JPS61232950A - Obstacle avoiding method of top nozzle in car washing machine - Google Patents

Abstract

PURPOSE:To secure automatic avoiding motion for a top nozzle, by detecting an avoiding position of the top nozzle from an obstacle avoiding position of a top brush. CONSTITUTION:When an obstacle avoiding input is emitted out of a lifting operation inputting device of an operation panel 24, a body traveling position is red out and stored in a first memory device. Simultaneously, an avoiding motion position of a top nozzle 12 is found according to a tilt at the inputted point of time being read out of a tilt detecting device of a swing arm 5 and the data is stored in a second memory device. Afterward, data given by a traveling position detecting device is checked up with that of the first memory device at washing operation but that of the second memory device at drying operation, respectively. And, at that point that they accord with each other, each avoiding motion of a top brush 3 and the top nozzle 12 is secured.

Description

[Detailed description of the invention]

The present invention relates to a car washing machine that is provided with a top brush for cleaning the car body and the top surface, and a top nozzle for drying the top surface of the car body, in a main body that is formed in a gate shape and moves back and forth across the car body. Concerning how to avoid obstacles. Generally, in this type of car wash machine, the top brush and top nozzle are configured to move up and down along the top shape of the car body for cleaning and drying, so taxi indicator lights, antennas, roof carriers, etc. are attached to the car body. If objects that protrude too far upwards are attached, there is a risk that these objects will be damaged by the top brush or top nozzle. For this reason, conventionally, in order to avoid such car washing obstacles,
Equipped with a manual operation means for raising and lowering the top brush and top nozzle, if the top brush comes close to an obstacle during car washing, the operating top brush or top nozzle is raised to avoid it. However, this requires the user to be present and operate the machine each time the car wash is completed, which imposes a heavy burden on the user. The present invention has been made to address these problems, and an object of the present invention is to obtain an automatic avoidance operation of the top nozzle by referring to the obstacle avoidance position established by the top brush. Hereinafter, specific examples of the present invention will be explained based on the drawings. FIG. 1.2 is an explanatory front view and an explanatory side view, respectively, showing the main part configuration of the embodiment. 1 is a main body formed in a gate shape and runs on a pair of rails 2 and 2';
The robot travels back and forth across parked cars to wash and dry the cars. Reference numeral 3 denotes a top brush provided in the main body 1, which is supported at both ends by a pair of swingers A5 and 5' which are rotatably supported on both sides of the main body 1 via swing shafts 4 and 4', and is used for cleaning. It is formed so that it can swing along the shape of the vehicle body. Reference numeral 6 denotes a motor fixed to one swing arm 5, which rotates the brush 3. 7 and 7' are weights fixed to the ends of swing arms 5 and 5' opposite to the brush support side, which reduce the swinging moment of the brush 3 and allow the brush 3 to swing smoothly through contact with the vehicle body. It is prepared as possible. Reference numeral 8 denotes an air cylinder that moves the top brush 3 up and down via the transmission arm 0, and provides operations such as avoiding washing obstacles. 10 is a top brush rise detection sensor consisting of a reed switch that responds to a magnet provided in the piston body of the air cylinder 8, and detects when the top brush 3 is swung up either forward or backward and removed to a certain position. ing. The top brush 3 is always held at the detection position of the detection sensor 10, that is, the position shown in the figure, and is lowered from this position to carry out the cleaning operation. 11 is swing shaft 4
This is a tilt sensor that provides rotational data, and is comprised of a so-called encoder that has a rotating body that follows the rotation of the shaft 4, and that emits a pulse every time this rotating body rotates by a certain angle. 12 is a top nozzle provided on the top of the main body 1, blowers 13, 13' and 6 (flexible gaskets 14, 1)
4′, link arm 15

[It is configured so that it can be moved up and down. 16 is the top, /niru1
The air cylinder 017 that drives the top nozzle 12 up and down is attached to the tip of the top nozzle 12, and is an idle wheel that rotates in contact with the vehicle body when the top nozzle 12 moves, maintaining the necessary distance from the vehicle body, According to the contact pressure with the vehicle body, the air valve 18 is actuated to raise and lower the air cylinder 16. Reference numeral 19 denotes a top nozzle rise detection sensor consisting of a reed switch that responds to a magnet provided on the piston of the air cylinder 16, and detects when the top 7 nozzle 12 has risen to a certain position. 20 is main body 1
A motor that rotationally drives the wheels 14 of the main body, 2+ is a main body running sensor that provides data on the distance traveled by 2F of the main body], which has a rotating body that follows the motor 20 and sends a pulse every time it rotates or at a constant rotation angle. It has become. 22 is provided at the bottom of the main body 1, behind the rail 2! 81s is a reset position sensor that detects and switches the music piece 23, and the main body 1 uses the sensing position of this music piece 23 as the travel start position. Reference numeral 24 denotes a bisaku panel provided on the front side of the main body 1, which is equipped with various input means including inputting car wash work selections, fees, and membership card input. Shake Af 1-〒婢m1r) Nege Wooden 1 piece I Wash the car at the upward exit 4 and dry it on the go-around, 1 round-trip car wash, Wash on the 1st round-trip, Wax on the 2nd go-around, Apply the wax on the 2nd go-around Sometimes, a set sequence operation such as a two-way car wash with drying is performed, but
The drying process using the top nozzle 12 and the like is always performed during the go-around. FIG. 3 is a block diagram showing the configuration of the control system of the embodiment. 30 is a microphone viewer, which functions as a central control means and controls the CPI! -ROM/RAM/capo-)
Contains. This microcomputer-30)t
The ON stores various production programs and necessary data including a sequence program for the cleaning operation. Human-powered boat: The operation panel 24 and each sensor 10
- Signals are input from a group of sensors 31 consisting of sensors 11, 19, 21, 22, etc. The CPU executes the operation program according to the operation command from the operation panel 24 while referring to the signals from the sensor group 31, and accordingly, the motors 6 and 20 and air cylinders 8 and 16 are sent from the output boat.
Relayboard 1ζ with drive circuits for various devices including
The operation command is output to 32. 33 and :34 are respectively fi
This input means for lowering the row of top brushes 3 is provided on the operation panel 24, and is used to raise the top brush at 33 and lower the top brush at 34. 33 to avoid the vehicle, and after the avoidance, the lowering means 34 can be used to return to the car washing operation. FIG. 4 is a block diagram showing control operations in the microcomputer 30. Reference numeral 40 denotes a main body running position detection means which detects the start of running of the main body according to a signal from the reset position sensor 22 and detects the start of running of the main body.
Count the pulses emitted from (7) This detects the running position of the main body 1 from the reset position.When going out, it increments +1 for each pulse, and when going back, it increments -1 for each pulse, and the position is determined by the number of pulses. Reference numeral 41 denotes a swing arm inclination detection means, which detects the movement of the swing arm downward from the rise/throat position, that is, the detection position of the rise detection sensor 10, and sends a signal from the tilt sensor 11. It counts pulses and detects the inclination of the swing arm.As shown in Figure 2, when the swing arm rotates clockwise, it increments +1 for each pulse, and when it rotates counterclockwise, it increments -1, and the inclination is expressed by the number of pulses. Therefore, when the car wash is started, the running position detection means 40 and the inclination detection means 41 detect the running position and the inclination of the swing arm 5, respectively, and the human power means 33 and 34 for lifting and lowering the working panel 24 are used to avoid obstacles. If there is human power, the position detection means 40 reads the main body traveling position at α at that time and stores it in the first storage means 42,
Calculation. The means 43 calculates and determines the avoidance operation position of the top nozzle 12 based on the body traveling position at that time, according to the inclination at the time of human power read from the inclination detection means 41,
The data is stored in the second storage means 44. From then on,
The control means 45 compares the detection data provided by the traveling position detection means 40 with the data stored in the first storage means 42 during the cleaning operation and the second storage means 44 during the drying operation, and when they match, the above-mentioned A signal is output to the relay board 3Z to give the necessary avoidance movements of the top brush 3 and top 7 screw 12. 1. The calculation method in the calculation means 43 will be explained based on FIG. 5. When the top brush 3 is at position A during the movement of the main body 1, if there is human power to raise the brush from the lift input means 33 in order to avoid the obstacle 51 of the automobile 50, the calculation means 43 calculates the input. When there was, Kuno main body 1
The traveling position B of is read from the position detecting means 40. In this example, the position of the swing shaft 4 is calculated as a representative position of the main body 1. Next, similarly, the inclination θ of the swing arm 5 at the time when the human power is applied is determined by the following equation based on the data from the inclination detection hand fi41. θ=θo−aN θ. ;Inclination N of swing arm 5 at reset position;
Pulse count number a in the inclination detection means 41; inclination angle of the swing arm 5 per pulse; the value of θ is expressed as an absolute value regardless of whether it is positive or negative; This determined slope allows the top nozzle 12 to be
The position C of the main body 1 when reaches the position A is determined by the following formula. h; Travel distance L per pulse emitted by the travel sensor 21; Length between the swing shaft 4 and the drive shaft of the brush 3 in the swing arm 5 d: Top nozzle 12 when the link arm 15 is horizontal
Distance c from to the swing shaft 4; Inclination (constant of proportionality) when the trajectory of the top nozzle 12 as it ascends and descends is assumed to be approximately a straight line h4; Support position of the link arm 15 between the swing shaft 4 and the top nozzle 12; The safety value S is assumed to be the height difference S between The positive and negative values are different before and after, and when calculating the data when the brush is input downward, add W.
, will be done. Data θ required for the above calculations.・
a-b-L-d-C-h-8 are all registered in the ROM of the microcomputer-30. Figure 6 (AHB) shows the RO of Microfunbutter 30.
This is a 70-chart diagram showing the main part of the program recorded in M. The operation of this example will be explained step by step based on this diagram. For convenience, memory means such as registers that hold each data will be referred to as follows. IU:) Position memory ID at the time of inputting whelk brush rise: I,
Position memory TU when lowering the whelk brush manually; ) Whirl nozzle rising position memory TD; ) Whirl nozzle lowering position memory XL; +1 for each pulse signal from travel sensor 2]
Steps (1) to (14) of the traveling position memory (A), which is counted by -177, are executed in response to an interrupt signal from the human-powered lifting/lowering operation means 33 and 34. When there is human power from the human power means 33 and 34, first check whether the main body 1 related to the car wash work is on the first outbound trip (1) L, and if so, stop the main body from running. At the same time, tilt data is read from the tilt detecting means 41 (2). fjS1 Automatic avoidance operation mode is set based on the input during the outward movement and the outgoing movement, and no human power is required. Next, it is detected that the second input is the one in the rising means 33 (
3) Then, the air cylinder 8 is driven to move the top brush 3 upward (4), and along with this, the top brush 3
When the top brush 3 is confirmed to have risen to a predetermined position by the top rise detection sensor 10 (5), the power to the motor 6 is cut off and the top brush 3 is turned off. Stop the rotation +Th(6). Next, read the traveling position of main body 1 from XL and write the data [J-\(7
), the avoidance operation position of the top nozzle 12 obtained by performing the calculation described in Figure 5 of L based on the memory data of the XL and the input data from the tilt sensor 1] is written in the TD (8), and then the main body 1 resumes running (9) and completes the interrupt processing. Note that the avoidance position of the top nozzle obtained in step (8) is written in the descending position memory TD because the drying process is performed during the return trip as described above. By reversing. On the other hand, if the input that caused the interruption is from the lowering means 34, check whether the top brush 3 is in the raised avoidance position state (10)L, and if it is raised, air cylinder the top brush 3. At the same time as the lowering operation is performed by -8, the motor 6 is energized to start rotating (11). Next, the running position of the main body 1 is read from XL and written to ID (%2), and the avoidance position of the top nozzle is found and written to TU in the same manner as step (8) (13). After that, in accordance with step (11) above, the top brush 3 waits for the minimum required time T0 before it descends and comes into contact with the vehicle body.
i(14)L, the main body 1 resumes running (8). As described above, based on the stored position data IU-ID,
When the top brush 3 is operated thereafter, the brush is caused to perform an automatic avoidance operation, and the data TU-TD is also set.
The automatic avoidance operation of the top nozzle 12 is given based on this, and this avoidance operation of the top nozzle 12 is shown in (B). Detects that the car wash sequence operation has entered the drying process (1
5) Then, the traveling position data of XL is compared with the held data of TU or TD, and it is detected that XL=TU, that is, the traveling of the main body 1 has reached the raised position of the top nozzle 12 (16
), the traveling of the main body 1 is temporarily stopped (17) L, and the top nozzle 12 is raised by the air cylinder 16 (1
8), and after confirming that the top nozzle 12 has risen to the sensing position of the upper punch detection sensor 19 (19), the main body 1 resumes running (20). On the other hand, when it is detected (21) that XI, , = TD, that is, the traveling of the main body 1 has reached the lowered position of the top nozzle 12,
Temporarily stop the running of main unit 1 + t (22), air cylinder -
16, the top nozzle is lowered (23), and after waiting for the time T1 necessary for the top nozzle 12 to descend to the vehicle body position (24), the main body 1 resumes traveling (20). The present embodiment operates as described above, and stores and corrects the position where the top brush 3 was operated to avoid during the first forward movement, and thereafter automatically causes not only the top brush 3 but also the top nozzle 12 to perform the avoidance operation. I can do it. The specific automatic avoidance operation of the top brush 3 will not be explained here, but I
Based on the data held in the U-ID, the top nozzle 12
It operates in the same way as in the case of . The present invention is not limited to the above-mentioned embodiments. For example, the traveling position may be given as time data by means of a timer, and the calculation method shown in FIG. Various embodiments are possible, such as directly storing the positional difference between the avoidance position and the brush as data. According to the present invention configured as described above, there is a means for detecting the running position of the main body, a means for raising and lowering the top brush, and a means for moving the top brush based on the running position at the time when the operation input is made in the operating means. At least means for calculating and determining the obstacle avoidance position of the nozzle, and a control means for comparing the obstacle avoidance position provided by the calculation means with the travel position provided by the travel position detection means and performing an obstacle avoidance operation when they match. , the avoidance position of the top nozzle is detected based on the obstacle avoidance position achieved by raising and lowering the top brush, and automatic avoidance operation is given to the top nozzle, so the top 7 The avoidance position can be detected and the top nozzle can automatically avoid the operation, reducing the user's burden on agitation and preventing damage to the car body due to operational errors or forgetting to operate. , labor-saving and safety are significantly improved.

[Brief explanation of drawings]

FIG. 1 is an explanatory front view showing the main part configuration of an embodiment according to the present invention. FIG. 2 is a side view BJ1 showing the main part configuration of the embodiment. FIG. 3 is a block diagram showing the configuration of the control system of the embodiment. FIG. 4 is a block diagram showing the control operation of the embodiment. FIG. 5 is an explanatory diagram of a calculation method in the calculation means of the embodiment. fjS6 Figures (A) and (B) are flowcharts showing main parts of the program of the embodiment. Figure 1 Figure 2m Figure 3IllI 4115 Figure 5 Figure 6 (A): Continued from page 1 [Inventor: Kazuo Shiromoto, Research Institute, 1287 Awasamiya Nishi, Koshoku City] Inventor: Aoyagi-Haru Awasa, Koshoku City (In the laboratory at 1287 Miyanishi) Inventor Masayuki Shinohara In the laboratory at 1287 Awasamiyanishi, Koshoku City

Claims (1)

[Claims] In a car washing machine, the main body is formed in a gate shape and moves back and forth across the vehicle body, and is equipped with a top brush for washing at least the upper surface of the single body, and a top nozzle for drying the top surface of the single body, a means for detecting the running position of the main body, and a top means for raising and lowering the brush; means for calculating and determining the obstacle avoidance position of the top nozzle based on the running position at the time when an operation input is made in the operating means; and the obstacle avoidance position given by the calculating means and the running position. At least a control means is provided for comparing the travel position given by the detection means and performing an obstacle avoidance operation when a match is made;
An obstacle avoidance method for a car wash machine, characterized in that an avoidance position of a top nozzle is detected based on an obstacle avoidance position achieved by raising and lowering a top brush, and an automatic avoidance operation is given to the top nozzle.