 74 is turned on by the pressing operation of the push button of the remote control device 41, and the brush drive motor 68 is driven to rotate. As a result, the car wash brush 16 is rotated. At the same time, the running direction control of the frame 11 by the brush drive motor 68, the control device 40, and the ammeter 76 is started.

  Thus, the car wash brush 16 is brought into contact with the outer peripheral surface 57 of the vehicle body as shown in the process number 1. At this time, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the value detected by the ammeter 76 is smaller than the upper limit reference value and larger than the lower limit reference value (brush current value: H = OFF, L = ON), both the left traveling motor G and the right traveling motor N are driven to rotate forward so that the self-propelled car wash machine 10 moves along the outer peripheral surface 57 of the vehicle body. And run further.

  Then, as shown in process number 2a, the frame 11 approaches the vehicle body outer peripheral surface 57 excessively, and the value detected by the ammeter 76 exceeds the upper reference value (brush current value: H = ON, L = ON ), The left and right traveling motors N and G are temporarily stopped and then driven in reverse for a predetermined reverse driving time. The reverse rotation driving time at this time takes into consideration the angle of the traveling direction of the self-propelled car wash machine 10 with respect to the vehicle outer peripheral face 57, the traveling speed of the self-propelled car wash machine 10, and the like. A time during which a transitional distance or approach to the distance can be eliminated is set appropriately in advance. As a result, the frame 11 is separated from the outer peripheral surface 57 of the vehicle body, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the value detected by the ammeter 76 is smaller than the upper limit reference value and lower limit. The value is larger than the reference value (brush current value: H = OFF, L = ON).

  Subsequently, as shown in the process number 2b, only the right traveling motor N that is proximal to the outer peripheral surface 57 of the vehicle body is stopped for a predetermined drive stop time, and the traveling direction of the self-propelled car wash machine 10 is Steer along the outer peripheral surface 57 of the vehicle body. Regarding the drive stop time at this time, taking into consideration the angle of the traveling direction of the self-propelled car wash machine 10 with respect to the vehicle outer peripheral surface 57, the traveling speed of the self-propelled car wash machine 10 and the like, The time is set appropriately in advance so that the steering can be realized only to cancel the moving direction of the frame 11 when approaching or separating. Thereafter, the left traveling motor G is temporarily stopped, and then the left and right traveling motors N and G are driven to rotate forward. As a result, the process returns to the process number 1, and the self-propelled car wash machine 10 is caused to travel along the outer peripheral surface 57 of the vehicle body with the frame 11 maintaining an appropriate distance from the outer peripheral surface 57 of the vehicle body.

  On the other hand, as shown in process number 3a, the frame 11 is excessively separated from the outer peripheral surface 57 of the vehicle body, and the value detected by the ammeter 76 is lower than the lower limit reference value (brush current value: H = OFF, L = OFF). ), The left and right traveling motors N and G are temporarily stopped and then driven in reverse for a predetermined reverse driving time. As a result, the frame 11 is brought close to the outer peripheral surface 57 of the vehicle body, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the detection value by the ammeter 76 is smaller than the upper limit reference value and lower limit. The value is larger than the reference value (brush current value: H = OFF, L = ON).

  Subsequently, as shown in the process number 3b, only the left traveling motor G: distal to the outer peripheral surface 57 of the vehicle body is stopped for a predetermined drive stop time, and the traveling direction of the self-propelled car wash machine 10 is Steer along the outer peripheral surface 57 of the vehicle body. Thereafter, the left traveling motor: N is temporarily stopped, and then the left and right traveling motors: N, G are driven to rotate forward. As a result, the process returns to the process number 1, and the self-propelled car wash machine 10 is caused to travel along the outer peripheral surface 57 of the vehicle body with the frame 11 maintaining an appropriate distance from the outer peripheral surface 57 of the vehicle body.

  And based on the change of the detected value by the ammeter 76 according to the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body, the running direction of the frame 11 is changed by appropriately performing the process numbers 2a, 2b and 3a, 3b. By steering, the self-propelled car wash machine 10 is caused to travel along the outer peripheral surface of the vehicle body.

  In addition, the specific structure and aspect of the steering of the frame 11 are not limited to the above-described form. For example, depending on the steering angle and the traveling speed in the process number 2a and the process number 3a, in the turn of the process number 2b and the process number 3b, it may be difficult to respond only by stopping one wheel for a predetermined time as described above. In this case, not only the one wheel is stopped but also the reverse rotation is allowed for a predetermined time. In addition, when the relative position (bias amount) of the car wash brush 16 with respect to the middle point of both the left and right wheels is large, if only one wheel is stopped and steered, the relative distance of the car wash brush 16 to the outer peripheral surface 57 of the vehicle is caused by such steering. May change significantly. Even in such a case, the relative rotation amount and the relative rotation direction of the left wheel and the right wheel are appropriately adjusted, and the moving (running) direction is steered while keeping the relative distance of the car wash brush 16 with respect to the outer peripheral surface 57 of the vehicle body as much as possible. It is desirable to do. Thus, in particular, in the self-propelled car wash machine 10 of the above-described embodiment that is steered based on the relative rotation difference between the pair of left and right traveling tires 14a and 14b, for example, as shown in FIG. The moving (running) direction can be quickly changed in a narrow space as compared with the one provided with the direction change type steering wheel, and therefore the relative distance of the car wash brush 16 with respect to the outer peripheral surface 57 of the vehicle body can be quickly increased. In addition to being able to change and adjust with high accuracy, there is an advantage that the direction control as described above can be performed quickly.

  Furthermore, for example, by making the rotational speeds of the left and right traveling tires 14a and 14b different during the backward movement of the process number 2a and the process number 3a, the backward movement in the process number 2a and the process number 3a and the turning in the process number 2b and the process number 3b. Can be performed simultaneously. Specifically, at the time of the backward movement of the process number 2a, the rotational speed of the reverse drive of the right traveling tire 14b proximal to the outer peripheral surface 57 of the vehicle is lower than the rotational speed of the reverse drive of the left traveling tire 14a. Or the reverse rotation speed of the left traveling tire 14a distal to the outer peripheral surface 57 of the vehicle body is lower than the rotational speed of the reverse driving of the right traveling tire 14b. By adjusting to, the self-propelled car wash machine 10 can be turned while retreating, and the traveling direction can be steered parallel to the outer peripheral surface 57 of the vehicle body.

  As is apparent from the above description, in the self-propelled car wash machine 10 of the present embodiment, the vehicle body outer peripheral surface 57 and the vehicle body outer surface 57 are determined based on the supply current value to the brush drive motor 68 detected by the ammeter 76. The traveling direction of the frame 11 is controlled so that the vehicle body outer peripheral surface 57 is washed so that the vehicle can travel while maintaining a constant distance. Therefore, for example, the control amount in the traveling direction of the frame 11 can be obtained extremely stably without being affected by splashes, mud, etc. that are inevitably generated during car washing.

  Therefore, in the self-propelled car wash machine 10 of this embodiment as described above, the car wash brush 16 is pressed against the vehicle outer peripheral surface 57 while keeping the distance from the vehicle outer peripheral surface 57 constant, and the vehicle outer periphery The automation of the steering operation for traveling along the surface 57 can be realized very advantageously on the basis of reliable and stable travel control. As a result, it is possible to efficiently perform a car wash operation in which a beautiful finished state is stably obtained under a favorable work environment.

  In particular, in the self-propelled car wash machine 10 of the present embodiment, when the vehicle body outer peripheral surface 57 is excessively approached or separated from the vehicle body outer peripheral surface 57, the frame 11 is temporarily moved backward to the vehicle body outer peripheral surface 57. It can be moved to an appropriate position. Thereby, the contact pressure to the vehicle body outer peripheral surface 57 of the car wash brush 16 can be ensured more stably, and the finishing state which suppressed the spot can be obtained. In addition, particularly when the traveling direction of the frame 11 is changed too close to the outer peripheral surface 57 of the vehicle body, the frame 11 is once separated from the outer peripheral surface 57 of the vehicle body. The possibility of obstruction is reduced, and smoother steering is possible.

  In the self-propelled car wash machine 10, the running tires 14 a and 14 b as driving wheels driven by the running motors 26 a and 26 b for running the frame 11, the frame 11, and further the car wash machine. 10 traveling directions can be changed. Therefore, for example, there is an advantage that the number of parts can be advantageously reduced as compared with a case where dedicated steering wheels or the like for changing the traveling direction of the frame 11 are provided separately from the drive wheels.

  In the above-described self-propelled car wash machine 10, the traveling direction of the frame 11 is adjusted when the value detected by the ammeter 76 deviates from the allowable range from the upper limit reference value to the lower limit reference value. However, for example, even if the detected value is within the allowable range, it is more preferable to appropriately correct and steer the traveling direction of the frame 11 based on the amount of change of the detected value per predetermined time. In addition, in each aspect shown below, about the site | part and member made into the same structure as said 1st embodiment, the detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol as FIG. 1 thru | or FIG. .

  That is, when the traveling direction of the frame 11 is inclined with respect to the outer peripheral surface 57 of the vehicle body, the value detected by the ammeter 76 changes with time. For example, as schematically shown in FIG. 13, the detected value: A is within the range of the upper source reference value: Kmax to the lower limit reference value: Kmin. In the case of tilting in the approaching direction, the detection value: A increases with time. On the other hand, when the traveling direction of the frame 11 is inclined in the separation direction with respect to the outer peripheral surface 57 of the vehicle body, the detection value: A becomes smaller as time elapses. Therefore, the degree of inclination of the frame 11 with respect to the vehicle outer peripheral surface 57 in the traveling direction can be obtained from the amount of change in the detected value during a predetermined time. Therefore, if the traveling direction of the frame 11 is corrected and steered according to the degree of the inclination, the frame 11 is parallel to the vehicle outer peripheral surface 57 before the frame 11 approaches or separates from the vehicle outer peripheral surface 57 excessively. It is possible to correct and steer.

Such correction steering can be realized by executing the correction steering program shown in FIG. 14 with the apparatus shown in the above-described embodiment. In this embodiment, the adjustment unit 78 can store the detection value obtained by the ammeter 76. First, in S <b> 30, a detection value: A ₁ detected by the ammeter 76 at a predetermined timing start time: T ₁ is stored in the adjustment unit 78. Next, in S31, the timer unit 80 of the control device 40 starts measuring a predetermined time. Then, in S32, time counting by the timer 80 is caused to completion, the timer section 80 is reset at S33, a predetermined count start time: ammeter 76 when the counting of the timer unit 80 has been brought finished in T ₂ The detected value A ₂ is stored in the adjustment unit 78.

Subsequently, in S34, count start time of the timer section 80: T ₁ from the count end time: detected values of up to T _2: the variation of A and _{((A 2 -A 1) /} (T 2 -T 1)) calculate. Thus, in the present embodiment, the change amount measuring means is configured including the timer unit 80, the adjusting unit 78, and S34. In S35, it is determined whether or not the amount of change in the detection value: A is 0. If the determination result is YES, the frame 11 is caused to travel parallel to the outer peripheral surface 57 of the vehicle body. Therefore, the process returns to S30, and S30 and subsequent steps are repeatedly executed.

  On the other hand, if the determination result in S35 is NO, it is determined in S36 whether or not the amount of change in the detected value A is positive. When the determination result is YES, the frame 11 is caused to travel in the approaching direction with respect to the outer peripheral surface 57 of the vehicle body. Therefore, in S37, only the driving of the left traveling motor 26a that drives the left traveling tire 14a distal to the outer peripheral surface 57 of the vehicle body is stopped. In S38, the timer unit 80 starts measuring a predetermined time. Subsequently, in S39, the timer unit 80 finishes timing and the timer unit 80 is reset. Thereafter, in S40, the driving of the left traveling motor 26a is resumed. As a result, the frame 11 is swung away from the outer peripheral surface 57 of the vehicle body over the time from the start to the end of the time measurement by the timer unit 80, and the traveling direction of the frame 11 is parallel to the outer peripheral surface 57 of the vehicle body. The steering is corrected so that

  On the other hand, when the determination result of whether or not the change amount of the detected value A in S36 is positive is NO, the frame 11 is caused to travel in the separation direction with respect to the outer peripheral surface 57 of the vehicle body. Therefore, in S41, only the driving of the right traveling motor 26b that drives the right traveling tire 14b proximal to the outer peripheral surface 57 of the vehicle body is stopped. Then, in S42, timing of a predetermined time is started. Subsequently, in S43, the timer unit 80 finishes timing, and the timer unit 80 is reset. Thereafter, in S44, the driving of the right traveling motor 26b is resumed. Thus, the frame 11 is swung in the approaching direction to the vehicle outer peripheral surface 57 over time from the start to the end of the timing by the timer unit 80, and the traveling direction of the frame 11 is parallel to the vehicle outer peripheral surface 57. The steering is corrected so that

  Thus, in this aspect, the correction steering means is configured including the timer unit 80, the adjustment unit 78, the operation unit 79, and S36 to S44. In this way, even if the measurement point of the distance detecting means for detecting the separation distance between the outer peripheral surface 57 of the vehicle body and the frame 11 is a single measurement point by the car wash brush 16, the outer periphery of the vehicle body in the traveling direction of the frame 11 The inclination angle with respect to the surface 57 can be detected, and the correction steering of the frame 11 can be performed before the frame 11 excessively approaches or separates from the outer peripheral surface 57 of the vehicle body. This makes it possible to run the frame 11 parallel to the outer peripheral surface 57 of the vehicle body for a longer period of time, improving the running stability of the self-propelled car wash machine 10, Reliability is improved.

  Note that an appropriate value is set as a predetermined time (a predetermined time between S38 and S39 and S42 and S43 in FIG. 14) when only one of the left and right motors 26a and 26b is stopped and the frame 11 is turned. Although it may be set in advance, the calculated detection value: a time during which the inclination angle with respect to the vehicle body outer peripheral surface 57 in the traveling direction of the frame 11 is calculated from the change amount (inclination) of A, and the inclination angle can be eliminated. Is more preferably set for each correction steering. In this case, the time at which the tilt angle can be eliminated is a table in which a predetermined time corresponding to the range of the tilt angle is stored in advance by dividing an assumed tilt angle from a minimum value to a maximum value into appropriate ranges. May be prepared, or may be calculated each time based on a predetermined calculation formula. In this way, it is possible to perform correction steering by an amount corresponding to the degree of inclination of the frame 11, and to make the frame 11 parallel to the outer peripheral surface 57 of the vehicle body more reliably.

  Further, as shown in FIG. 15, when the cleaning of the vehicle outer peripheral surface 57a is completed and the frame 11 reaches the end 83 of the vehicle outer peripheral surface 57a, the end 83 is commonly used as the vehicle outer peripheral surface 57a. The frame 11 may be swung around the outer peripheral surface 57b of the vehicle body that is continuous from the vehicle body. In order to realize such control, for example, as shown in FIG. 16, the distance sensor 87 as an end detection means such as a non-contact type optical sensor or a contact type mechanical sensor is used as a travel of the frame 11. The frame 83 is attached to an appropriate position such as the frame-like column portion 54 in the brush cover 52 so as to be positioned at the front end portion 85 in the direction so that the end portion 83 of the outer peripheral surface 57a of the vehicle body can be detected. In this embodiment, a non-contact photoelectric sensor using an infrared laser is used as the distance sensor 87. The distance sensor 87 is connected to the adjustment unit 78 of the control device 40, and the detection value of the distance sensor 87 is sequentially input to the adjustment unit 78.

Then, the turning steering program shown in FIG. 17 is executed. First, in S50, based on the detection value of the distance sensor 87, it is determined whether or not the front end portion 85 of the frame 11 has reached the end portion 83 of the vehicle body outer peripheral surface 57a. If the determination result is NO, S50 is repeated. On the other hand, if the determination result is YES, in S51, the timer unit 80 starts measuring a predetermined time. The predetermined time is determined by taking into consideration the traveling speed of the frame 11 and the length of the frame 11 from the front end 85 of the frame 11 to the ground contact portions of the left and right traveling tires 14a and 14b: l ₁ and the vehicle outer peripheral surface 57a. The distance of the proximal right running tire 14b from the vehicle body outer peripheral surface 57a: a time to advance by l ₂ is set. The distance l ₂ from the vehicle body outer peripheral surface 57a of the right traveling tire 14b can be obtained based on, for example, a detection value of the distance sensor 87. In S52, the timer unit 80 finishes timing, and the timer unit 80 is reset. Thereafter, in S53, the driving of the left and right traveling motors 26a and 26b is stopped. Thus, the frame 11, the distance from the end 83 of the body outer circumferential surface 57a: is caused to stop protrudes by l _2.

Next, in S54, only the left traveling motor 26a that drives the left traveling tire 14a distal to the outer peripheral surface 57a of the vehicle body is driven to rotate forward. As a result, the frame 11 is turned about the right traveling tire 14b as the rotation center. In S55, the timer unit 80 starts measuring a predetermined time. The predetermined time is a time during which the traveling direction of the frame 11 is rotated by 90 °, in other words, the left traveling tire 14a is a circle having a radius of the separation distance: l ₃ between the ground contact portions of the left and right traveling tires 14a and 14b. The traveling time is set for ¼ lap (2Πl ₃ × 1/4).

  In S56, the time counting by the timer unit 80 is ended, the timer unit 80 is reset, and in S57, the forward rotation driving of the left traveling motor 26a is stopped. As a result, the frame 11 is turned 90 °, and the traveling direction thereof is positioned parallel to the outer peripheral surface 57b of the vehicle body. Thereafter, the forward rotation driving of the left and right traveling motors 26a and 26b is resumed, whereby the outer peripheral surface 57b of the vehicle body is cleaned. Thus, in this embodiment, the turning means is configured including the adjustment unit 78, the operation unit 79, the timer unit 80, and S50 to S58.

  In this way, when the frame 11 reaches the end portion 83 of the outer peripheral surface 57a of the vehicle body, the frame 11 is automatically turned to continuously wash the outer peripheral surface 57b of the vehicle body that is continuous with the outer peripheral surface 57a of the vehicle body. I can do it. As a result, the entire circumference of the vehicle can be automatically washed.

  Further, by providing such a distance sensor 87, a fail-safe mechanism for steering control based on the detected value of the rotational resistance of the car wash brush 16 is configured, and by any chance, the detected value of the rotational resistance of the car wash brush 16 is detected. When the steering control based on the malfunction occurs, the detected value by the distance sensor 87 is out of the preset scheduled operation range, and thus the traveling of the self-propelled car wash machine 10 and / or the rotation of the car wash brush 16 is urgently stopped. It is also possible. Furthermore, even when the contact force of the car wash brush 16 is adjusted depending on the shape, structure, dirt, etc. of the car wash object, the current threshold for steering control according to the value of the target distance detected by the distance sensor 87. Value: It is also possible to make correction settings so that the values of Kmax and Kmin are shifted to the larger side or the smaller side. Of course, it is desirable that the values of Kmax and Kmin can be manually changed and set appropriately as necessary, so that even if the distance sensor 87 is not provided, the car wash can be performed according to the shape, structure, dirt condition, etc. of the car wash target. The contact force of the brush 16 can be adjusted to cope with it, or it can easily cope with changes over time such as deterioration of the apparatus.

Further, in combination with the end detection means and the turning means as described above, as shown in FIG. 18 as an example of the truck 89 as a vehicle, the vehicle body outer peripheral surface 57a constituting one of the left and right surfaces of the cargo bed portion of the truck 89 The moving time: T _A of the frame 11 required for cleaning is measured, and the frame 11 is moved along the vehicle outer peripheral surface 57c facing the vehicle outer peripheral surface 57a by a time equal to the moving time: T _A : T _B. Accordingly, the frame 11 may be automatically stopped when the cleaning of the outer peripheral surface 57c of the vehicle body is completed.

  In order to realize such control, for example, it is realized by executing the direction control program shown in FIG. 19 and the travel time control program shown in FIG. 20 with the apparatus shown in the above-described embodiment (see FIG. 10). I can do it. The timer unit 80 in this aspect is provided with a moving time timer for measuring the moving time of the frame 11, and the measured value of the moving time timer is stored in the adjusting unit 78. Yes.

The direction control program shown in FIG. 19 is obtained by adding a time measurement process to the process substantially the same as FIG. Such directional control program, the frame 11, the position of the forward end of one of the vehicle body outer circumferential surface 57a shown in FIG. 18: is started in a state where the allowed positions in P _1. First, in S60, the rotational drive of the brush drive motor 68 is started, and the rotation of the car wash brush 16 is started. Further, in S61, the time measurement by the movement time timer is started.

Next, in S62, it is determined whether or not the detected value A by the ammeter 76 is larger than the upper reference value Kmax. When the determination result of in S62 is YES, the position in Figure 18: as shown in P _2, the entire self-propelled car wash machine, it is determined to be excessively close to the vehicle body outer circumferential surface 57a, Steering is started. At this point, the movement time timer is temporarily stopped by S63. Then, in S64, the above-described processing of S5 to S13 (see FIG. 11) is executed, and the traveling direction of the frame 11 is steered in parallel to the vehicle body outer peripheral surface 57a. Subsequently, in S65, when the time of the reverse drive time of the left and right traveling motors 26a and 26b: T _R (timer measuring time in S7 to S8 in FIG. 11) × 2 has elapsed, in S66, the movement time timer is timed. To resume.

On the other hand, if the determination result in S62 is NO, it is determined in S67 whether or not the detected value A by the ammeter 76 is smaller than the lower limit reference value Kmin. If the determination result in S67 is YES, it is determined that the entire self-propelled car washer is excessively separated from the outer peripheral surface 57a of the vehicle body, and steering is started. At S68, the movement time timer is temporarily stopped. In S69, the processes of S14 to S22 (see FIG. 11) described above are executed, and the traveling direction of the frame 11 is steered in parallel to the outer peripheral surface 57a of the vehicle body. Subsequently, in S70, when the time for the reverse drive time of the left and right traveling motors 26a and 26b: T _R (timer measuring time in S16 to S17 in FIG. 11) × 2 has elapsed, in S71, the movement time timer is timed. To resume.

In S72, based on the detection value of the distance sensor 87, it is determined whether or not the front end 85 of the frame 11 has reached the rear end 83 of the outer peripheral surface 57a of the vehicle body. If the determination result in S72 is NO, since the frame 11 has not yet reached the rear end 83 of the outer peripheral surface 57a of the vehicle body, the processing after S62 is repeated and the time measurement of the movement time timer continues. Is done. On the other hand, if the determination result in S72 is YES, the frame 11 reaches the rear end 83 of the vehicle outer peripheral surface 57a, and the cleaning of the vehicle outer peripheral surface 57a is completed. The time measurement is completed, and the time measured is stored in the adjustment unit 78 as the movement time T _A of the frame 11 required for cleaning the outer peripheral surface 57a of the vehicle body.

Subsequently, the frame 11 is positioned in the rear end portion 83 of the vehicle body outer circumferential surface 57a: Upon reaching the P _3, is carried out turning control shown in FIG. 17 described above, moved frame 11 along the body outer circumferential surface 57b Thus, the outer peripheral surface 57b of the vehicle body is cleaned. Then, to complete the cleaning of the body outer circumferential surface 57 b, the position of the other end frame 11 of the vehicle body outer peripheral surface 57 b: when it reaches the P _4, by the same turning control is performed, the traveling direction of the frame 11 It is positioned so as to be parallel to the outer peripheral surface 57c of the vehicle body.

Next, the frame 11 is moved along the outer peripheral surface 57c of the vehicle body based on the moving time control program shown in FIG. The start of the travel time control program may be started by, for example, providing a start button on the remote control device 41 and by an operator's button operation, but based on the number of times of turn control at the end of the outer peripheral surface of the vehicle body. You can also start automatically. For example, in the case of the present embodiment, the frame 11 is positioned at the position: P ₄ when the second turn control is completed, so that the movement time control program is started after the second turn control is completed. Also good.

Moving time control program shown in FIG. 20, the substantially same processing as the direction control program shown in FIG. 11 described above, stored in the regulating unit 78, the movement time taken for washing the body outer circumferential surface 57a: and T _A Equal time: execute for T _B. First, in S80, the counting of the movement time timer that has been reset in advance is started. In S81, it is determined whether or not the detection value A by the ammeter 76 is larger than the upper limit reference value Kmax. If the determination result in S81 is YES, in S82 the above-described S5 The process of .about.S13 (see FIG. 11) is executed, and the steering is performed when the frame 11 approaches the vehicle body outer peripheral surface 57c excessively. On the other hand, if the determination result in S81 is NO, it is determined in S83 whether or not the detected value A by the ammeter 76 is smaller than the lower limit reference value Kmin, and the determination result in S83 is If YES, in S84, the processing of S14 to S22 (see FIG. 11) described above is executed, and steering is performed when the frame 11 is excessively separated from the outer peripheral surface 57c of the vehicle body.

On the other hand, if the determination result in S83 is NO, in S85, the movement time of the frame 11 required for cleaning the vehicle outer peripheral surface 57a stored in the adjustment unit 78 is the time measured by the movement time timer: T _It is determined whether or not _A is equal. If the determination result in S85 is NO, since the frame 11 has not yet reached the front end of the outer peripheral surface 57c of the vehicle body, the processing after S81 is repeated and the time measurement of the movement time timer continues. Is done. On the other hand, if the result of S85 is YES, the frame 11 is ahead of the position of the vehicle body outer peripheral surface 57c: to reach the P _5, since the cleaning of the vehicle body outer peripheral surface 57c is completed, at S86, the right and left travel The driving of the motors 26a and 26b and the brush drive motor 68 is stopped, and the processing of the movement time control program is ended.

  As described above, in this aspect, the movement time measuring means is configured including the timer units 80, S61, S63, S66, S68, and S71 that constitute the movement time timer, and the timer that constitutes the movement time timer. The movement time control means is configured including the units 80, S80, and S85. In this way, the frame 11 can be moved along the other vehicle body outer peripheral surface 57c for the movement time obtained by subtracting only the time required for steering from the time required for cleaning one vehicle outer peripheral surface 57a. Thus, the self-propelled car washing machine 10 can be automatically stopped when the washing of the outer peripheral surface 57c of the vehicle body is completed. Accordingly, when the operator places the self-propelled car wash machine 10 at the position P1 of the front end portion of the vehicle outer peripheral surface 57a shown in FIG. 18 and starts cleaning, the vehicle outer peripheral surface 57a and the vehicle outer peripheral surface continuous thereto. The three surfaces 57b and 57c can be automatically washed.

In the above-described exemplary embodiment, the frame 11 along the other vehicle body outer peripheral surface 57c is equal to the time required for cleaning the one vehicle outer peripheral surface 57a minus the time required for steering the self-propelled direction control means. It is made to run. Therefore, the frame 11 during the cleaning of the vehicle body outer peripheral surface 57c is steered by self direction control means, when it took extra time, the position of the forward end portion of the vehicle body outer peripheral surface 57c: Before reaching the P ₅ In addition, the washing of the self-propelled car wash machine 10 may be stopped. Therefore, for example, when steering by the self-propelling direction control means occurs on the outer peripheral surface 57c of the vehicle body, the movement time timer may be stopped only during such steering. In order to realize such control, for example, as shown in FIG. 21, the time of the movement time timer is temporarily measured in S86, S88 before steering in the movement time control program shown in FIG. This can be easily realized by stopping the operation and restarting the measurement of the movement time timer in S87 and S89 after completion of S82 and S84.

Furthermore, in the travel time measurement process illustrated in FIG. 19, the travel time timer is stopped for the time required for the reverse operation of the left and right traveling motors 26a and 26b: T _R × 2 in S65 and S70. Accordingly, the time required for the steering is subtracted from the moving time of the outer peripheral surface 57a of the vehicle body of the frame 11. For example, S65 and S70 in FIG. In addition to the time required for the above, it may be possible to stop the measurement of the movement time including the time for the turning of the steering. Then, by executing the control program shown in FIG. 20 to FIG. 21 based on the moving time, it is possible to automatically stop the cleaning of the other vehicle body outer peripheral surface 57c.

In addition, in the above embodiment, the self-propelled car wash machine 10 is automatically wound around the vehicle body outer peripheral surface 57b that connects the vehicle body outer peripheral surfaces 57a and 57c facing each other by combining with the turning control shown in FIG. However, the turning control is not necessarily used in combination. For example, when the washing of the body outer circumferential surface 57a is completed, the frame 11 the operator operates the remote controller 41 of the vehicle body outer circumferential surface 57a position of the rear end: from P ₃ of the vehicle body outer peripheral surface 57c rear end of the Position: After moving to P _4, the travel time control program shown in FIGS. 20 to 21 is executed based on the travel time measured by the travel time measurement program shown in FIG. 19 when the outer peripheral surface 57a of the vehicle body is washed. Thus, the outer peripheral surface 57c of the vehicle body may be automatically washed.

  By the way, FIG. 22 shows another embodiment different from the first embodiment in the structure for changing the traveling direction of the frame 11 as a self-propelled car wash machine according to the present invention.

  That is, as apparent from FIG. 22, in the self-propelled car wash machine of this embodiment, the steering wheel 84 is located around the rotation shaft 86 extending in the vertical direction at the center in the width direction at the front part of the lower surface of the frame 11. It is attached to be able to rotate. Further, a stepping motor 88 as a rotation mechanism for rotating the rotation shaft 86 is fixed to the upper surface of the frame 11. That is, the drive shaft 90 of the stepping motor 88 is coupled to the rotation shaft 86 of the steering wheel 84 so as to be integrally rotatable. As a result, the steering angle of the steered wheels 84 is changed by driving the stepping motor 88 so that the traveling direction of the frame 11 is changed.

  Further, the stepping motor 88 is electrically connected to the control device 40. Then, when the value detected by the ammeter 76 becomes larger than the upper limit reference value and the frame 11 is retracted, the frame 11 is rotated rightward by a preset angle. On the other hand, when the value detected by the ammeter 76 becomes smaller than the lower limit reference value and the frame 11 is retracted, the frame 11 is rotated leftward by a preset angle.

  As a result, in this embodiment, as in the first embodiment, the distance from the outer peripheral surface 57 of the vehicle body is made constant based on the current value supplied to the brush drive motor 68 detected by the ammeter 76. The traveling direction of the frame 11 is controlled so that the vehicle body outer peripheral surface 57 is washed so that the vehicle can travel while being maintained.

  Therefore, even in the present embodiment, the operation and effect exhibited in the first embodiment such that the steering operation for traveling along the outer peripheral surface 57 of the vehicle body can be automated extremely advantageously can be enjoyed advantageously.

  In the present embodiment, in particular, the structure for changing the traveling direction of the frame 11 can be realized with a simple structure in which the steering wheel 84 is rotated. Therefore, there exists an advantage that complication of the structure of the whole car wash machine 10 accompanying the addition of such a structure can be suppressed as much as possible.

  FIG. 23 shows an example in which the resistance detection means has a structure different from that of the first embodiment in a block diagram corresponding to FIG. That is, here, in the car wash machine 10 shown in FIGS. 1 to 9 described above, the resistance force generated in the car wash brush 16 when the car wash brush 16 is pressed against the outer peripheral surface 57 of the vehicle body is applied to the rotating shaft 17. In order to measure the supply current value to the brush drive motor 68 in the first embodiment, the pressure reaction force detection device 92 that detects the pressure reaction force based on the applied pressure, the displacement amount of the rotary shaft 17 and the like. It is used in place of the ammeter 76 provided in FIG. Further, in the present embodiment, the car wash brush 16 is mounted on the vehicle body in a state where the distance between the frame 11 and the vehicle outer peripheral surface 57 is within a range suitable for washing the vehicle outer peripheral surface 57 with the car wash brush 16. The upper limit reference value and the lower limit reference value are determined by the upper limit value and the lower limit value of the pressing reaction force generated in the car wash brush 16 when pressed against the outer peripheral surface 57.

  The pressure reaction force detection device 92 is a device that directly measures the pressure generated in the car wash brush 16 using a piezoelectric element such as a piezo element, or mechanically using a spring member or the like. You may measure. In addition, an apparatus that electrically or mechanically measures the amount of displacement of the car wash brush 16 that is supported so as to be displaceable, and indirectly detects the pressure reaction force based on the measured value. The pressing reaction force detection device 92 can also be configured. Moreover, such a pressing reaction force detection device 92 is installed, for example, between the rotating shaft 17 of the car wash brush 16 and the frame 11 that supports it.

  More specifically, for example, the first and second bearings 64 and 66 that rotatably support the rotating shaft 17 of the car wash brush 16 at both upper and lower ends are perpendicular to the reinforcing body 62 and the base portion 18. The first and second bearings 64 and 66, that is, the rotary shaft 17, are supported by the reinforcing body 62 and the base portion 18 in a direction (horizontal direction) so as to be displaceable in the approach / separation direction toward the outer peripheral surface 57 of the vehicle body. A biasing means such as a compression coil spring that always biases in a direction protruding from the vehicle body to the outer peripheral surface 57 of the vehicle body is assembled. According to such an elastic support structure of the car wash brush 16, when the pressing reaction force of the outer peripheral surface 57 of the vehicle body acts on the car wash brush 16, the car wash brush 16 approaches the frame 11 side by a distance corresponding to the press reaction force. Therefore, the displacement amount of the car wash brush 16, that is, the relative displacement amount of the first and second bearings 64 and 66 with respect to the reinforcing body 62 and the base portion 18, the deformation amount of the urging means, etc. By detecting this with an appropriate detection means, a resistance force detection means for detecting a rotational resistance force or a pressing resistance force exerted on the car wash brush 16 in contact with (pressing) the outer peripheral surface 57 of the vehicle body can be configured. It is.

  Alternatively, as another specific example, the rotation resistance force and the pressing resistance force of the car wash brush generated by the car wash brush 16 being pressed against the outer peripheral surface 57 of the car wash brush are brush blades of the car wash brush spread by the centrifugal force accompanying the rotation. It can also be detected by utilizing the fact that it is compressed by contact with the outer peripheral surface 57 of the vehicle body (for example, it is a well-known one formed of a large number of synthetic fibers or natural fibers). That is, if the frame 11 gets too close to the outer peripheral surface 57 of the vehicle body and the brush blades spread by centrifugal force are compressed too much by the contact of the outer peripheral surface 57 of the vehicle body, the rotational resistance force becomes too large. On the other hand, if the frame 11 is too far from the outer peripheral surface 57 of the vehicle body, the rotational resistance is too small for the same reason.

  Then, by pressing the car wash brush 16 against the outer peripheral surface 57 of the vehicle body, when the detection value of the press reaction force generated in the car wash brush 16 by the press reaction force detecting device 92 becomes larger than the upper limit reference value, the adjusting unit 78. A reverse drive signal for the left and right traveling motors 26a and 26b is output to the operation unit 79, and a drive stop signal for the right traveling motor 26b is output after a predetermined time has elapsed. As a result, the traveling direction of the frame 11 is corrected in parallel with the outer peripheral surface 57 of the vehicle body. On the other hand, when the detected value by the pressing reaction force detection device 92 becomes smaller than the lower limit reference value, the reverse drive signals of the left and right traveling motors 26a and 26b are output from the adjusting unit 78 to the operation unit 79. After a predetermined time has elapsed, a drive stop signal for the left traveling motor 26b is output. As a result, the traveling direction of the frame 11 is corrected in parallel with the outer peripheral surface 57 of the vehicle body.

  Thus, also in the present embodiment, based on the pressing reaction force generated by the brush drive motor 68 detected by the pressing reaction force detection device 92, the distance from the outer peripheral surface 57 of the vehicle body can be kept constant while traveling. The traveling direction of the frame 11 is controlled, and the vehicle outer peripheral surface 57 is washed.

  Therefore, even in such a self-propelled car wash machine 10 of this embodiment, the operations and effects exhibited in the first and second embodiments can be enjoyed advantageously.

  Note that the self-propelled car wash machine 10 in the first embodiment described above and the distance detection means shown in FIG. 23 are both of the frame 11 and the vehicle body outer peripheral surface 57 based on the contact resistance to the vehicle outer peripheral surface 57. Although it is configured by a resistance detection unit that detects a separation distance, various conventionally known distance sensors can be appropriately employed as the distance detection unit. Such distance sensors include not only mechanical contact sensors such as limit switches, piezoelectric pressure sensors, and potentiometers, but also photoelectric sensors that use lasers such as infrared light, ultrasonic sensors that use ultrasonic waves, and electromagnetic sensors. A non-contact type sensor such as a proximity sensor that detects a distance based on an inductive action or a change in capacitance can also be used. These distance sensors can be provided at an appropriate position of the frame 11 such as the frame-shaped support portion 54 in the brush cover 52, for example, as a distance sensor 87 shown in FIG. Therefore, for example, in the self-propelled car wash machine shown in FIG. 16, instead of the rotational resistance force of the car wash brush 16, the frame is based on the detection value of the distance sensor 87 disposed at the front end of the frame 11. It is also possible to control the 11 running directions.

  FIG. 24 shows an embodiment different from the several embodiments having a structure in which the traveling speed of the frame 11 can be changed.

  That is, in the self-propelled car wash machine 10 of the present embodiment, the high-speed mode in which the frame 11 travels at a high speed on the outer surface of the protective cover 37 that protects the control device 40 installed on the base portion 18 of the frame 11; A mode change switch 94 is provided as a running mode switching means for selectively switching the running mode of the frame 11 to the low speed mode for running at a low speed while being electrically connected to the control device 40. . As the mode changeover switch 94, various known changeover switches, such as a toggle type, a lever type, and a push button type, which are used for switching a use mode, an operation mode, and the like are appropriately employed. Further, the position of the mode changeover switch 94 is not particularly limited, and can be provided in the remote control device 41 instead of the protective cover 37.

  Further, on the base unit 18, the rotational driving speed of the left traveling motor 26 a is controlled in two steps, high speed and low speed, based on a signal output from the control device 40 based on the switching operation of the mode switch 94. The second inverter with a known structure that controls the rotational drive speed of the right traveling motor 26b in two stages, high speed and low speed, by the output signal from the first inverter 96 having a known structure and the control device 40. An inverter 98 is installed.

  That is, here, when the mode switch 94 is switched to the high speed mode, the left traveling motor 26a and the right traveling motor 26b are rotated at the same high speed set in advance, while the mode switching is performed. When the switch 94 is switched to the low speed mode, the left traveling motor 26a and the right traveling motor 26b are rotated at the same low speed and the same speed as the left traveling motor 26a. , 26b are controlled by the first inverter 96 and the second inverter 98, respectively.

  Further, the control device 40 has a relay element 100 (shown by a two-dot chain line in FIG. 24) having a known structure that is opened and closed so as to cut off / connect a power supply circuit from the generator 38 to the brush drive motor 68. ) Is built-in. Further, the relay element 100 has an ON / OFF operation of the switch 74 (see FIG. 10) for starting and stopping power supply from the generator 38 to the brush drive motor 68 (brush drive motor 68 provided in the remote control device 41). The operation is performed based on the switching operation of the mode switch 94 in preference to the pressing operation of the drive / stop button.

  That is, here, when the mode changeover switch 94 is switched to the high speed mode, the relay element 100 is opened, and the power supply circuit from the generator 38 to the brush drive motor 68 is cut off. The power is not supplied from the generator 38 to the brush drive motor 68 even if the power is turned on. Further, when the mode changeover switch 94 is switched to the low speed mode, the relay element 100 is closed, in other words, the open operation state of the relay element 100 is released, and the generator 38 to the brush drive motor 68. Thus, the brush drive motor 68 can be driven / stopped based on the ON / OFF operation of the switch 74.

  Thus, in the self-propelled car wash machine 10 of the present embodiment, the left and right traveling motors 26a and 26 provided in the remote control device 41 are simultaneously driven and switched while the mode changeover switch 94 is switched to the high speed mode. By pressing the stop button once, the frame 11 is advanced at a preset high speed (first speed). Further, during this forward movement, the drive of the frame 11 can be performed by appropriately pressing the drive / stop button for the left travel motor 26a or the drive / stop button for the right travel motor 26a provided on the remote control device 41. The direction can be changed manually. Further, during such high-speed movement, the car wash brush 16 does not rotate even if the drive / stop button of the brush drive motor provided in the remote control device 41 is pressed.

  And when moving to a desired place, the simultaneous drive / stop button of the left and right traveling motors 26a, 26 provided on the remote control device 41 is pressed once more, and the frame 11 is temporarily moved. After stopping, the mode changeover switch 94 is switched from the high speed mode to the low speed mode, and then the simultaneous drive / stop button of the left and right traveling motors 26a, 26 is further pressed once, this time, the frame 11 However, it is made to advance at a preset low speed (second speed). During the low-speed running, the rotation of the car wash brush 16 can be freely started / stopped based on the pressing operation of the drive / stop button of the brush drive motor provided in the remote control device 41.

  Therefore, in such a self-propelled car wash machine 10, the car body outer peripheral surface 57 to be washed from the storage location, for example, even when stored in a predetermined location before performing the car wash operation. Can be moved very quickly to a position close to. And if it moves to the vicinity of the vehicle body outer peripheral surface 57 and reaches a position where it can be washed, the car washing operation can be performed carefully at a slow speed.

  Therefore, if the self-propelled car wash machine 10 of this embodiment is used as described above, preparation work for moving the car from the predetermined storage location to the car wash position, and after the car wash is completed, the vehicle is moved again from the car wash position to the predetermined storage location. A series of car washing operations including post-operations can be performed very efficiently.

  Moreover, in such a self-propelled car wash machine 10, since the rotation of the car wash brush is prevented while running at high speed without performing the car wash operation, for example, the car wash position and the storage location It is possible to effectively ensure the safety of the movement of the car wash, and thus the entire car wash, and the car wash brush may be damaged or damaged due to unnecessary contact with obstacles in the rotating state of the car wash brush. Can be advantageously prevented.

  As is clear from the above description, in the present embodiment, the first inverter 96 and the second inverter 98 constitute a traveling speed changing means, and the relay element 100 constitutes a rotation prevention mechanism. However, the structures of the traveling speed changing means and the rotating element mechanism are not limited to this.

  As the traveling speed changing means, the left and right of each motor 26 is changed by changing the rotational drive speed of the left and right traveling motors 26a and 26b based on the switching of the traveling mode by the traveling mode switching means such as the mode switch 94. The driving force for the right traveling tires 14a, 14b is increased or decreased to change the traveling speed of the frame 11, or the rotation of each motor 26 without changing the rotational driving speed of each motor 26. The structure of the transmission mechanism that transmits the driving force to each traveling tire 14 is devised, and the driving force of each motor 26 transmitted to each traveling tire 14 is increased or decreased in the transmission mechanism based on the switching of the traveling mode. Therefore, any of those having a structure in which the traveling speed of the frame 11 is changed can be adopted.

  As the traveling speed changing means having the former structure, for example, the number of magnetic poles of the left and right traveling motors 26a and 26b is changed by selectively turning on / off a plurality of input terminals or the like. The right driving motors 26a and 26b can be applied with different voltages, and the rotational driving speed of each motor can be changed. Accordingly, it can be appropriately adopted. Further, as the traveling speed changing means having the latter structure, for example, the drive gears attached to the respective rotation shafts of the left and right traveling motors 26a and 26b are used for two types of passive gears having different gear ratios. Thus, it is possible to adopt a structure in which the driving force of each motor 26 transmitted to each traveling tire 14 is changed by selectively engaging with a lever operation or the like. When the traveling speed changing means having the latter structure is adopted, the traveling mode switching means is constituted by a lever or the like that changes gears. Moreover, what has the latter structure can be advantageously employ | adopted also when comprising the drive source of each tire 14 for driving | running | working with an internal combustion engine etc. other than an electric motor, for example.

  On the other hand, as the rotation prevention mechanism, any known control mechanism other than the relay element that can cut off the power supply to the brush drive motor 68 based on an input signal from the outside can be adopted. Further, based on the switching of the travel mode of the frame 11 by the travel mode switching means, the rotation of the rotation shaft of the brush drive motor 68 and the rotation shaft of the car wash brush 16 is mechanically disturbed and stopped in a releasable state. A transmission mechanism configured to be able to release the transmission of the rotational driving force of the brush drive motor 68 to the car wash brush 16 based on the switching of the running mode may be used. In addition, when employ | adopting what obstructs rotation of the rotating shaft of the brush drive motor 68 or the car wash brush 16, a well-known clutch mechanism is needed.

  As mentioned above, although the structure of this invention was explained in full detail, this invention does not receive any restrictions by description of said specific structure.

  For example, in the first embodiment described above, the time for retreating the frame 11 performed when the vehicle body outer peripheral surface 57 is excessively approached (the time from S7 to S8 in FIG. 11) and the vehicle outer peripheral surface 57 are excessive. Although the time of retreat of the frame 11 performed when separated (the time of S16 to S17 in FIG. 11) is made equal, it is of course possible to make these retreat times different.

  Further, when the frame 11 is excessively approached or separated from the outer peripheral surface 57 of the vehicle body, the reverse drive of the left and right traveling motors 26a and 26b for moving the frame 11 backward is performed only for a predetermined time. 11 (see S7, S8, S16, and S17 in FIG. 11), for example, the reverse driving of the left and right traveling motors 26a and 26b may be controlled based on the detected value A by the ammeter 76. Specifically, for example, at the time of reverse operation when the frame 11 is excessively close to the vehicle body outer peripheral surface 57, the left and right traveling motors 26a and 26b are driven in reverse until the detection value: A falls below the upper reference value: Kmax. At the time of reverse operation when the frame 11 is excessively separated from the outer peripheral surface 57 of the vehicle body, the left and right traveling motors 26a and 26b may be driven in reverse until the detection value: A exceeds the lower limit reference value: Kmin.

  Further, in the above-described embodiment, the inclination of the frame 11 in the traveling direction with respect to the vehicle body outer peripheral surface 57 is detected based on the change over time of the detection value A of the ammeter 76, and the inclination is corrected ( 14), for example, a pair of distance sensors are provided at the front end portion and the rear end portion of the frame 11 in the traveling direction in order to detect the inclination of the frame 11 with respect to the outer peripheral surface 57 of the vehicle body. You may detect the inclination of the flame | frame 11 from the difference of the detected value of a sensor.

  Further, a known braking mechanism for the left traveling tire 14a and the right traveling tire 14b is provided as a steering means, and either one of the left and right traveling tires 14a, 14b is selected by the braking mechanism. Therefore, the traveling direction of the frame 11 can be changed by adjusting the rotational speeds of the traveling tires 14a and 14b to be different from each other.

  Furthermore, as a steering means, a known clutch mechanism is provided for each of the left traveling tire 14a and the right traveling tire 14b, and the clutch mechanism provides a driving force for the left and right traveling tires 14a, 14b. By selectively interrupting the transmission, the driving force for each traveling tire 14a, 14b is relatively changed, and the rotational speeds of each traveling tire 14a, 14b are adjusted to be different from each other. Thus, the traveling direction of the frame 11 may be changed.

  Furthermore, the above-described braking mechanism and clutch mechanism, as well as energization control for the two travel drive sources that drive the left and right drive wheels exemplified in the above embodiments, can be rotated about a vertical rotation axis. Of course, it is possible to configure the steering means by combining two or more kinds of the steered wheels and the like.

  In addition, the traveling drive source may be configured by an internal combustion engine such as a gasoline engine or a diesel engine, and even when it is configured by an electric motor, an AC motor or DC motor other than the illustrated induction motor. But it ’s okay.

  Furthermore, as a brush drive motor, an AC motor or a DC motor other than the illustrated induction motor can be used.

  Furthermore, a known power supply device such as a rechargeable battery can be appropriately used as a device for supplying power to the travel drive source including the electric motor and the brush drive motor.

  Further, a plurality of car wash brushes may be provided, or may be an external structure such as a rear mirror of a car.

  Furthermore, the car wash brush is not necessarily provided in a fixed position.

  Furthermore, even if the car wash brush is provided on the left side in the traveling direction with respect to the frame, there is no problem. However, in that case, the car wash machine is caused to travel along the outer peripheral surface of the vehicle body in an arrangement form in which the right drive wheel is distal to the outer peripheral surface of the vehicle body.

  Further, the structure and shape of the frame are not limited to those shown in the examples.

  In addition, it goes without saying that the present invention can be advantageously used when washing special vehicles other than automobiles and railway vehicles.

  In addition, the present invention can be carried out in a mode to which various changes, modifications, improvements, etc. are added based on the knowledge of those skilled in the art, and such a mode does not depart from the spirit of the present invention. Needless to say, both are included in the scope of the present invention.

Front explanatory drawing which shows one Embodiment of the self-propelled car wash machine according to this invention. The right view in FIG. The top view in FIG. The bottom view in FIG. The arrow A figure in FIG. BB sectional drawing in FIG. CC sectional drawing in FIG. Explanatory drawing which shows the assembly structure with respect to the flame | frame of the rotating shaft of the brush cover and car wash brush which the self-propelled car wash machine shown in FIG. 1 has. The left view in FIG. The block diagram which shows an example of the control system of the running direction of the flame | frame which the self-propelled car wash machine according to this invention has. The flowchart which shows an example of the control program of the running direction of the flame | frame which the self-propelled car wash machine according to this invention has. Explanatory drawing which shows the process example at the time of performing a car wash operation | work using the self-propelled car wash machine according to this invention. Explanatory drawing for demonstrating the time-dependent change of a detected value. The flowchart which shows an example of the correction | amendment steering program employable for the self-propelled car wash machine according to this invention. Explanatory drawing for demonstrating turning operation | movement of the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 1 which shows another embodiment of the self-propelled car wash machine according to this invention. The flowchart which shows an example of the turning steering program employable for the self-propelled car wash machine according to the present invention. Explanatory drawing for demonstrating the action | operation of the self-propelled car wash machine according to this invention. The flowchart which shows an example of the movement time measurement program employable for the self-propelled car wash machine according to the present invention. The flowchart which shows an example of the movement time control program employable for the self-propelled car wash machine according to the present invention. The flowchart which shows the different example of the movement time control program. The figure corresponding to FIG. 5 which shows another embodiment of the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 10 which shows another embodiment of the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 1 which shows other embodiment of the self-propelled car wash machine according to this invention.

10: Self-propelled car wash machine, 11: Frame, 14a, b: Travel tire, 16: Car wash brush, 26a, b: Travel motor, 57: Car body outer peripheral surface, 76: Ammeter, 78: Adjuster, 79 : Operation unit, 80: Timer unit

Claims (11)

A frame, a wheel attached to the frame so that the frame can run without a rail, a driving source that drives at least one of the wheels, and a rotation axis extending in the vertical direction with respect to the frame A vehicle-washing brush rotatably supported on the vehicle body, and rotating the car-washing brush against the outer circumferential surface of the vehicle body while rotating the frame along the outer circumferential surface of the vehicle body, thereby washing the outer circumferential surface of the vehicle body. In the self-propelled car wash machine that
Steering means for changing the traveling direction of the frame to at least two directions of an approach direction and a separation direction with respect to the outer peripheral surface of the vehicle body;
Distance detecting means for detecting a separation distance of the frame with respect to the outer peripheral surface of the vehicle body;
When the steering means is controlled based on the detection value of the distance detection means, and the detection value deviates from the preset allowable range, the frame falls within the preset allowable range. Self-running direction control means for running in the opposite direction so as to steer the frame in a direction parallel to the outer peripheral surface of the vehicle body ,
Of the pair of vehicle outer peripheral surfaces facing each other in the vehicle body, the moving time of the frame from one end to the other end of the vehicle outer peripheral surface is subtracted by the time required for the steering of the self-running direction control means. Travel time measuring means for measuring,
A self-propelled car wash machine comprising: a moving time control means for moving the frame along the other outer peripheral surface of the vehicle body based on the moving time measured by the moving time measuring means. . A change amount measuring means for measuring a change amount per predetermined time of a detection value by the distance detecting means;
Correction steering means for correcting and steering the frame in a direction parallel to the outer peripheral surface of the vehicle body based on the measurement result of the change amount measurement means;
The self-propelled car wash machine according to claim 1 further provided. End detection means for detecting an end of the outer peripheral surface of the vehicle body;
When the end detection means detects the end of the outer peripheral surface of the vehicle body, the end of the outer peripheral surface of the vehicle body is rotated and the frame is turned so as to be parallel to the outer peripheral surface of the vehicle body continuous from the outer peripheral surface of the vehicle The swiveling means
The self-propelled car wash machine according to claim 1 or 2, further provided. The self-propelled car wash machine according to any one of claims 1 to 3 , wherein the distance detection means includes a non-contact sensor. The self-propelled car wash machine according to any one of claims 1 to 4 , wherein the distance detection means includes a contact sensor. The self-propelled car wash according to claim 5 , wherein the contact sensor includes a resistance detection means for detecting a resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body. Machine. Of the wheels attached to the frame, the wheels located on both the left and right sides with respect to the traveling direction of the frame are the left driving wheel and the right driving wheel that are driven by the traveling drive source, and the steering The means includes an adjustment mechanism for adjusting the rotation speed and rotation direction of the left drive wheel and the rotation speed and rotation direction of the right drive wheel to be different from each other, and the left drive wheel adjusted by the adjustment mechanism is adjusted. Based on the difference in rotational speed and rotational direction between the driving wheel and the right driving wheel, the traveling direction of the frame is changed in the left-right direction, so that the approaching direction and the separation direction with respect to the outer peripheral surface of the vehicle body The self-propelled car wash machine according to any one of claims 1 to 6 , wherein the traveling direction of the frame is changed. The travel drive source includes a first travel drive source that drives the left drive wheel and a second travel drive source that drives the right drive wheel and is separate from the first travel drive source. And the adjusting mechanism relatively changes a driving force of the first traveling drive source with respect to the left driving wheel and a driving force of the second traveling drive source with respect to the right drive wheel. 8. The self-propelled car wash machine according to claim 7 , wherein the left drive wheel and the right drive wheel can be adjusted so that the rotational speed and direction of the left drive wheel and the right drive wheel are different from each other. When the detection value of the distance detection means becomes smaller than a preset allowable range, the driving of the first traveling drive source and the second traveling drive source is reversed by the adjustment mechanism. The frame is caused to travel in a direction away from the outer peripheral surface of the vehicle body so that the detected value falls within a preset allowable range, and of the left driving wheel and the right driving wheel, the frame is close to the outer peripheral surface of the vehicle body. The frame is steered in a direction parallel to the outer peripheral surface of the vehicle body by stopping the driving of the first traveling drive source or the second traveling drive source with respect to the driving wheel at the position by the adjusting mechanism. The self-propelled car wash machine according to claim 8 , wherein the self-propelled direction control means is configured to be able to control the adjusting mechanism. By reversing the driving of the first travel drive source and the second travel drive source by the adjusting mechanism when the detection value of the distance detection means becomes larger than a preset allowable range. The frame is caused to travel in the approaching direction to the outer peripheral surface of the vehicle body so that the detected value is within a preset allowable range, and the farthest from the left driving wheel and the right driving wheel to the outer peripheral surface of the vehicle body. The frame is steered in a direction parallel to the outer peripheral surface of the vehicle body by stopping the driving of the first traveling drive source or the second traveling drive source with respect to the driving wheel at the position by the adjusting mechanism. The self-propelled car wash machine according to claim 8 or 9 , wherein the self-propelled direction control means is configured to be able to control the adjusting mechanism. At least one of the wheels attached to the frame is configured to be rotatable about a rotation axis extending in the vertical direction, and is a steering wheel that changes the traveling direction of the frame by the rotation. The self-propelled car wash machine according to any one of claims 1 to 6 , wherein the steering means includes a rotation mechanism that rotates the steering wheel about the rotation axis.

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