JP6085449B2 - Car body detection device and car wash machine equipped with the same - Google Patents

Description

  The present invention relates to a vehicle body detection device that detects an upper surface and a side surface of an automobile.

  In Patent Document 1, as a vehicle body detection device attached to a car wash machine, an upper surface detection device that detects the upper surface position of an automobile and a side surface detection device that detects a side surface position of the automobile are provided. The upper surface detection apparatus includes a light emitting unit in which a plurality of light emitting elements are arranged vertically and a light receiving unit in which a plurality of light receiving elements opposed to the light emitting elements are arranged in a vertical direction, and is formed between the light emitting unit and the light receiving unit. The position of the upper surface of the vehicle body is detected by the light transmission / shielding of a plurality of optical axes. The side detection device arranges a plurality of ultrasonic sensors having a transmitter and a receiver vertically, irradiates the side of the vehicle with ultrasonic waves, reflects the distance from the vehicle surface and returns to the side of the vehicle body. Measure.

  Now, when detecting the vehicle body by the side detection device, the reason why the ultrasonic wave transmitted from the transmitting unit is not received by the receiving unit is that the vehicle body does not exist, the reflected wave does not reflect to the receiving unit, ultrasonic sensor failure or dirt, etc. In addition, the reason why the reflected wave does not reflect to the receiving unit may be an improper installation of the ultrasonic sensor or irregular reflection due to the vehicle body shape. Therefore, even when the vehicle body is not detected by the ultrasonic sensor, “no vehicle body” or “sensor abnormality” cannot be specified.

JP-A-10-203321

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle body detection device capable of accurately detecting abnormality of an ultrasonic sensor and detecting an appropriate vehicle body side shape by vehicle body detection using an ultrasonic sensor.

In order to solve this problem, the present invention provides a plurality of photoelectric sensors in which a light emitting unit and a light receiving unit are arranged facing each other with a vehicle sandwiched in the width direction, and is formed between the light emitting unit and the light receiving unit of the photoelectric sensor. An upper surface position detection unit that detects the upper surface position of the vehicle body by transmitting / blocking a plurality of optical axes, and an ultrasonic sensor that emits ultrasonic waves toward the side of the automobile and receives reflected waves from the vehicle body up and down A vehicle body detection device including a plurality of side surface position detection units that detect a side surface position of a vehicle body according to a time from when an ultrasonic wave is transmitted from the ultrasonic sensor to when a reflected wave is received. The top surface shape data is created from the top surface position of the vehicle body detected by the vehicle, the side shape data is created from the side surface position of the vehicle body detected by the side surface position detection unit, and the side surface position is set at a position lower than the top surface position of the same part of the vehicle body. Undetected when not detected Ultrasonic sensors became is provided with abnormality detection unit determines that the defective.

In addition, a car wash processing device that performs car wash processing on the car body surface of a car and a photoelectric sensor in which a light emitting part and a light receiving part are arranged facing each other across the car in the width direction are mounted on a movable body frame formed in a gate shape. A plurality of optical sensor, and an upper surface position detecting unit for detecting the upper surface position of the vehicle body by light transmission / light shielding of a plurality of optical axes formed between the light emitting unit and the light receiving unit of the photoelectric sensor; A plurality of ultrasonic sensors that transmit sound waves and receive reflected waves from the vehicle body are arranged above and below, and the side position of the vehicle body is detected by the time from when the ultrasonic waves are transmitted from the ultrasonic sensors to when the reflected waves are received. A side position detection unit, a travel position detection unit that detects a travel position of the main body frame, and a car wash that controls the car wash processing device according to the travel position of the main body frame detected by each detection unit, the upper surface position, and the side surface position of the automobile with a control unit A vehicle machine, with the travel of the main body frame, to create a body of the upper surface shape data in the upper surface position detection unit, create a vehicle body side shape data in side position detection unit, traveling of the main body frame at the traveling position detecting unit The position data is created, and the car wash control unit is not detected when the side face position cannot be detected at a position lower than the top face position of the same part of the vehicle body based on the top face shape data / side face shape data and the travel position data. An abnormality detection unit for determining that the ultrasonic sensor is defective is provided .

  The present invention is configured as described above, and can quickly detect abnormality of the ultrasonic sensor and can promptly respond. If the car wash machine is equipped with the vehicle body detection device in this way, it is possible to easily narrow down the abnormality sensors, and to perform maintenance while minimizing the stoppage of the car wash machine.

It is a top view which shows the car wash machine provided with the vehicle body detection apparatus of this invention. It is explanatory drawing which shows the side surface shape detection apparatus. It is a block diagram which shows a control system. It is explanatory drawing which shows the detection operation of a side surface shape. It is explanatory drawing which shows the detection operation of an upper surface shape. It is explanatory drawing which shows the operation | movement of abnormality detection.

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

  The brush device moves up and down along the upper surface of the vehicle body and brushes the upper surface, and the brush device is positioned behind the upper surface brush device 4 and moves toward and away from the vehicle body to open and close the front and rear surfaces and side surfaces of the vehicle body. It consists of a pair of left and right side brush devices 5 and 5 for brushing, and a cleaning part is formed on the front side of the main body frame 1.

  The blower nozzles are moved up and down along the upper surface of the vehicle body and blown to blow air on the upper surface, and a pair of left and right blowers attached to the longitudinal end of the upper surface blower nozzle 6 and blown to the upper side of the vehicle body to dry. Side blower nozzles 7 and 7, and a drying section is formed on the rear side of the main body frame 1.

  Reference numeral 8 denotes a travel encoder, which is linked to the output shaft of the travel motor 3 and outputs a pulse every time the main body frame 1 travels a unit distance, and detects the travel position of the main body frame 1 by counting the pulse signals.

  Reference numeral 9 denotes a vehicle body upper surface detection device, which is provided at a position in front of the brush device on the inner surface of the main body frame 1 and has a light emitting portion 9a in which a plurality of light emitting elements are arranged vertically, and a plurality of light receiving elements arranged in accordance with this. The light receiving unit 9b is opposed to the optical signal, and an optical signal (infrared light) is exchanged between the two in synchronization with the pulse signal from the encoder 8, thereby detecting the upper surface position of the vehicle body to be washed.

  Reference numeral 10 denotes a vehicle body side surface detection device which is provided in front of the vehicle body upper surface detection device 9 on the inner surface of the main body frame 1 and has a shape detection unit 10a in which a plurality of ultrasonic sensors are arranged vertically and a single ultrasonic sensor. The vehicle width detector 10b is provided to irradiate the vehicle body side surface with ultrasonic waves, measure the distance from the vehicle body side surface after being reflected by the vehicle body surface, and detect the inclination of the vehicle body side surface.

  Reference numeral 11 denotes an operation box, such as a charge input provided at a height that can be operated from the driver's seat in front of entering the travel range (car wash area) of the main body frame 1 given by the rails 2 and 2, and selection input of car wash contents. Accept the operation.

  The main body frame 1 is installed in a space through which the automobile can pass, and the traveling range of the main body frame 1 given by the rails 2 and 2 is used as a car wash area. Then, the vehicle enters the car wash area from the front, and when the car wash is finished, exits to the rear of the car wash area. In other words, the car travels forward and enters, and after the car is washed, it also travels forward and exits, allowing a car wash machine driver (driver) to drive through and wash through the car while driving. .

FIG. 2 shows the configuration of the vehicle body side surface detection device 10.
The shape detection unit 10 a in the vehicle body side surface detection device 10 includes ultrasonic sensors 12 a to 12 d arranged at equal intervals in the vertical direction on the inner surface of the main body frame 1 on the left side (or right side) when viewed from the front. The vehicle width detection unit 10b includes ultrasonic sensors 13a and 13b that face the vehicle in the width direction at a position protruding from the front surface of the main body frame 1.

  The ultrasonic sensors 12a to 12d are vertically arranged on the inner surface of the main body frame 1 with an appropriate interval L, and transmit and receive ultrasonic waves to the side surface of the vehicle body to measure the distance from the side surface of the vehicle body. Are connected by straight lines to detect the side profile. The ultrasonic sensor 12a irradiates ultrasonic waves in the vicinity of the switching between the door and the window of the ordinary car, and the ultrasonic sensor 12b is located at an upper portion with a gap L from the ultrasonic sensor 12a, and ultrasonic waves are applied to the window of the ordinary car. The ultrasonic sensor 12c is located at an upper portion with a gap L from the ultrasonic sensor 12b, and irradiates the ultrasonic wave near the window of the wagon car near the switching between the window of the ordinary car and the roof. 12d is located in the upper part which opened the space | interval L from the ultrasonic sensor 12c, and irradiates an ultrasonic wave to the switching vicinity of the window and roof of a wagon car.

  The ultrasonic sensors 13a and 13b are attached to the ground with a height of 60cm as a guideline from the viewpoint of reliable vehicle recognition and the Fire Service Act, with the support arms 14 projecting forward from the front surface of the main body frame 1 and waiting for entry. , The sensor 13a is used for transmission and the sensor 13b is used for reception (or vice versa), so that it functions as a transmission type detector and detects that an automobile has entered. Further, during the car wash, the sensors 13a and 13b are made to function as reflection detectors, and ultrasonic waves are transmitted to and received from the side surface of the vehicle body to measure the distance from the side surface of the vehicle body, thereby detecting the vehicle width and shape of the automobile.

  Thus, during the car wash, the vehicle body is detected with the ultrasonic sensors 13a and 13b as the lowest and the ultrasonic sensor 12d as the highest, and is linearized based on the detected coordinate data of the vehicle to detect the vehicle side shape. is there.

FIG. 3 is a block diagram showing the control system.
Reference numeral 15 denotes a car wash control unit, to which an operation box 11, a car wash drive unit 16, a travel position detection unit 17, a top car shape detection unit 18, and a side car shape detection unit 19 are connected, and an abnormality detection unit 20 and a data storage unit 21 are internally provided. The vehicle position data of the main body frame 1 obtained by the travel position detector 17, the top face shape data obtained by the top face shape detector 18, and the side face shape data obtained by the side face shape detector 19. Based on the above, the car wash drive unit 16 is controlled to drive the travel motor 3, the brushes 4, 5, and 5 and the nozzles 6, 7, and 7 of the main body frame 1.

  The traveling position detector 17 counts the pulse signal from the traveling encoder 8 and detects the traveling position of the main body frame 1.

  The upper surface vehicle shape detection unit 18 sequentially turns on the light emitting elements L1 to Ln of the light emitting unit 9a of the vehicle body upper surface detection device 9 from the top to the bottom (or from the bottom to the top), and the light receiving elements corresponding to the scanning of the light emitting elements L1 to Ln. The vehicle body detection unit 22 that detects the light transmission / shading of each optical axis by comparing the received light levels at R1 to Rn with the discrimination threshold, and a pulse signal from the traveling encoder 8 accompanying the traveling of the main body frame 1 as a trigger. A vehicle shape data creation unit 23 that captures translucent / shielded data by the vehicle body detection unit 22 and creates binary image data corresponding to the travel position of the main body frame 1 given by the travel position detection unit 17; And an image processing unit 24 that performs image processing on the binary image data generated by the unit 23 to generate top surface shape data.

  The side surface shape detector 19 connects the ultrasonic sensors 12a to 12d, 13a, and 13b in a daisy chain, and transmits a transmission selection signal, a reception selection signal, a selection signal shift clock, and an ultrasonic oscillation signal to each ultrasonic sensor. A sensor driving unit 25 that outputs and receives an ultrasonic reception signal from each ultrasonic sensor, and a distance calculation that calculates the distance to the vehicle body detection point by measuring the time from when the ultrasonic wave is transmitted until the reflected wave is received And a vehicle shape data creation unit 27 for creating side surface shape data from the coordinate data of the vehicle body detection points detected by the distance calculation unit 26.

  The abnormality detection unit 20 includes the travel position data of the main body frame 1 obtained by the travel position detection unit 17, the upper surface vehicle shape data obtained by the upper surface vehicle shape detection unit 18, and the side surface vehicle shape obtained by the side surface vehicle shape detection unit 19. An abnormality of the ultrasonic sensor is detected from the data. The data storage unit 21 stores the created vehicle shape data.

Next, the operation of the present invention configured as described above will be described.
A car wash user enters a car wash fee in the operation box 11, selects a desired car wash menu, and then enters the car. When the ultrasonic sensors 13a and 13b of the main body frame 1 detect that the automobile has stopped at a predetermined stop position, the main body frame 1 starts to travel. As the main body frame 1 travels, the travel encoder 8 detects the travel position of the main body frame 1 and uses the pulse signal of the travel encoder 8 output every time the main body frame 1 travels a predetermined distance as a trigger. The detection device 9 detects the upper surface shape of the automobile and the side surface shape detection device 10 detects the side surface shape of the automobile.

First, the side surface shape of the automobile is detected by the preceding side surface shape detection device 10.
The sensor driving unit 25 of the side surface shape detector 19 shifts the transmission / reception selection signal to the ultrasonic sensor to be driven, and then outputs an ultrasonic oscillation signal and simultaneously receives the reception signal of the reflected wave. The distance calculation unit 26 measures the distance between the sensor and the horizontal vehicle body surface based on the time from ultrasonic oscillation to reception of the reflected wave, and creates coordinate data at the vehicle body detection point. For example, as shown in FIG. 4, when the coordinate data of the vehicle body detection point P1 detected by the ultrasonic sensor 13a is obtained by detecting a horizontal vehicle body surface from the ultrasonic sensor 13a, X1 = ultrasonic sensor The distance detected by 13a is given by Y1 = the mounting height of the ultrasonic sensor 13a. Similarly, coordinate data is created at the detection points P2 to P5 of the ultrasonic sensors 12a to 12d (the detection point P5 is not detected in FIG. 4). The vehicle shape data creation unit 27 detects the detection point P2 from the distance X1 to the vehicle body detection point P1 detected by the distance calculation unit 26 and the distance X6 to the detection point P6 on the opposite side of the vehicle body measured by the ultrasonic sensor 13b. Coordinate data of virtual points P2 ′ to P5 ′ on the opposite side of the vehicle body of P5 is created, and side shape data is created. In general, since the vehicle body is substantially symmetrical except for special equipment, the other side surface shape can be assumed from one side surface shape and the vehicle width.

Next, the upper surface shape detection device 9 detects the upper surface shape of the automobile.
The vehicle body detection unit 22 of the upper surface vehicle shape detection unit 18 calculates a difference light reception level between the light reception level of the light receiving element before the light emitting element emits light and the light reception level of the light receiving element when the light emitting element emits light. Compared with the threshold value, translucency / shading is detected. For example, as shown in FIG. 5, when the light receiving elements R1 to Ln emit light sequentially and the light receiving elements R1 to Rn detect the light receiving level in synchronization with the light emitting elements L1 to Ln, the translucency / shading of the horizontal optical axis is detected. Detection is performed such that light is transmitted at the height of the optical axis B7 between the light emitting element L7 and the light receiving element R7, and light is shielded by the vehicle body below it. The vehicle shape data creation unit 23 creates binary image data by associating the light transmission / shielding data provided by the vehicle body detection unit 22 with the travel position of the main body frame 1 provided by the travel position detection unit 17. The image processing unit 24 performs image processing by applying a logical filter to the binary image data created by the car shape data creating unit 23, extracts the contour of the upper surface of the vehicle body from the boundary between light transmission and light shielding, and creates car wash control data. Car body reference point detection and equipment detection.

  Thus, every time the traveling encoder 8 outputs a pulse signal, the shape of the upper surface and the side surface of the vehicle body is detected, and the upper surface shape and the side surface shape of the entire vehicle are detected when the main body frame 1 completes the going. become. The created vehicle shape data is stored in the data storage unit 21 of the car wash control unit 15, and when the main body frame 1 travels, the upper surface brush 4 is discharged while the washing unit discharges washing water and detergent water from the watering nozzle. It is driven along the shape of the upper surface of the vehicle to perform brushing cleaning of the upper surface of the vehicle body, and the brushes for front, side and rear surfaces of the vehicle are cleaned by opening and closing the side brushes 5 and 5.

  When the main body frame 1 reciprocates and the cleaning process is completed, a drying process accompanying the outward travel of the main body frame 1 is executed. In the drying process, in the drying section, the upper surface blower nozzle 6 moves up and down along the upper surface shape of the vehicle and blows air to the upper surface of the vehicle as close to the vehicle body as possible, and the side blower nozzles 7 and 7 follow the side surface shape of the vehicle body. Then, the car body after washing is blown dry.

  The abnormality detection unit 20 of the car wash control unit 15 detects whether or not there is an abnormality in the ultrasonic sensor from the captured travel position data, top surface shape data, and side surface shape data. Abnormality check compares the mounting height of the ultrasonic sensor that has not been detected by the body shape with the side surface shape data and the upper surface of the vehicle body with the top surface shape data, and detects the upper surface of the vehicle body at a position higher than the mounting height of the ultrasonic sensor. In this case, it is determined that an abnormality has occurred in the ultrasonic sensor.

  For example, as shown in FIG. 6, the side surface shape data and the top surface shape data at the same traveling position are compared, and the mounting heights of the ultrasonic sensor 12c and the ultrasonic sensor 12d in which the vehicle body is not detected in the side surface shape data. For Y3 and Y4, the vehicle body upper surface position of the upper surface shape data is confirmed. At this time, the upper surface shape data indicates that the vehicle body upper surface height Hb is detected, and this height Hb is lower than the mounting height Y4 of the ultrasonic sensor 12d and higher than the mounting height Y3 of the ultrasonic sensor 12c. ing. In this case, an abnormality is recognized with respect to the ultrasonic sensor 12c, and when a predetermined number of such states are continuously obtained, it is determined that some abnormality has occurred in the sensor and that effect is notified. I have to.

  In consideration of the fact that some parts of the vehicle body, such as the boundary between the roof and the side surface, are difficult to detect with an ultrasonic sensor, the sensor mounting height to be determined has a predetermined allowable range α. It is desirable to recognize the occurrence of an abnormality if there is a vehicle body at the mounting height Y3 + α.

DESCRIPTION OF SYMBOLS 1 Main body frame 9 Upper surface shape detection apparatus 10 Side surface shape detection apparatus 12 Ultrasonic sensor 13 Ultrasonic sensor 15 Car wash control part 18 Upper surface vehicle shape detection part 19 Side surface vehicle shape detection part 21 Abnormality detection part

Claims (2)

A plurality of photoelectric sensors having a light emitting part and a light receiving part facing each other with a vehicle sandwiched in the width direction are provided above and below, and light transmission / transmission of a plurality of optical axes formed between the light emitting part and the light receiving part of the photoelectric sensor is provided. An upper surface position detector for detecting the upper surface position of the vehicle body by shading,
Multiple ultrasonic sensors that transmit ultrasonic waves toward the side of an automobile and receive reflected waves from the vehicle body are arranged above and below, and depending on the time from transmitting ultrasonic waves from the ultrasonic sensors to receiving reflected waves A vehicle body detection device including a side surface position detection unit that detects a side surface position of a vehicle body,
Upper surface shape data is created from the upper surface position of the vehicle body detected by the upper surface position detection unit, and side surface shape data is created from the side surface position of the vehicle body detected by the side surface position detection unit, which is lower than the upper surface position of the same part of the vehicle body when it can not detect a side position by position, the vehicle body detecting device characterized by ultrasonic sensor becomes not detected with the abnormality detection unit determines that the defective.
A car body processing device for car-washing the car body surface of a car and a photoelectric sensor in which a light-emitting part and a light-receiving part are arranged facing each other across the car in the width direction are mounted on a movable body frame formed in a gate shape. An upper surface position detecting unit for detecting the upper surface position of the vehicle body by light transmission / light shielding of a plurality of optical axes formed between the light emitting unit and the light receiving unit of the photoelectric sensor, and ultrasonic waves toward the side surface of the automobile Side position that detects the position of the side of the vehicle according to the time it takes to transmit the ultrasonic wave from the ultrasonic sensor and receive the reflected wave. A detection unit, a travel position detection unit that detects a travel position of the main body frame, and a car wash control that controls the car wash processing device in accordance with the travel position of the main body frame detected by each detection unit, the top surface position, and the side surface position of the automobile. wash with a part A machine,
As the body frame travels, the top surface position detection unit creates vehicle body top surface shape data, the side surface position detection unit creates vehicle body side shape data, and the travel position detection unit creates body frame travel position data. The car wash control unit was not detected when the side face position could not be detected at a position lower than the top face position of the same part of the vehicle body based on the top face shape data / side face shape data and the travel position data . A car wash machine comprising an abnormality detection unit that determines that an ultrasonic sensor is defective.

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