JP7409943B2 - Vehicle processing equipment - Google Patents

Description

The present invention relates to vehicle processing technology.

Japanese Unexamined Patent Publication No. 2012-201251 (Patent Document 1) describes a car washing device that monitors the degree of contact with a vehicle based on the current value of a brush motor when brushing a vehicle with a rotatable brush (rotating brush). has been done.

Japanese Patent Application Publication No. 2012-201251

However, in the car wash apparatus described in Patent Document 1, a voltage drop may occur not only by using a brush but also by using, for example, an air blower for blow drying. In such a case, there is a possibility that contact between the brush and the vehicle cannot be stably detected using data extracted from the motor that rotates the brush.

One object of the present invention is to provide a technique that can detect a contact situation between a brush and a vehicle.

A vehicle processing device according to one solving means includes a frame, a rotating brush suspended from the frame, and a sensor capable of detecting a swing angle of the rotating brush with respect to a vertical direction. The vehicle processing device detects the swing angle of the rotating brush in time series via the sensor, and detects that the rotating brush is moving toward the vehicle based on a pattern in which the swing angle of the rotating brush changes by a reference angle or more. The device further includes a determining unit that determines whether there is contact.

According to one solution, it is possible to detect the contact situation between the brush and the vehicle.

FIG. 1 is a schematic front view of a vehicle processing device according to an embodiment of the present invention. FIG. 2 is a schematic side view of the vehicle processing device. FIG. 2 is a schematic front view of a rotating brush included in the vehicle processing device. It is a schematic diagram from the side view of a rotating brush. FIG. 2 is a block diagram showing a control system of the vehicle processing device. It is a schematic diagram which shows the contact situation of the rotating brush and a vehicle from the front view of a vehicle processing device, (a) in the case of a 1st control angle, (b) in the case of a 2nd control angle, (c) in the case of a 3rd control angle. This is the case. FIG. 2 is an explanatory diagram of the control angle of the rotating brush corresponding to the side surface of the vehicle, in which (a) the vehicle is a sedan type automobile, and (b) the vehicle is a wagon type automobile. FIG. 4 is an explanatory diagram in which the visually observed state of the rotating brush with respect to the vehicle corresponds to a pattern showing a time-series change in the swing angle of the rotating brush, (a) in the first state, (b) in the second state. It is. FIG. 6 is an explanatory diagram showing a correspondence between the rotational state of the rotating brush and a pattern showing a time-series change in the swing angle of the rotating brush.

In an embodiment of the present invention, a case where the present invention is applied as a vehicle processing apparatus to a car wash apparatus having a processing function for washing a vehicle will be described with reference to the drawings. First, the outline of the car wash device 90 will be explained. FIGS. 1 and 2 are schematic diagrams of the car wash apparatus 90 seen from the front and from the side, respectively.

The car wash device 90 includes a car wash main body 1. The car wash main body 1 includes a pair of leg frames 1A rising from the ground G and a beam frame 1B extending therebetween, and is configured in a gate shape. The car wash main body 1 reciprocates on a pair of left and right rails 2, 2 provided on the ground G, and moves to straddle a vehicle stopped between the rails 2, 2.

Further, the car wash device 90 includes rotating brushes 3, 4, and 4. The rotating brushes 3, 4, 4 are provided in the car wash main body 1 and have the function of brushing the vehicle. The rotating brush 3 is a top brush that is provided on the top (beam frame 1B) side of the car wash main body 1, moves up and down along the vehicle surface, and mainly cleans the top surface of the vehicle. The rotating brushes 4, 4 are a pair of left and right side brushes that are provided on both sides (a pair of leg frames 1A) of the car wash main body 1, and open and close along the vehicle surface to clean the side and front and rear surfaces of the vehicle. .

The car wash device 90 also includes blower nozzles 5, 6, and 6. The blower nozzles 5, 6, and 6 are provided in the car wash main body 1 and have the function of drying the vehicle after washing. The blower nozzle 5 is a top nozzle that is provided on the top (beam frame 1B) side of the car wash main body 1 and moves up and down along the vehicle surface. The blower nozzles 6, 6 are a pair of left and right side nozzles that are provided on both sides (a pair of leg frames 1A) of the car wash main body 1 and move in and out along the vehicle surface.

The car wash device 90 also includes a car shape detection device 7. The vehicle shape detection device 7 is disposed in front of the car wash main body 1 and has a function of reading the top surface position of the vehicle as the main body 1 travels. The vehicle shape detection device 7 has a light emitting part 7a in which a plurality of light emitting elements are arranged vertically and a light receiving part 7b in which light receiving elements are arranged facing each other so as to sandwich the vehicle in the width direction, forming a pair of the light emitting part 7a and the light receiving part 7b. The vehicle is detected by detecting that the optical axis formed between the light emitting element and the light receiving element is blocked by the vehicle, and the upper surface position of the vehicle is detected.

The car wash device 90 also includes a travel encoder 8. The travel encoder 8 has a function of outputting a pulse every time the car wash machine main body 1 travels a unit distance. Further, the car wash device 90 includes travel motors 9, 9. The travel motors 9, 9 have a function of causing the car wash machine main body 1 to travel.

Next, the side brush 4 (rotating brush), the brush opening/closing device 14, and the brush swinging device 15 provided in the car wash device 90 will be described in detail. 3 and 4 are schematic diagrams of the side brush 4 seen from the front and from the side, respectively.

The side brush 4 consists of a carrier 11 held between guide rails 10 horizontally suspended in the rear upper part (beam frame 1B) inside the car wash main body 1, a rotating shaft 12 suspended from the carrier 11, and a rotating shaft 12 suspended from the carrier 11. It consists of a brush body 13 made of cloth or resin and having bristles flocked around the shaft 12. Therefore, the side brush 4 is suspended from the main body 1 (frame), and in its natural state, the rotating shaft 12 extends in the vertical direction.

Further, the side brushes 4 are made to run on the carrier 11 along the guide rails 10 via the brush opening/closing device 14, and can be opened and closed (horizontally moved) separately on the left and right sides of the vehicle, and the brush swinging device 15 so that it can swing freely in the left and right direction. The car wash device 90 includes a brush rotation motor 16 attached to a carrier 11 and capable of forward and reverse rotation. This brush rotation motor 16 is linked to the rotation shaft 12 via a linkage device 17 consisting of a pulley, a belt, etc., and rotates the side brush 4 (brush body 13) in the forward and reverse directions.

Further, the brush opening/closing device 14 has a function of opening and closing the side brushes 4 from side to side. The brush opening/closing device 14 includes a chain 19 whose tips are connected to both sides of the carrier 11 and suspended between the sprockets 18, 18, a brush opening/closing motor 20 that rotationally drives one sprocket 18, and a tip connected to the drive shaft of the motor. and an encoder 21 for detecting the opening/closing position of the brush.

Further, the brush swinging device 15 has a function of swinging the side brush 4 from a vertical position to a position where the lower side opens outward. The brush swinging device 15 includes a support plate 22 that connects and fixes the upper end of the rotating shaft 12 on the upper surface of the carrier 11, and a support shaft 23 that swings and supports the support plate 22 in one direction.

The car wash device 90 includes a swing angle sensor 24 , and the swing angle sensor 24 is attached to the upper surface of the support plate 22 . The swing angle sensor 24 has a function of detecting the inclination (swing angle θs) of the side brush 4 with respect to the vertical direction. In the car wash apparatus 90, the swing angle θs is an angle formed from the vertical direction when the car wash main body 1 is viewed from the front. Similar to the control angle θc (see FIG. 6) described later, this swing angle θs is set to 0° with the side brush 4 extending in the vertical direction, and the direction in which the side brush 4 falls downward with respect to the vehicle 100 is set to 0°. The direction in which the patient falls on his back is defined as +, and the direction in which he falls on his back is defined as -.

The side surfaces of the vehicle are washed with the left and right side brushes 4, 4 pressed against the side surfaces of the vehicle and tilted at an angle suitable for the shape of the side surfaces of the vehicle. This inclination angle is set according to the vehicle height and vehicle parts, and is maintained within a predetermined angle range by driving the brush opening/closing motor 20 while detecting the swing angle θs with the swing angle sensor 24. .

Next, the control unit 35 included in the car wash device 90 will be described in detail. FIG. 5 is a block diagram showing a control system of the car wash apparatus 90. Note that the control unit 35 is composed of a board on which a CPU, a memory, etc. are mounted, and includes various functional units by executing programs for performing various functions.

The control section 35 is electrically connected to the vehicle shape detection device 7, the travel encoder 8, the encoders 22, 22 of the brush opening/closing device 14, the swing angle sensor 24, the car wash drive section 36, and the operation section 37. ing. Further, the control section 35 includes a traveling position detection section 38 , a vehicle shape detection section 39 , a side position detection section 40 , a pattern determination section 41 , a car wash control section 42 , and a data storage section 43 .

The car wash drive unit 36 has a function of driving the car wash main body 1, top brush 3, side brush 4, top nozzle 5, and side nozzle 6 based on the top surface shape and side position of the vehicle detected by the control unit 35. . The car wash drive unit 36 includes a travel motor 9 of the car wash main body 1, a brush rotation motor 16 of the side brushes 4, 4, a brush opening/closing motor 20 of the side brushes 4, 4, and a nozzle advancing/retracting motor of the side nozzles 6, 6. electrically connected to. In addition, the car wash drive section 36 is electrically connected to the drive system of the top brush 3 and the top nozzle 5.

Further, the operation unit 37 has the function of selecting the contents of the car wash and inputting the start of the car wash, as well as outputting guidance such as precautions and operating procedures to the operator via display or voice. The operating section 37 is normally provided on the front side of the car wash main body 1, but in cases where the car is washed in a drive-through format with the driver still in the car, the operating section 37 is installed separately from the car wash main body 1 and installed at the entrance of the car wash area. You can.

Further, the traveling position detection section 38 has a function of detecting the traveling position of the car wash machine main body 1 based on information from the traveling encoder 8. The running position detection unit 38 can detect the running position of the car wash machine body 1 by counting the pulse signal output by the encoder 8 every time the car wash machine body 1 travels a unit distance as the travel motor 9 is driven. can.

Further, the vehicle shape detection section 39 has a function of detecting the top surface shape of the vehicle based on information from the vehicle shape detection device 7 and the travel encoder 8. This vehicle shape detecting section 39 outputs a signal to the light emitting section 7a of the vehicle shape detecting device 7 to cause the light emitting elements to emit light in order from the top, and in synchronization with this, acquires the light reception level of the light receiving element in the light receiving section 7b. The top position of the vehicle can be detected. This top surface position can be accumulated for each unit distance travel of the car wash machine main body 1 to form top surface shape data.

Further, the side position detection section 40 has a function of detecting the side position of the vehicle 100 based on signals from the vehicle shape detection device 7, the encoders 21, 21 of the brush opening/closing device 14, and the swing angle sensor 24. This side position detection unit 40 counts the pulse signals output by the encoders 21 and 21 as the opening/closing motor 20 of the opening/closing device 14 is driven, and detects when the side brush 4 is swung by a predetermined angle by the swiveling angle sensor 24. The distance to the side of the vehicle can be detected by the number of pulses at the time this is detected.

Further, the pattern determination unit 41 detects the swing angle θs of the side brush 4 in time series via the swing angle sensor 24, and selects the side It has a function of determining whether the brush 4 is in contact with the vehicle 100. The pattern determination unit 41 forms a time-series pattern based on the signal from the swing angle sensor 24 of the side brush 4, and can determine the behavior of the side brush 4 from this time-series pattern.

Furthermore, the car wash control unit 42 operates the car wash main body 1, top brush 3, side brush 4, top nozzle 5, and side nozzle 6 via the car wash drive unit 36 based on the detection results from each of the detection units 38 to 41. It has the function of giving commands. The data storage unit 43 has a function of storing various data.

Next, the operation (vehicle processing method) of the car wash device 90 will be explained. First, the car wash device 90 guides the user to enter the vehicle 100 to be washed from the front of the car wash main body 1 and park it at a stopping position set in front of the vehicle shape detection device 7 of the car wash main body 1. let The stop position is given by a known stop detection means (not shown) such as a tire detection plate or a beam sensor provided in the car wash device 90.

Next, the car wash device 90 receives the selection of a car wash course (for example, one round trip car wash) through the operation unit 37, and starts the car wash. As a result, the car wash main body 1 starts moving back and forth, and the preceding vehicle shape detection device 7 reads the top surface contour of the vehicle 100, and controls the following brushes 3, 4, 4 along the detected top surface contour. The vehicle surface is then brushed and cleaned.

Here, the operation of the side brushes 4, 4 of the car wash main body 1 will be explained in detail. FIG. 6 is a schematic diagram showing the contact situation between the side brush 4 and the vehicle 100 when the car wash main body 1 is viewed from the front. (a) In the case of the control angle θc1, (b) In the case of the control angle θc2, c) This is the case when the control angle is θc3. The control angle θc is an angle set by the car wash device 90 (control unit 35), and is an angle formed from the vertical direction when the car wash main body 1 is viewed from the front. The control angle θc is 0° when the side brush 4 extends in the vertical direction, + is the direction in which the side brush 4 falls downward with respect to the vehicle 100, and − is the direction in which the side brush 4 falls downwards on the vehicle 100. In FIG. 6, the relationship is θc1>θc2>θc3>0°. Moreover, FIG. 7 is an explanatory diagram showing the control angle θc of the side brush 4 corresponding to the side surface of the vehicle 100, (a) when the vehicle 100 is a sedan type car, (b) when the vehicle 100 is a wagon type car. This is the case with cars.

The side brushes 4, 4 approach the front end of the vehicle 100 detected by the vehicle shape detection device 7 from positions on the left and right sides of the car wash machine body 1 (separated positions) to closed positions (adjacent positions). go. In the car wash device 90, after the car shape detection device 7 detects the front end of the vehicle 100, when the car wash main body 1 travels a distance S (see FIG. 2) between the vehicle shape detection device 7 and the side brushes 4, 4, It is determined that the side brushes 4, 4 have reached the front end of the vehicle 100. Then, the car wash device 90 brushes and washes the front surface of the vehicle 100 by temporarily stopping the forward movement of the car wash main body 1 and rotating the left and right side brushes 4, 4 while opening them to the left and right.

Next, the car wash apparatus 90 opens the side brushes 4, 4 toward the main body 1 (leg frame 1A) and resumes the movement of the car wash main body 1. Then, by closing the left and right side brushes 4, 4, the car washing device 90 is pressed against the side of the vehicle 100, and the left and right side brushes 4, 4 are tilted so as to take a V-shaped position (see FIG. 6). and brush the sides of the vehicle 100. In this side cleaning, the opening/closing device 14 (brush opening/closing motor 20) is controlled so that the swing angle θs detected by the swing angle sensor 24 is maintained at the control angle θc±α. Note that, as will be described later, controlling the rotational speed of the brush 4 by the brush rotation motor 16 also affects the swing angle θs.

The control angle θc is appropriately set according to the height of the top surface detected by the vehicle shape detection device 7, as shown in FIG. For example, the control angle θc is set to θc1 up to the ground height H1, the control angle θc is set to θc2 (<θc1) up to the ground height H2, and the control angle θc is set to θc3 (<θc2) for heights above that. ) is set. That is, on the side surfaces of the vehicle 100 where the vehicle height is low, the contact area of the side brushes 4 is small and the swinging motion point is low, so the control angle θc of the side brushes 4 is set large to reduce the pressing force on the side brushes 4. enhance In addition, on the sides of the vehicle where the vehicle height is high, the contact area of the side brushes 4 is large and the swinging point becomes high, so the control angle θc of the side brushes 4 is made small so that it acts uniformly on the sides of the vehicle. There is.

More specifically, as shown in FIG. 6(a), when cleaning low vehicle height areas such as the bonnet of a sedan type, the opening/closing device 14 is adjusted to maintain the swing angle θs at the control angle θc1±α. control. As shown in FIG. 6(b), when cleaning a mid-high vehicle area such as a sedan-type cabin, the opening/closing device 14 is controlled to maintain the swing angle θs at the control angle θc2±α. As shown in FIG. 6(c), when cleaning a high vehicle height area such as a wagon-type cabin, the opening/closing device 14 is controlled so that the swing angle θs is maintained at the control angle θc3±α. Note that ±α is an allowable change that is set to prevent frequent activation of the opening/closing device 14 by capturing temporary reaction when the side brush 4 opens and closes or rotational reaction force when it contacts the vehicle 100. It's an angle.

In this way, by changing the swing angle θs of the side brush 4 to be controlled depending on the height of the vehicle 100 to be washed, the degree of contact of the side brush 4 with the vehicle 100 is made uniform at each location, thereby preventing unwashed parts or excessive contact. can be prevented. By the way, the setting of the control angle of the side brushes 4 is selected depending on the material used for the brush bodies 13 of the side brushes 4, 4. That is, even if the swing angle θs detected by the swing angle sensor 24 is the same, the degree of contact with the vehicle 100 changes slightly depending on whether the material of the brush body 13 is sponge or cloth. , control angle data for the sponge brush and control angle data for the cloth brush are stored and selected depending on the brush body 13 to be used.

Further, the car wash device 90 can recognize that the side brush 4 is in contact with the vehicle 100 by the pattern determining unit 41 . FIG. 8 is an explanatory diagram showing the correspondence between the state (contact, non-contact) of the side brush 4 with respect to the vehicle 100 visually observed (including video analysis) and a pattern showing a time-series change in the swing angle θs of the side brush 4. (a) In the case of pattern Pθ1, (b) In the case of pattern Pθ2. In addition, when the side brush 4 is in contact with the side surface of the vehicle 100, the side brush 4 rotates while the car wash main body 1 is running, and the vehicle 100 is brushed and washed.

The pattern Pθ1 shown in FIG. 8(a) includes visually observed states before the side brush 4 contacts the vehicle 100 (non-contact), while the side brush 4 contacts the vehicle 100 (contact), and after the side brush 4 contacts the vehicle 100 (non-contact). Correspondingly, the time before time t1, from time t1 to time t2, and after time t2 are shown, respectively.

Before time t1 in pattern Pθ1, the swing angle θs of the side brush 4 detected by the swing angle sensor 24 is around 0°, and the side brush 4 (rotary shaft 12) is in a vertically extending state (suspended). in a lowered natural state).

Moreover, between time t1 and time t2 when the side brush 4 is actually in contact with the vehicle 100, the swing angle θs of the side brush 4 increases to the + side, and the set control angle θc (in FIG. 8, the line CL (indicated by ) is nearby. Further, from time t1 to time t2, the swing angle θs is greater than a predetermined reference angle (indicated by line LL in FIG. 8). Note that a peak P1 appears immediately after time t1, which indicates a state in which the side brush 4 has begun to contact the vehicle 100 (an overshoot state).

After time t2, the swing angle θs of the side brush 4 detected by the swing angle sensor 24 converges around 0°, and the side brush 4 (rotary shaft 12) is in a state extending vertically (suspended). natural state). Note that peak P2 appears immediately after time t2, which indicates the state when the side brush 4 is released from contact with the vehicle 100, and according to actual observation, the side brush 4 is in contact with the vehicle 100. Not in contact.

In this way, the pattern determination unit 41 can detect the swing angle θs of the side brush 4 in time series via the swing angle sensor 24, like the pattern Pθ1. Further, the pattern determination unit 41 determines that the side brush 4 is in contact with the vehicle 100 based on the pattern Pθ1 between time t1 and time t2 in which the swing angle θs of the side brush 4 changes by a reference angle (line LL) or more. It can be determined that there is. Therefore, in addition to the technique of detecting the degree of contact between the side brush 4 and the vehicle 100 from the current value of the brush rotation motor 16 as described in Patent Document 1, the pattern determination unit 41 also detects the degree of contact between the side brush 4 and the vehicle 100. Contact status can be detected.

Further, the pattern determination unit 41 determines that when the pattern Pθ1 from time t1 to time t2 exceeds a limit angle (line HL in FIG. 8) that is larger than the reference angle (at the peak P1), the side brush 4 is It can be determined that there is strong contact with 10. Note that if it is determined that there is strong contact, processing can be performed to separate the side brush 4 from the vehicle 100 by the opening/closing device 14 (brush opening/closing motor 20).

A pattern Pθ2 different from the pattern θ1 shown in FIG. 8(a) is shown in FIG. 8(b). FIG. 8(b) shows the visually observed states before the side brush 4 contacts the vehicle 100 (non-contact), while the side brush 4 contacts the vehicle 100 (contact), and after the contact (non-contact). , respectively, show before time t3, from time t3 to time t4, and after time t4. In pattern Pθ2, before time t3, the swing angle θs of the side brush 4 detected by the swing angle sensor 24 is around 0°, and the side brush 4 (rotary shaft 12) is in a state ( (in its natural suspended state).

Moreover, between time t3 and time t4 when the side brush 4 is actually in contact with the vehicle 100, the swing angle θs of the side brush 4 increases to the + side, and the set control angle θc (in FIG. 8, the line CL (indicated by ) is nearby. Further, from time t3 to time t4, the swing angle θs is greater than or equal to a predetermined angle (indicated by line LL in FIG. 8). Note that peak P3 appears between time t3 and time t4, but according to actual observation, the rotating side brush 4 is in a violent state (for example, the side brush 4 is swinging greatly). The state in which the vehicle is in the vehicle 100 and the state in which it is being slammed against the vehicle 100 are shown.

After time t4, the swing angle θs of the side brush 4 detected by the swing angle sensor 24 converges around 0°, and the side brush 4 (rotary shaft 12) is in a state extending vertically (suspended). natural state). Note that a peak P4 appears immediately after time t4, which indicates the state when the side brush 4 is released from contact with the vehicle 100, and according to actual observation, the side brush 4 is released from contact with the vehicle 100. Not in contact.

In this way, the pattern determination unit 41 can detect the swing angle θs of the side brush 4 in time series via the swing angle sensor 24, like the pattern Pθ2. Further, the pattern determination unit 41 determines that the side brush 4 is in contact with the vehicle 100 based on the pattern Pθ2 between time t3 and time t4 in which the swing angle θs of the side brush 4 changes by more than the reference angle (line LL). It can be determined that there is. Regarding the peak P3 caused by the side brush 4 going wild, it is smaller than the reference angle (line LL) but its duration is short, so the pattern determining unit 41 excludes the peak P3 and determines that the side brush 4 is in contact with the vehicle 100. can be judged.

That is, the car wash device 90 can also recognize by the pattern determination unit 41 that the side brush is in rough contact with the vehicle 100. FIG. 9 is an explanatory diagram in which a pattern Pω indicating the rotational state (rotational speed ω) of the side brush 4 corresponds to a pattern Pθ3 indicating a time-series change in the swing angle θs of the side brush 4. FIG. 9 shows a period from time t5 to time t6, which corresponds to the period when the side brush 4 is in contact with the vehicle 100, as observed visually.

The pattern judgment unit 41 determines the time when the swing angle θ of the side brush 4 increases from around 0° to the + side and reaches the reference angle (indicated by line LL in FIG. 9) (point p1 of pattern Pθ3). Start measuring. The pattern determination unit 41 determines that the side nozzle 4 is in contact with the vehicle 100 if the swing angle θs is equal to or greater than the reference angle (line LL) while the predetermined start determination time T1 has elapsed from the point p1. do. Furthermore, the pattern determination unit 41 can instruct the side nozzle 4 to rotate when the start determination time T1 has elapsed. Note that FIG. 9 shows that when the side brush 4 contacts the vehicle 100, the rotational speed is ω1.

Further, the pattern determination unit 41 can extract a portion having peaks and valleys (for example, an inclined pattern pi1 in which the peak is a point p2 and the valley is a point p3) from the pattern Pθ3. Although a predetermined reference angular difference D is shown in the box in FIG. can be determined to be rampant. In this manner, by detecting the violent movement of the side brush 4 in the contact situation between the side brush 4 and the vehicle 100, the manager of the car wash device 90 is alerted to take measures such as maintenance of the side brush 4. You can also do it. Further, when the pattern determination unit 41 determines that the side brush 4 is running wild, the pattern determination unit 41 performs at least one of a process of adjusting the rotational speed of the side brush 4 or a process of separating the side brush 4 from the vehicle 100. By doing so, it is also possible to suppress the side brush 4 from moving wildly.

Furthermore, when the limit angle HL, which is larger than the reference angle LL, is exceeded (point p4 of pattern Pθ3), the pattern determination unit 41 starts measuring time from there. The pattern determination unit 41 observes whether the swing angle θs remains smaller than the reference angle LL for a predetermined end determination time T2 from point p4. At point p5 of pattern Pθ3, the swing angle θ is smaller than the reference angle LL, but at point p6 it is greater than or equal to the reference angle LL, and at point p7 it is smaller than the reference angle LL, but at point p8 it is greater than or equal to the reference angle LL.

In this manner, during the end determination time T2, a state where the angle is smaller than the reference angle LL is observed, but thereafter a state where the angle is equal to or greater than the reference angle LL is observed. Therefore, the pattern determination unit 41 can determine that the side brush 4 is in contact with the vehicle 100 without determining that the state smaller than the reference angle LL is maintained. In addition, in a portion having peaks and valleys whose bottoms are from point p5 to point p6 and from point p7 to point p8, the swing angle θs is lower than the reference angle LL, and the side brush 4 may not be in contact with the vehicle 100. Therefore, it is excluded from the part for determining whether the reference angle difference D is met.

Further, when the pattern determination unit 41 extracts a plurality of inclined patterns pi having a reference angle difference D or more from the pattern Pθ3, the pattern determination unit 41 can also perform a process of lowering the rotation speed of the side brush 4. In FIG. 9, when the inclination pattern pi with the reference angle difference D or more is extracted five times (pi1 to 5) (point p9), the rotational speed of the side brush 4 is lowered from ω1 to ω2, as shown in the pattern Pω. . This makes it possible to stabilize the swinging of the side brush 4 (suppress the swinging) and converge it to the set control angle θc (indicated by line CL in FIG. 9). The rotational speed ω may be adjusted gradually (or stepwise) as shown by the dotted line of the pattern Pω, as long as the side brush 4 can be stably converged to the set control angle θc. , may be raised or lowered.

Further, the pattern judgment unit 41 maintains the state in which the swing angle θs is smaller than the reference angle LL while the end judgment time T2 elapses from the point p11 of the pattern Pθ3 where the limit angle HL, which is larger than the reference angle LL, is exceeded. Or observe. Here, since the swing angle θs is maintained smaller than the reference angle LL after the point p12, the pattern determining unit 41 determines that the side brush 4 is moving toward the vehicle 100 until the point p10, which is the valley bottom before the point p11. It can be determined that the person was in contact with Therefore, according to the pattern determination unit 41, it is possible to detect that the side brush 4 and the vehicle 100 were in contact between time t5 at point p1 and time t6 at point p10 in pattern Pθ3. can.

Next, when the vehicle shape detection device 7 detects the rear end of the vehicle and the main body 1 has traveled a distance S between the vehicle shape detection device 7 and the side brushes 4, 4, the forward movement of the car wash main body 1 is temporarily stopped. This is done by closing the side brushes 4, 4 and then opening them further left and right. Thereafter, the main body 1 is moved to the travel stop position and stopped, and one round brushing process is completed.

Then, during the next return trip of the main body 1, the positions of the blower nozzles 5, 6, and 6 are controlled along the detected upper surface contour, and air is blown from the blower nozzles 5, 6, and 6 to perform a drying process to remove water droplets from the vehicle. . At this time, if the blower nozzles 6, 6 are provided on the side of the vehicle so that they can move forward and backward, when the side brush 4 brushes the side of the vehicle, the distance to the side of the vehicle is detected by the side position detector 40, so this data can be used. Based on this, the blower nozzles 6, 6 can be moved forward and backward toward the side of the vehicle.

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

In the embodiment described above, a vehicle processing device in which the main body moves with respect to a vehicle stopped on the ground has been described. The present invention is not limited to this, but for example, when the vehicle is mounted on a carrier (conveyor) that is movable in the longitudinal direction of the vehicle and the vehicle is moved relative to the main body fixed to the ground, or when the vehicle and the main body are both It may also be a case of moving. Therefore, the present invention includes a relationship in which the main body moves relative to the vehicle to be processed.

Moreover, in the embodiment, the case where the rotating brush (side brush) contacts the side surface of the vehicle has been described. The present invention is not limited to this, and the rotating brush may come into contact with the front and rear surfaces of the vehicle. A rotating brush for brushing the side surfaces of a vehicle is moved by a travel motor, but a rotating brush for brushing the front and rear surfaces of a vehicle is moved by a brush opening/closing motor. Further, although the control angle of the rotating brush that contacts the side surface of the vehicle was controlled by the brush opening/closing motor, the control angle of the rotating brush that contacts the front and rear surfaces of the vehicle is controlled by the travel motor. Therefore, the pattern determination unit can determine that the rotating brush is in contact with the front and rear surfaces of the vehicle based on the pattern in which the swing angle of the rotary brush with respect to the front and rear surfaces of the vehicle changes by a reference angle or more.

1B frame, 4 rotating brush, 24 sensor, 41 judgment unit, 90 vehicle processing device

Claims (2)

frame and
a rotating brush suspended from the frame;
a sensor capable of detecting a swing angle of the rotating brush with respect to the vertical direction;
The swing angle of the rotary brush is detected in time series through the sensor, and it is determined that the rotary brush is in contact with the vehicle based on a pattern in which the swing angle of the rotary brush changes by a reference angle or more. comprising a judgment section ;
The determining unit may perform a process of adjusting the rotational speed of the rotating brush when extracting from the pattern a plurality of slope patterns in which the angular difference from the top to the bottom of a portion having peaks and valleys is equal to or greater than a reference angular difference; carrying out at least one of the processes of separating the vehicle from the vehicle;
Vehicle processing equipment. The determining unit determines that the rotating brush is in strong contact with the vehicle when the pattern exceeds a limit angle that is larger than the reference angle.
The vehicle processing device according to claim 1.

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