•200940186 九、發明說明： 【發明所屬之技術領域】 本發月疋有關於一種車輛打躐裝置與方法，且特別是 有關於-種自動化車輛美容裝置與美容方法。 【先前技術】 、由於汽車工業發達，多數家庭都擁有-輛以上之汽車 以供代步，於疋乎，因應汽車工業而起之汽車美容業亦蓬 ❹勃發展。其中’汽車打躐的工作是汽車美容重要部分其 所面對的是顧客最後的驗收，因此需投入的人力與時間也 是最多的。 ▲汽車美容的打蟻方式，不論是粗墩程序或細躐程序目 别仍採作業。打躐人員先將適量的汽車壤(粗蠛或細堪) 塗抹在汽車上，再以雙手握持打蠟機順著迴旋的路徑打 蠟，之後打蠟機再換成打磨布套重新依原方式打磨拋光。 這樣的過程需要投入許多的人力與時間，且品質依打蠟人 ❹員的技術水準與態度而變化。以汽車美容業的市場角度來 看，人工打蠟不但耗時費力，無法在短時間完成打蠟程 序’若考量成本、人力並兼顧打躐品質，使用自動化的汽 車打蠟設備實為業者未來必然之趨勢。 美國專利案號US5076202號專利「自動化汽車打蝶 機」（An Automatic Vehicle Waxer)，其係將清洗過後之汽 車停放於打蠟機中，由打蠟機之多組鏈條帶動汽車依序於 打蠟機中的各站別間移動與停留，以依次對汽車執行上 6 200940186 蠟、吹乾、拋光等步驟。然而此專利案之打蠟機係由至少 三個站別架構而成，不僅需要龐大的架設空間，且各項裝 置的機構與控制十分複雜，因此目前在市場上並沒有見到 商品化的產品。再者，對於地小人稠的區域，例如人口密 集的都會區域，要找到適當空間架設此專利案之打蠟機實 有應用上的困難。 【發明内容】 φ 本發明係有關於一種自動化打蠟裝置與方法，特別是 自動化車輛美容裝置與美容方法，其美容裝置包括至少三 組獨立的打蠟模組，以分別對車輛的頂面、左侧面和右側 面進行打躐動作。再者，獨立的打躐模組可針對車輛的特 定區域作加強或是僅進行單一區域的美容打蠟動作。 根據本發明，提出一種自動化車輛美容裝置，包括： 第一、第二、第三打蠟執道、第一、第二、第三打蠟模組 和一控制模組。第一、第二、第三打蠟執道係分別獨立地 ❹設置於一車輛之上側、左側和右側，且可相對於車輛之上 侧、左侧和右侧獨立地進行移動。第一、第二、第三打蠟 模組分別設置於第一、第二和第三打蠟軌道上並可沿著與 其對應之打蠟軌道移動，且每一打蠟模組係包括至少一組 磨躐傳動組件，每一組磨蠛傳動組件至少包括一打磨頭。 控制模組係與第一、第二和第三打蠟執道，以及第一、第 二和第三打蠟模組耦接，且可藉由控制模組分別決定第 一、第二和第三打蠟模組於車輛之一頂面、一左侧面和一 7 •200940186 右側面磨蠟行程參數。 根據本發明，提出一種自動化車輛美容方法，包括： 設定一頂面磨蠟行程參數、一左側面磨蠟行程參數和 一右側面磨蠟行程參數至少其中之一於一控制模組中；和 啟動自動化打躐，使分別對應於一車輛之上側、左侧 和右側之一第一打蠟模組、一第二打蠟模組和一第三打蠟 模組可各自根據所設定的該頂面、該左侧面和該右側面磨 D 蠟行程參數獨立地進行打蠟動作。 為讓本發明之上述内容能更明顯易懂，下文特舉較佳 實施例，並配合所附圖式，作詳細說明如下： 【實施方式】 本發明係提出一種自動化車輛美容裝置及其美容方 法，其美容裝置包括多組（如至少三組）獨立的打蠟模組， 以分別對車輛的頂面、左側面和右側面進行打蠛動作。而 ©所有的打蠟模組不但可同時對車輛進行打蠟，其可獨立運 作的特點也可使打蠟模組針對車輛的特定區域作加強或 是進行單一區域的美容打蠛動作。因此，本發明的自動化 車輛美容裝置，不但可節省人力、降低成本，其靈活的操 作方式，亦可使車輛在短時間内達到良好的美容效果。 以下係提出本發明之較佳實施例。然而，實施例中所 提出的自動化車輛美容裝置和美容方法僅為舉例說明之 用，並非對本發明欲保護之範圍做限縮。再者，實施例中 8 *200940186 之圖示亦省略不必要之元件，以利清楚顯示本發明之技術 特點。 請同時參照第1圖和第2圖。第1圖繪示依照本發明 一較佳實施例的自動化車輛美容裝置之正視圖。第2圖繪 示第1圖的自動化車輛美容裝置之側視圖。在此實施例 中，自動化車輛美容裝置包括一控制模組50和至少三組 獨立的打蠟執道，且打蠟執道可相對於車輛10之上侧、 左側和右側獨立地進行移動，每一組打蠟執道上架設至少 0 —打躐模組。而控制模組50則與該些打躐軌道和打躐模 組耦接，並可藉由控制模組50分別決定各打蠟模組於車 輛10之頂面、左側面和右侧面的磨蠛行程參數。 如第1、2圖所示，第一打蠟軌道11、第二打蠟軌道 12和第三打蠟軌道13，分別獨立地位於車輛10之上側、 左側和右侧，且可個別相對於車輛10之上侧、左側和右 側進行移動。而第一打蠟軌道11具有第一打蠟模組，且 第一打蠟模組可沿著第一打蠟轨道11移動；第二打蠟執 ❹道12具有第二打蠟模組，且第二打蠟模組可沿著第二打 蠟執道12移動；第三打蠟執道13具有第三打蠟模組，且 第三打蠟模組可沿著第三打蠟軌道13移動。每打蠟模組 包括一或多組磨蠘傳動組件，而每磨躐傳動組件包括一或 多個打磨頭。在此實施例中（如第1圖所示），位於車輛10 上侧之第一打蠟模組係具有五組磨蠟傳動組件，位於車輛 10左側之第二打蠟模組和右側之第三打蠟模組則分別具 有三組磨蠟傳動組件。但本發明並不以此為限，磨蠟傳動 9 •200940186 組件的組數可視實際應用狀況而定。 另外，第一打蠟軌道11、第二打蠟執道12和第三打 蠟執道13亦可分別設置在第一打蠟執道固定座111、第二 打蠟執道固定座121和第三打蠟軌道固定座131上。其中 第一打蠟執道固定座111係包括了車輛10右方、左方和 頂面的三個部分，而第二打蠟執道固定座121和第三打蠟 執道固定座131則設置在靠近車輛10的右方和左方處。 當然除了第1、2圖所繪示之方式，亦可以其他固定機構 〇 架設該些打蠟軌道，只要符合本發明之精神使設置打蠟執 道後該些磨蠟傳動組件可獨立地相對於車輛10表面移動 之機構（即車輛10之右側面、左側面和頂面可獨立地進行 打蠟作業），均可應用於本發明之自動化車輛美容裝置中， 本發明對於固定機構的細部設計在此並不特別限制。另 外，待美容或進行美容中的車輛10則可固定在一汽車定 位軌道101上。 在此實施例中，每組磨蠟傳動組件包括至少一打磨頭 © 21、一傳動馬達23和一運動組件25。以位於車輛上侧（頂 部）的磨蠟傳動組件為例，其傳動馬達23之馬達軌道則設 置在第一打蠟軌道固定座111上。打磨頭例如是一海綿磨 頭或一打磨布輪。傳動馬達23係與控制模組50和打磨頭 21耦接，以帶動打磨頭21旋轉而對車輛10表面進行研磨 和拋光。運動組件25則與控制模組50和打磨頭21耦接， 當打磨頭21與車輛10表面接觸時，運動組件25可依照 車輛10之外型之曲面變化而調整打磨頭21的進給程度。 •200940186 運動組件25例如是一可伸縮元件（例如是一氣壓缸或一彈 簧機構），主要使打磨頭21可在z方向移動； 或是一 xyz運動組件，打磨頭21可自由地在X軸方向、y 軸方向和z軸方向上運動。 以可伸縮元件作為運動組件25為例，可伸縮元件例 如是一伸縮氣壓缸。打磨頭21係裝設於傳動馬達23上， 再連同傳動馬達23裝設到可伸縮元件上，使得可伸縮元 件帶動傳動馬達23與打磨頭21沿著z方向上下移動。同 D 樣的，當可伸縮元件帶動打磨頭21上下移動的同時，傳 動馬達23亦可同時帶動打磨頭21旋轉。 當然，也可以使用xyz運動組件25，使得打磨頭21 不僅能沿著z方向上下移動，還可在y軸方向和z軸方向 上來回移動，使打蠟模組可以在空間中針對車輛10之所 有曲面執行打躐的動作。 在一實施例中，每一打蠟模組更可較佳地包括一氣動 閥（未顯示於第1、2圖），係耦接至控制模組50與打蠟模 ©組中的所有磨蠟傳動組件。氣動閥係用以調整磨蠟傳動組 件之進給量。 在一實施例中，每組磨躐傳動組件還可較佳地包括一 壓力感測單元（未顯示於第1、2圖），係耦接至控制模組 50與打磨頭21。當打磨頭21與車輛10表面接觸時，壓 力感測單元可用以偵測打磨頭21與車輛10間之一接觸壓 力。當壓力感測單元偵測到打磨頭21與車輛10之間的壓 力變化時，壓力感測單元會回饋訊號到控制模組50中， *200940186 控制模組50再驅動氣動閥以調整打磨頭21之進給量。如 此一來，打蠟模組便可適應車輛10外型之曲面變化，以 提供打磨頭21適當的磨轉力道，避免傷害車輛10表面。 另外，在此實施例中，每組磨蠟傳動組件更可包括複 數個感測器（sensor)，設置於一或多個打磨頭21之外圍， 以自動感應車輛10之表面位置。而第一、第二和第三打 蠟模組可根據所設定的頂面、左側面和右側面磨蠟行程參 數和打磨頭21外圍處的感測器偵測，而分別產生車輛10 φ 之一頂面打堪路徑、一左側面打躐路徑和一右側面打躐路 徑。請參照第3A圖，其繪示單個打磨頭與感測器之上視 圖。當每組磨蠟傳動組件僅包括單個打磨頭21時，複數 個感測器31係設置在打磨頭21之外圍，在一實施例中， 感測器31和打磨頭21可架設在一基座211上，而傳動馬 達23可帶動基座211旋轉、或是僅帶動打磨頭21旋轉， 在此並不多作限制。再者，每組磨蠟傳動組件亦可包括多 個打磨頭。請參照第3B圖，係繪示多個打磨頭與感測器 ©之上視圖。多個感測器31亦設置在基座211上並位於多 個打磨頭21之外圍。 另外，感測器例如是光學式感應器或機械式感應器， 本發明對此並不多作限制。至於打蠟模組在車輛10表面 所產生的打蠟路徑則由設定參數和感測器31來決定。第 4 A圖繪示依照本發明實施例之一種左側面打蠟路徑之示 意圖。假設對控制模組50所設定的打蠟模組起始點為P(自 車頭開始），並設定磨蠟行程參數，例如打蠟模組的移動方 12 200940186 向為Q (即朝車尾方向移動），每次移動距離為S。打蠟模 組的打磨頭21從起始點P開始旋轉並向上移動，當感測 器31感測到邊緣時係傳送訊號至控制模組50，控制模組 50再傳送訊號至打磨頭21使其向右依照設定距離移動 S，然後在向下移動，如此重複可產生一側面打蠟路徑。 其中，當感測器31感應到如玻璃（車窗）、金屬（輪胎框）或 是塑膠（車燈蓋）等不需打蠟的非車輛表面時，打磨頭21則 可依照感應結果轉彎，因此如距離S’所示（S’<S)，打磨頭 0 21在遇到金屬（輪胎框）後會即時轉彎即使距離S ’還未達到 原設定值S。因此，打磨頭21在車輛10表面所產生的打 蠟路徑是綜合了設定的磨蠟行程參數和感測器31感應的 結果，使打磨頭21可依照各個車輛不同的結構而作判斷 和機動調整，打蠟的過程更為人性化。 另外，第4B圖係繪示依照本發明實施例之另一種左 側面打蠟路徑之示意圖。第4B圖中，打磨頭21在車輛10 表面。打蠟模組起始點P亦自車頭開始，其移動方向亦為 ❹Q (即朝車尾方向移動），打蠟模組的打磨頭21從起始點P 開始旋轉並向右移動，當感測器31感測到邊緣或是不需 打蠟的非車輛表面時，打磨頭21則可依照感應結果轉彎， 例如按設定值向下移動S距離，再從右往左方移動。如此 重複可產生另一種侧面打蠟路徑。在進行打蠟時，可依實 際打蠟需求在控制模組中進行更細部的設定，例如當打磨 頭21到達位置tl，感測器31感應到金屬（輪胎框），且欲 向下移動時亦感應到金屬，則打磨頭21可依設定指令退 13 •200940186 離車身表自人員手動操作方式將打磨頭21進給？ 位置t2 ’或在操作前在㈣模組鍵人指令 胎附近區域做閃避動作，再繼續使打磨頭21進=: 業。 因此，在實際應用時，打磨頭21在車輛1〇表面所產 生的打蠟路徑，除了可設定為如第4A圖所繪示的先上下 再左右移動，也可如第4B圖所繪示的先左右再上下移動， 並可配合各車身設計或是現場實際操作狀況，提供控制模 〇組50更佳的設定，本發明對此並不多作限制。 、 再者’車輛美容裝置更包括一輸入單元51，係輕接 至控制模組50,用以接收車輛10之資料，使控制模組5〇 可根據車輛10之資料分別決定第一、第二和第三打蠟模 組於車輛10之頂面、左側面和右側面磨蠟行程參數。舉 例來說，輸入單元51可以是一軟體操作介面，使用者可 利用該軟體操作介面手動輸入車輛1〇之基本資料到控制 模組中。較佳地，上述之控制模組50與輸入單元51 ©係建構於-電腦主機中。操作人員係可將所需用到之軟體 與資料庫建立電腦主機中，並將車輛1〇之各種資料輸入 電腦主機以便於管理，電腦主機可根據各車輛之資料提出 合適之磨蠟行程參數。若是資料庫尚無車輛資料，可由人 工方式或是感應器偵測車輛之幾何外型，並將其資 資料庫，以提供該車輛合適之磨躐行程參數。Μ鍵入 再者，於一實施例中，車輛美容裝置的每打蠟模組可 包括第一磨蠟傳動組件和第二磨蠟傳動組件，其中第一磨 200940186 蠟傳動組件具有至少一第一打磨頭，係應用於一粗蠟程 序。第二磨蠟傳動組件具有至少一第二打磨頭，係應用於 一細蠟程序。而實際應用時，可依車輛美容程序中所需要 的粗蠟程序或細蠟程序而使用人工方式更換適當的打磨 頭，也可利用控制模組50選擇第一或第二打磨頭進行磨 蠟行程，本發明對此並不多作限制。另外，車輛美容裝置 的每打蠟模組亦可附加塗蠟機具（未顯示），而塗蠟機具可 隨著打蠟軌道移動以完成塗蠟作業，再如上述完成車輛美 0 容程序中所需要的粗蠟程序或細蠟程序。 美容方法 以下係提出應用本發明實施例之車輛美容裝置之美 容方法。本發明實施例之自動化車輛美容裝置請參照第 1、2圖。第5圖繪示依照本發明較佳實施例的自動化車輛 美容方法之流程圖。第6圖繪示第5圖的自動化車輛美容 方法之細部流程圖。 ❿ 如第5圖所示，自動化車輛美容方法主要包括步驟 62和步驟64。首先，設定一頂面磨蠟行程參數、一左侧 面磨蠟行程參數和一右側面磨蠟行程參數至少其中之一 於自動化車輛美容裝置之控制模組50中（步驟62)。之後， 啟動自動化打蠛，使分別對應於車輛10之上侧、左側和 右侧之一第一打蠟模組、一第二打蠟模組和一第三打蠟模 組可各自根據所設定的該頂面、該左側面和該右侧面磨蠟 行程參數獨立地進行打蠟動作（步驟64)。 15 •200940186 另外，所設定的磨蠟行程參數例如是：打蠟區域範圍 (是局部或是全面，是單一側面或是所有表面）；打磨頭與 車輛之表面間在進行打蠟時所對應之一接觸壓力參數；打 蠟模組在執道上的來回次數...等等十分多樣，可依實際需 求而作適當設定。 以下係提出一種依照本發明一實施例之自動化車輛 美容方法之細部流程說明。然而此細部說明僅為參考，實 際詳細步驟可依照不同的應用條件或應用時之臨場狀況 φ 而再做調整或修飾，在此並不多作限制。如第6圖所示， 首先，在第5圖之步驟62之前，操作人員可先將清 洗完畢之車輛10引導至汽車定位執道101上（見第1圖）， 並完成定位，如步驟611所示。實際引導方式有很多種， 其中之一例如是操作人員將洗淨車輛10依循裝置預設之 執道101駛入裝置中，並將車輛10定位好後再離開。接 著進行步驟62。步驟62中係包括輸入車輛10的資料（幾 何外型如車款和型號等）於控制模組50以建立屬於該車輛 ❹10之資料檔案，如步驟621所示，而輸入車輛10的資料 方式可以是以感測單元20去偵測汽車部件之座標位置， 也可以由操作人員直接進行量測的動作，再將量測到的數 據以輸入單元51輸入到控制模組50中，以進一步建立好 車輛10之車身外型資料。接著，資料庫可根據内建之車 輛10資料，產生屬於該車輛10的打蠟程序，並完成頂面 磨蠟行程參數、左側面磨蠟行程參數和右側面磨蠟行程參 數至少其中之一的設定，如步驟622所示。當然步驟621、 16 *200940186 622也可和步驟611的順序調換。若是資料庫尚無車輛資 料，可由人工方式、或光學、機械感應方式偵測車輛之幾 何外型，並將其資料鍵入資料庫，以提供該車輛10合適 之磨堪行程參數，而完成頂面磨蠛行程參數、左側面磨堪 行程參數和右側面磨蠟行程參數至少其中之一的設定。 由於汽車廠多會根據使用者需求於市場中推出造型 各異之不同車種，對應於各車種之設計規格，大致上汽車 尺寸並不盡相同。而控制模組50中可較佳地先内建各車 φ 種相關之規格，使得打蠟模組的作動方式和範圍可隨車種 不同而作相對應的調整。舉例來說，以小轎車、休旅車與 大客車等做比較，其中大客車之車身總長度最大，其位於 車身上側、左側和右側的各打蠟模組均需要最大之移動行 程去帶動其打磨頭21以接觸整個大客車之車身範圍。至 於車身總長度較小之休旅車或小轎車，則打蠟模組僅需次 之或較小的移動行程。另外，由於不同車種具有特定之外 型曲面，而不需要上蠟的區域位置也會不同，因此打蠟模 ❹組相對於車輛10之進給程度（如進給量之大小與範圍）也 必須隨著不同車種之外型曲面進行調整。若控制模組50 中已經内建各車種相關之規格，使用者可藉由輸入單元 51，例如是軟體操作介面，預先輸入待美容之車輛10之 車身外型幾何資料（例如型號），控制模組50可比對資料 庫中該車輛10之資料與儲存之多筆打蠟程序，以迅速地 提供屬於此車輛10的相關磨蠟行程建議參數，而建立屬 於該車輛10之打蠟程序。若是資料庫尚無車輛資料，則 17 •200940186 可藉由人工或（光學或機械）感應方式偵測車輛之幾何外 型，並將其資料鍵入資料庫。因此，除了可直接使用控制 模組50所内建的建議參數外，也可使用人工方式去調整 該些建議參數，亦或是以人工方式直接設定磨蠟行程參 數，本發明並不多作限制。 另外，在根據車輛10之資料以決定車輛10之一打蠟 程序時，可先比對車輛10之資料與資料庫之多筆打蠟程 序資料，再產生屬於此車輛10之打蠟程序。藉由前述建 0 立屬於此車輛10之車身外型資料，其包括此車輛10上多 個汽車部件座標位置，以及資料庫内之多筆打蠟程序資 料，控制模組50係比對出屬於該車輛10較佳之一打蠟程 式，並將車身外型資料内之參數（即汽車部件之座標位置） 帶入此一打蠟程式中，以產生適合此車輛10之一打蠟程 序。 接著，利用人工或機具將蠟均勻塗佈在車身表面上， 並選擇適當的打蠟模組，如步驟631所示。其中，塗蠟機 ❿具可附加在打蠟模組上，隨著打蠟軌道移動並完成塗蠟作 業。一般車輛較完整的美容方式，是先進行粗蠟美容以去 除較明顯的刮痕或是外漆受傷的部分，以還其平滑光亮， 再進行細蠟美容以修補車身小刮痕，而且細蠟乾涸後可以 在車漆外層形成一層保護膜。而進行粗躐和細蠛美容需要 不同的磨蠟傳動組件，因此在此步驟中，係依照所進行的 美容程序來更換所需之磨蠟傳動組件及其打磨頭。 i • 以每打蠟模組包括具有至少一第一粗蠟打磨頭之一 18 *200940186 第一磨躐傳動組件，和具有至少一第二細犧打磨頭之一第 二磨蠟傳動組件為例，可於控制模組50中依照所進行的 美容程序選擇啟動第一磨蠟傳動組件或是第二磨蠟傳動 組件。其中，若選擇啟動第一磨蠟傳動組件，在啟動自動 化打蠟後，第一粗蠟打磨頭係與車輛之表面接觸並進行打 磨和拋光，以進行車輛美容時之一粗蠟程序。若選擇啟動 第二磨蠟傳動組件，在啟動自動化打蠟後，第二細蠟打磨 頭係與車輛之表面接觸並進行打磨和拋光，以進行車輛美 φ 容時之一細蠟程序。 待完成各種相關設定且裝置之相關部件亦準備完畢 後，係進行第5圖之步驟64。步驟64中係包括如第6圖 所示之步驟641〜644。 如步驟641所示，係偵測車輛之位置，包括至少一汽 車部件之座標位置，並將座標位置傳送到控制模組50中 以進一步建立此車輛10之車身外型資料，並根據偵測結 果將第一、第二和第三打蠟模組至少其中之一進給至車輛 ©附近。在此步驟中，例如是利用光學或機械方式之感測器 31偵測出多個車輛部件（例如是：檔風玻璃前緣、車頂前 緣、車頂後緣、行李箱前緣及車門玻璃下緣等座標位置） 之座標位置，並將座標位置傳送到控制模組50中以更進 一步建立此車輛10之車身外型資料。控制模組50係由這 些偵測到的座標位置去計算車輛10之實際寬度、高度以 及特定汽車部件之尺寸等。 不過，本實施例縱然是以光學或機械方式去偵測汽車 •200940186 部件之座標位置，但實際上也可以由操作人員直接進行量 測的動作，再將量測到的數據以輸入單元24輸入到控制 模組10中，以進一步建立好汽車100之車身外型資料。 亦或是在控制模組50中即有内建好的各車型之規格資 料，只要資料夠完整，在步驟621中輸入車款和車型（包括 出廠年份），控制模組50即可顯示車輛10之寬度、高度以 及特定汽車部件之尺寸，因此步驟641也可視實際應用狀 況而合併至步驟621或省略。 Q 接著，啟動自動化打蠟程序，如步驟642所示。其中 第一、第二和第三打蠟模組分別具有至少一組磨蠟傳動組 件，而每組磨蠛傳動詛件至少包括一扛磨頭，其中敗動自 動化打蠟之步驟更包括：使打磨頭根據所設定之壓力參數 與車輛之表面接觸，以進行打磨和拋光。 在此實施例中，該方法更包括偵測打磨頭21與車輛 10表面之接觸壓力，並根據偵測結果自動調整磨蠟傳動組 件之進給量，如步驟643所示。每組磨蠟傳動組件例如是 ©包括一壓力感測單元（未顯示），係耦接至控制模組50與打 磨頭21，且壓力感測單元係即時偵測打磨頭21與車輛表 面之一相對位置與瞬間接觸壓力，當壓力偵測單元偵測到 打磨頭21與該車輛表面間之瞬間接觸壓力改變或超過原 先設定的壓力範圍時，壓力偵測單元則回饋訊號至控制模 組50以調整打磨頭21之進給量，藉此以達到自動調整打 磨頭21與車輛表面之接觸壓力之目的。 另外，亦如前所述，每組磨蠟傳動組件的單個或多個 20 •200940186 打磨頭21之外圍更包括複數個光學或機械式感測器（第 3A、3B圖），在啟動自動化打蠟之步驟642中，第一、第 二和第三打蠟模組係分別根據所設定的頂面、左側面和右 側面磨蠟行程參數，以及該些感測器的偵測結果，分別獨 立地進行車輛之上側、左側和右側之打躐動作。 以第一打蠟模組為例，其單個或多個打磨頭21與車 輛10之一頂面接觸後，可根據所設定的頂面磨蠟行程參 數並配合打磨頭21外圍之感測器的偵測結果而沿著一第 φ —路徑移動，以完成車輛10頂面之打蠟動作。第一路徑 例如是由車頭朝車尾移動，或由車尾移動到車頭，或於車 頭車尾之間往復移動多次，本發明對此並不特別限制。 以第二打蠟模組為例，其單個或多個打磨頭21係與 車輛之一左側面接觸後，根據所設定的左側面磨蠟行程參 數並配合打磨頭21外圍之感測器的偵測結果而沿著一第 二路徑移動，以獨立完成車輛10左側面之打蠟動作（第 二打蠟模組的其中一種左側面打蠟路徑可參照第4圖及其 ❹相關說明）。 以第三打蠟模組為例，其單個或多個打磨頭21係與 車輛之一右側面接觸後，根據所設定的右侧面磨蠟行程參 數並配合打磨頭21外圍之感測器的偵測結果而沿著一第 三路徑移動，以獨立完成車輛10右側面之打蠟動作。 之後，如步驟644所示，可利用人工或機械方式（如 使用控制模組50)判斷是否完成打蠟步驟。若尚未完成， 例如需要加強車輛10的局部區域或是進行另一種車蠟保 21 •200940186 養，則再重複步驟622〜644。例如，若車主需要再針對左 側後方車門的刮痕作加強，或是完成粗蠟美容程序要再進 行細蠟美容程序，都可重新設定各項相關參數而完成局部 或全面的自動化美容保養。 若判斷已完成打蠟步驟，則如步驟65所示，移動第 一、第二和第三打蠟模組使其退回至各自之一操作原點。 之後，操作人員便能夠將車輛100從固定軌道101處駛 離，如此以完成打躐作業。 ❿ 因此，根據本發明之自動化車輛美容裝置及其方法係 包含了粗調模式和細調模式兩種，其中第一、第二和第三 打蠟模組可根據車輛資料相對於該車輛進行移動和打蠟 作業，是屬於粗調模式，而每組磨蠟傳動組件可向車體表 面進給打磨頭21進行打蠟作業，是屬於細調模式。 自動化車輛美容裝置之系統方塊圖 請參照第7A、7B圖，其繪示依照本發明一較佳實施 ©例的自動化車輛美容裝置之系統方塊圖，其中，第7B圖 為打蠟模組中單一組磨蠟傳動組件之系統方塊圖。在此實 施例中，自動化車輛美容裝置包括一控制模組50和與控 制模組50耦接之至少三組獨立的打蠟執道，包括第一打 蠟執道11、第二打蠟執道12和第三打蠟執道13，分別獨 立地位於車輛10之上侧、左侧和右側，且可獨立地相對 於車輛10之上側、左侧和右侧進行移動。第一打蠟軌道 11具有第一打蠟模組（第一打蠟模組可沿著第一打蠟軌道 22 •200940186 11移動），第二打蠟軌道12具有第二打蠟模組（第二打蠟 模組可沿著第二打蠟執道12移動），第三打蠟執道13具有 第三打蠟模組（第三打蠟模組可沿著第三打蠟軌道13移 動），而每一打躐模組則包括一或多組磨蠟傳動組件，該或 該些組磨蠟傳動組件係與控制模組50耦接。再者，車輛 美容裝置更包括一輸入單元51，係耦接至控制模組50， 用以輸入車輛10之資料。 請參照第7B圖，為每一打蠟模組中單一組磨蠟傳動 φ 組件之系統方塊圖。每組磨壤傳動組件至少包括一打磨頭 21、一傳動馬達23和一運動組件25。打磨頭21係與控制 模組50耦接。傳動馬達23係與控制模組50和打磨頭21 耦接，以帶動打磨頭21旋轉而對車輛10表面進行研磨和 拋光。運動組件25則與控制模組50和打磨頭21耦接。 當打磨頭21與車輛10表面接觸時，運動組件25 (例如是 一可伸縮元件使打磨頭21可在z方向移動；或是一 xyz 運動組件使打磨頭21可自由地在X軸方向、y軸方向和z ©軸方向上運動）可依照車輛10之外型之曲面變化而調整 打磨頭21的進給程度。在此實施例中，每組磨蠟傳動組 件更可包括一氣動閥27和一壓力感測單元28，係分別耦 接至控制模組50與打磨頭21。當打磨頭21與車輛10表 面接觸時，壓力感測單元可用以偵測打磨頭21與車輛10 間之一接觸壓力。當壓力感測單元偵測到打磨頭21與車 輛10之間的壓力變化時，壓力感測單元會回饋訊號到控 制模組50中，控制模組50再驅動氣動閥以調整打磨頭21 23 200940186 之進給量。如此一來，打蠟模組便可適應車輛ίο外型之 曲面變化，以提供打磨頭21適當的磨轉力道，避免傷害 車輛10表面。再者，於一實施例中，每組磨蠛傳動組件 更可包括一或多個感測器31，設置於一或多個打磨頭21 之外圍並與控制模組50耦接，以自動感應車輛10之表面 位置。當感測器31感測到非打蠟區時則傳送訊號至控制 模組50,控制模組50再傳送訊號至打磨頭21使其依照設 定距離轉彎或移動，使磨蠟傳動組件完成其打蠟路徑。 ❹ 根據上述實施例所述，本發明之自動化車輛美容裝置 係包括三組獨立打蠟軌道，分別位在車輛兩側及上側，各 組軌道連接一控制單元以控制各執道位置。當車輛固定餘 車輛執道後，三組打蠟軌道可相對於車輛移動（粗調模 式），且打蠟執道上設置有一打蠟模組，每組打蠟模組至少 具有一打磨頭。當蠟以人工或機械方式塗佈在車體後，即 可進行打蠟美容動作。其中，打磨頭會依照設定的壓力接 ❹觸到車體表面並開始打磨拋光，在打磨過程中，打磨頭會 自動感測車體表面以調整磨頭與車體表面之進給程度和 相對位置（細調模式），並給予適當的接觸壓力以維持打蠟 品質，再者藉由打磨頭外圍的感測器搜尋車體表面以產生 並完成一打磨路徑。 綜上，本發明之自動化車輛美容裝置不但可大幅降低 車輛美容工作對人力的需求，在實際應用時，由於待美容 車輛之上侧、左侧和右側的第一、第二和第三打蠟執道係 24 •200940186 獨立設置，並可相對於車輛的上側、左側和右側分別進行 移動，因此設置於打蠟軌道上的第一、第二和第三打蠟模 組係可獨立地對車輛之頂面、左側面和右側面進行打蠟， 操作人員可依車況或車主的需要，以粗調模式和/或細調模 式進行全面打蠛，或是單獨進行某一側面之打躐作業，或 是針對局部區域進行強化或美容，此種設計使自動化美容 裝置在操作上更為彈性，降低操作成本，且打蠟效果更為 良好。 ❿ 綜上所述，雖然本發明已以較佳實施例揭露如上，然 其並非用以限定本發明。本發明所屬技術領域中具有通常 知識者，在不脫離本發明之精神和範圍内，當可作各種之 更動與潤飾。因此，本發明之保護範圍當視後附之申請專 利範圍所界定者為準。• 200940186 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a vehicle snoring apparatus and method, and more particularly to an automatic vehicle beauty device and a cosmetic method. [Prior Art] Due to the developed automobile industry, most families have more than one car for transportation. In the automotive industry, the automotive beauty industry has also developed. Among them, the work of car snoring is an important part of car beauty. It is the final acceptance of the customer, so the manpower and time required are the most. ▲The method of ant fighting in car beauty, whether it is a rough program or a detailed program, still work. The snoring personnel first apply a proper amount of car soil (rough or fine) to the car, then use both hands to hold the waxing machine to wax along the path of the cyclone. After that, the waxing machine is replaced by a polishing cloth. Polished and polished in the original way. Such a process requires a lot of manpower and time, and the quality varies depending on the skill level and attitude of the waxer. In the market perspective of the automotive beauty industry, manual waxing is not only time-consuming and laborious, it can not complete the waxing process in a short time. If you consider the cost, manpower and quality of the war, the use of automated car waxing equipment is inevitable for the future. The trend. U.S. Patent No. 5,072,202, entitled "An Automatic Vehicle Waxer", which parks the cleaned car in a waxing machine, and drives the car in sequence by a plurality of chains of waxing machines. Move and stop between the stations in the machine to perform the steps of waxing, drying and polishing on the car in turn. However, the waxing machine of this patent system is constructed by at least three stations, which not only requires a large space for erection, but also the structure and control of each device is very complicated, so no commercial products are currently seen on the market. . Furthermore, for areas where the earth is thick, such as a densely populated metropolitan area, it is difficult to find a suitable space to set up the waxing machine of this patent. SUMMARY OF THE INVENTION The present invention relates to an automated waxing apparatus and method, and more particularly to an automated vehicle grooming apparatus and cosmetic method, the cosmetic apparatus comprising at least three separate sets of waxing modules for respectively on the top surface of the vehicle, The snoring action is performed on the left side and the right side. Furthermore, the independent snoring module can be reinforced for specific areas of the vehicle or for a single area of beauty waxing. According to the present invention, an automated vehicle grooming apparatus is provided, comprising: first, second, and third waxing commands, first, second, and third waxing modules and a control module. The first, second, and third waxing lanes are independently disposed on the upper side, the left side, and the right side of a vehicle, and are independently movable with respect to the upper side, the left side, and the right side of the vehicle. The first, second, and third waxing modules are respectively disposed on the first, second, and third waxing tracks and movable along the waxing track corresponding thereto, and each of the waxing modules includes at least one The set of honing transmission components, each set of honing transmission components comprises at least one honing head. The control module is coupled to the first, second and third waxing commands, and the first, second and third waxing modules, and the first, second and third respectively can be determined by the control module The three waxing module is used to polish the wax stroke parameters on one of the top surface of the vehicle, a left side surface and a right side of the 7•200940186. According to the present invention, an automated vehicle grooming method is provided, comprising: setting at least one of a top surface waxing stroke parameter, a left side waxing stroke parameter, and a right side waxing stroke parameter in a control module; Automating the snoring so that the first waxing module, the second waxing module and the third waxing module respectively corresponding to one of the upper side, the left side and the right side of the vehicle can each be set according to the top surface The left side surface and the right side surface grinding D wax stroke parameter are independently waxed. In order to make the above-mentioned contents of the present invention more comprehensible, the following detailed description of the preferred embodiments and the accompanying drawings will be described in detail as follows: [Embodiment] The present invention provides an automated vehicle cosmetic device and a cosmetic method thereof. The cosmetic device comprises a plurality of groups (such as at least three groups) of independent waxing modules for performing snoring actions on the top, left and right sides of the vehicle, respectively. And ©All waxing modules not only wax the vehicle at the same time, but also the function of independent operation can also make the waxing module strengthen the specific area of the vehicle or perform a single area of beauty snoring. Therefore, the automated vehicle grooming device of the present invention not only saves manpower and cost, but also has a flexible operation mode, and the vehicle can achieve a good cosmetic effect in a short time. Preferred embodiments of the invention are set forth below. However, the automated vehicle cosmetic devices and cosmetic methods set forth in the examples are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the illustration of 8 * 200940186 in the embodiment also omits unnecessary elements to clearly show the technical features of the present invention. Please refer to both Figure 1 and Figure 2. 1 is a front elevational view of an automated vehicle grooming device in accordance with a preferred embodiment of the present invention. Fig. 2 is a side elevational view of the automated vehicle grooming device of Fig. 1. In this embodiment, the automated vehicle grooming device includes a control module 50 and at least three separate sets of waxing tracks, and the waxing track can be independently moved relative to the upper side, the left side, and the right side of the vehicle 10, each A set of waxing erects at least 0 - snoring module. The control module 50 is coupled to the snoring track and the snoring module, and the control module 50 determines the grinding of each of the waxing modules on the top, left, and right sides of the vehicle 10, respectively.蠛 Itinerary parameters. As shown in FIGS. 1 and 2, the first waxing track 11, the second waxing track 12, and the third waxing track 13 are independently located on the upper side, the left side, and the right side of the vehicle 10, respectively, and may be individually opposed to the vehicle. Move on the top, left and right sides of 10. The first waxing track 11 has a first waxing module, and the first waxing module can move along the first waxing track 11; the second waxing circuit 12 has a second waxing module, and The second waxing module is movable along the second waxing track 12; the third waxing channel 13 has a third waxing module, and the third waxing module is movable along the third waxing track 13 . Each waxing module includes one or more sets of honing drive assemblies, and each honing drive assembly includes one or more sanding heads. In this embodiment (as shown in FIG. 1), the first waxing module located on the upper side of the vehicle 10 has five sets of waxing drive components, a second waxing module on the left side of the vehicle 10, and a right side. The three waxing modules respectively have three sets of grinding wax drive components. However, the present invention is not limited thereto, and the number of sets of components to be grounded may be determined depending on the actual application. In addition, the first waxing track 11, the second waxing road 12 and the third waxing road 13 may also be respectively disposed on the first waxing road fixing seat 111, the second waxing road fixing seat 121 and the first Three waxing rail mounts 131. The first waxing road fixing seat 111 includes three parts of the right side, the left side and the top side of the vehicle 10, and the second waxing road fixing seat 121 and the third waxing road fixing seat 131 are set. Near the right and left of the vehicle 10. Of course, in addition to the manners shown in Figures 1 and 2, the other waxing tracks may be erected by other fixing mechanisms, as long as the spirit of the present invention is provided so that the waxing drive components can be independently relative to the vehicle after the waxing is set. 10 The surface moving mechanism (ie, the right side surface, the left side surface and the top surface of the vehicle 10 can be independently waxed) can be applied to the automatic vehicle cosmetic device of the present invention, and the detailed design of the fixing mechanism of the present invention is here. It is not particularly limited. In addition, the vehicle 10 to be groomed or cosmetically mounted can be attached to a vehicle positioning track 101. In this embodiment, each set of wax drive assembly includes at least one sanding head © 21, a drive motor 23 and a motion assembly 25. Taking the wax drive assembly located on the upper side (top) of the vehicle as an example, the motor track of the drive motor 23 is disposed on the first waxing track mount 111. The sanding head is, for example, a sponge head or a sanding wheel. The drive motor 23 is coupled to the control module 50 and the sanding head 21 to drive the sanding head 21 to rotate and polish and polish the surface of the vehicle 10. The motion assembly 25 is coupled to the control module 50 and the sanding head 21. When the sanding head 21 is in contact with the surface of the vehicle 10, the motion assembly 25 can adjust the degree of feed of the sanding head 21 in accordance with the curved surface of the exterior of the vehicle 10. • 200940186 The motion assembly 25 is, for example, a telescopic element (for example, a pneumatic cylinder or a spring mechanism) that primarily moves the sanding head 21 in the z direction; or an xyz motion assembly, the sanding head 21 is freely on the X axis. Movement in the direction, y-axis direction, and z-axis direction. Taking the telescopic element as the moving assembly 25 as an example, the telescopic element is, for example, a telescopic pneumatic cylinder. The sanding head 21 is mounted on the transmission motor 23, and is coupled to the telescopic element along with the transmission motor 23, so that the telescopic element drives the transmission motor 23 and the sanding head 21 to move up and down in the z direction. Similarly to D, while the telescopic element drives the sanding head 21 to move up and down, the driving motor 23 can simultaneously drive the sanding head 21 to rotate. Of course, the xyz motion assembly 25 can also be used, so that the sanding head 21 can move up and down not only in the z direction but also in the y-axis direction and the z-axis direction, so that the waxing module can be targeted to the vehicle 10 in space. All surfaces perform a snoring action. In an embodiment, each waxing module preferably further includes a pneumatic valve (not shown in FIGS. 1 and 2) coupled to all the grinding machines in the control module 50 and the waxing mold group. Wax drive assembly. Pneumatic valves are used to adjust the feed rate of the wax drive assembly. In one embodiment, each set of the honing drive assembly preferably further includes a pressure sensing unit (not shown in Figures 1 and 2) coupled to the control module 50 and the sanding head 21. When the sanding head 21 is in contact with the surface of the vehicle 10, the pressure sensing unit can be used to detect a contact pressure between the sanding head 21 and the vehicle 10. When the pressure sensing unit detects the pressure change between the sanding head 21 and the vehicle 10, the pressure sensing unit feeds back the signal to the control module 50, and the *200940186 control module 50 drives the pneumatic valve to adjust the sanding head 21 Feed amount. In this way, the waxing module can adapt to the curved surface change of the exterior of the vehicle 10 to provide an appropriate grinding force of the sanding head 21 to avoid harming the surface of the vehicle 10. Additionally, in this embodiment, each set of the wax drive assembly may further include a plurality of sensors disposed on the periphery of the one or more sanding heads 21 to automatically sense the surface position of the vehicle 10. The first, second and third waxing modules respectively generate the vehicle 10 φ according to the set top, left and right side grinding wax stroke parameters and the sensor detection at the periphery of the sanding head 21 respectively. A top surface hits the path, a left side snoring path and a right side snoring path. Please refer to Figure 3A, which shows a top view of a single sanding head and sensor. When each set of wax drive assembly includes only a single sanding head 21, a plurality of sensors 31 are disposed on the periphery of the sanding head 21. In one embodiment, the sensor 31 and the sanding head 21 can be mounted on a base. On the 211, the drive motor 23 can drive the base 211 to rotate or only rotate the sanding head 21, which is not limited herein. Furthermore, each set of wax drive assembly can also include multiple sanding heads. Please refer to Figure 3B for a number of sanding heads and sensors © top view. A plurality of sensors 31 are also disposed on the base 211 and located at the periphery of the plurality of sanding heads 21. Further, the sensor is, for example, an optical sensor or a mechanical sensor, and the present invention is not limited thereto. The waxing path generated by the waxing module on the surface of the vehicle 10 is determined by the setting parameters and the sensor 31. Fig. 4A is a schematic illustration of a left side waxing path in accordance with an embodiment of the present invention. It is assumed that the starting point of the waxing module set to the control module 50 is P (starting from the front of the vehicle), and the waxing stroke parameter is set, for example, the moving side of the waxing module 12 200940186 is oriented to Q (ie, toward the rear of the vehicle) Move), each time the distance is S. The sanding head 21 of the waxing module rotates from the starting point P and moves upwards. When the sensor 31 senses the edge, it transmits a signal to the control module 50, and the control module 50 transmits a signal to the sanding head 21 to make the signal. It moves S to the right according to the set distance and then moves downwards, so that a side waxing path can be produced. Wherein, when the sensor 31 senses a non-vehicle surface such as glass (window), metal (tire frame) or plastic (light cover) that does not need to be waxed, the sanding head 21 can turn according to the sensing result. So as shown by the distance S' (S' <S), sanding head 0 21 will immediately turn after encountering the metal (tire frame) even if the distance S ′ has not reached the original set value S. Therefore, the waxing path generated by the sanding head 21 on the surface of the vehicle 10 is a combination of the set waxing stroke parameter and the result of the sensor 31, so that the sanding head 21 can be judged and maneuvered according to the different structures of the respective vehicles. The process of waxing is more humane. In addition, Fig. 4B is a schematic view showing another left side waxing path in accordance with an embodiment of the present invention. In Fig. 4B, the sanding head 21 is on the surface of the vehicle 10. The starting point P of the waxing module also starts from the front of the vehicle, and its moving direction is also ❹Q (ie moving toward the rear of the vehicle). The sanding head 21 of the waxing module starts to rotate from the starting point P and moves to the right. When the detector 31 senses the edge or a non-vehicle surface that does not need to be waxed, the sanding head 21 can turn according to the sensing result, for example, moving the S distance downward according to the set value, and then moving from the right to the left. This repetition produces another side waxing path. When waxing, the finer part can be set in the control module according to the actual waxing requirement. For example, when the sanding head 21 reaches the position t1, the sensor 31 senses the metal (tire frame) and wants to move downward. If the metal is also sensed, the sanding head 21 can be retracted according to the set command. 13 • 200940186 From the body surface, the grinding head 21 is fed by the manual operation mode. At position t2 ’ or before the operation, do the dodging action in the vicinity of the (4) module key commander tire, and then continue to make the sanding head 21 into the industry. Therefore, in actual application, the waxing path generated by the sanding head 21 on the surface of the vehicle 1 can be set to move up and down and then left and right as shown in FIG. 4A, and can also be as shown in FIG. 4B. The left and right movements can be moved up and down, and the setting of the control module group 50 can be provided in conjunction with the actual design of the body or the actual operation conditions in the field. The present invention does not limit this. Furthermore, the 'vehicle beauty device further includes an input unit 51 for lightly connecting to the control module 50 for receiving the data of the vehicle 10, so that the control module 5 can determine the first and second respectively according to the data of the vehicle 10. And the third waxing module grinds the wax stroke parameters on the top, left and right sides of the vehicle 10. For example, the input unit 51 can be a software operation interface, and the user can manually input the basic data of the vehicle into the control module by using the software operation interface. Preferably, the control module 50 and the input unit 51 are configured in a computer host. The operator can set up the required software and database to build the computer host, and input various data of the vehicle into the computer host for management. The computer host can propose appropriate waxing stroke parameters according to the information of each vehicle. If there is no vehicle data in the database, the geometric shape of the vehicle can be detected by manual means or sensors, and the database can be used to provide the appropriate grinding parameters of the vehicle. Further, in an embodiment, each waxing module of the vehicle cosmetic device may include a first waxing drive assembly and a second waxing drive assembly, wherein the first mill 200940186 wax drive assembly has at least one first sanding The head is applied to a crude wax program. The second waxing drive assembly has at least one second sanding head for use in a fine waxing process. In actual application, the appropriate polishing head can be manually replaced according to the crude wax program or the fine wax program required in the vehicle cosmetic program, or the first or second polishing head can be selected by the control module 50 for the waxing stroke. The invention is not limited in this regard. In addition, each waxing module of the vehicle grooming device may be additionally provided with a waxing machine (not shown), and the waxing machine can be moved along with the waxing track to complete the waxing operation, and then completed in the vehicle beauty program as described above. A crude wax program or a fine wax program is required. Cosmetic Method The following is a method of applying the beauty of the vehicle cosmetic device to which the embodiment of the present invention is applied. Refer to Figures 1 and 2 for the automated vehicle grooming device of the embodiment of the present invention. Figure 5 is a flow chart showing an automated vehicle grooming method in accordance with a preferred embodiment of the present invention. Fig. 6 is a flow chart showing the details of the automated vehicle grooming method of Fig. 5. ❿ As shown in Figure 5, the automated vehicle grooming method mainly includes steps 62 and 64. First, at least one of a top surface waxing stroke parameter, a left side waxing stroke parameter, and a right side waxing stroke parameter is set in the control module 50 of the automated vehicle cosmetic device (step 62). After that, the automatic snoring is started, so that the first waxing module, the second waxing module and the third waxing module respectively corresponding to the upper side, the left side and the right side of the vehicle 10 can be respectively set according to the setting. The top surface, the left side surface, and the right side surface waxing stroke parameters are independently waxed (step 64). 15 •200940186 In addition, the set wax stroke parameters are: waxing area range (local or full, single side or all surfaces); corresponding to the waxing between the grinding head and the surface of the vehicle A contact pressure parameter; the number of round trips of the waxing module on the road is very diverse, and can be appropriately set according to actual needs. In the following, a detailed flow chart of an automated vehicle grooming method in accordance with an embodiment of the present invention is presented. However, the detailed description is only for reference, and the actual detailed steps can be adjusted or modified according to different application conditions or the application condition φ at the time of application, and there is no limitation here. As shown in Fig. 6, first, before step 62 of Fig. 5, the operator can first guide the cleaned vehicle 10 to the vehicle positioning lane 101 (see Fig. 1), and complete the positioning, as in step 611. Shown. There are many actual guiding methods, one of which is for example, the operator drives the washing vehicle 10 into the device according to the preset 101 of the device, and positions the vehicle 10 before leaving. Then proceed to step 62. The step 62 includes inputting the data of the vehicle 10 (geographic appearance such as vehicle model and model number) to the control module 50 to establish a data file belonging to the vehicle ,10, as shown in step 621, and inputting the data mode of the vehicle 10 may be The sensing unit 20 detects the coordinate position of the automobile component, and the operator directly performs the measurement operation, and then inputs the measured data to the control module 50 through the input unit 51 to further establish the signal. The body shape information of the vehicle 10. Then, the database can generate a waxing program belonging to the vehicle 10 according to the built-in vehicle 10 data, and complete at least one of the top waxing stroke parameter, the left side waxing stroke parameter and the right side grinding wax stroke parameter. The settings are as shown in step 622. Of course, steps 621, 16 * 200940186 622 can also be reversed with the sequence of step 611. If there is no vehicle data in the database, the geometric shape of the vehicle can be detected manually or optically or mechanically, and the data can be entered into the database to provide suitable parameters for the vehicle 10, and the top surface is completed. At least one of the setting of the honing stroke parameter, the left side grinding stroke parameter and the right side grinding wax stroke parameter. Since the automakers will introduce different types of vehicles in the market according to the needs of users, the size of the cars is not the same as the design specifications of each car type. In the control module 50, the specifications of each vehicle φ can be preferably built in first, so that the operation mode and range of the waxing module can be adjusted correspondingly according to different types of vehicles. For example, comparing cars, RVs and buses, the bus body has the largest total length, and each waxing module on the upper side, the left side and the right side of the car requires the largest moving stroke to drive. It grinds the head 21 to contact the body of the entire bus. For a SUV or car with a small overall length, the waxing module requires only a second or smaller movement. In addition, since different vehicle types have specific outer curved surfaces, and the positions of the regions that do not need to be waxed are also different, the degree of feeding of the waxing mold group relative to the vehicle 10 (such as the magnitude and range of the feed amount) must also be The surface is adjusted with different types of vehicles. If the specifications of each vehicle type are already built in the control module 50, the user can input the geometric shape (for example, model) of the vehicle body 10 to be groomed by the input unit 51, for example, the software operation interface, and control the mode. The group 50 can compare the data of the vehicle 10 in the database with the plurality of waxing procedures stored to quickly provide the relevant waxing stroke recommendation parameters pertaining to the vehicle 10, and establish a waxing procedure pertaining to the vehicle 10. If there is no vehicle data in the database, then 17 • 200940186 can detect the geometric shape of the vehicle by manual or (optical or mechanical) sensing and input its data into the database. Therefore, in addition to directly using the suggested parameters built in the control module 50, the suggested parameters may also be manually adjusted, or the wax stroke parameters may be directly set manually. The invention is not limited. . In addition, when determining the waxing procedure of one of the vehicles 10 based on the information of the vehicle 10, the waxing program belonging to the vehicle 10 may be generated by comparing the waxing program data of the data and the database of the vehicle 10. By the above-mentioned body shape data belonging to the vehicle 10, the coordinate position of the plurality of automobile parts on the vehicle 10, and the plurality of waxing program data in the database are included, and the control module 50 is compared. The vehicle 10 preferably has a waxing program and brings the parameters within the body profile (i.e., the coordinate position of the automotive component) into the waxing program to produce a waxing procedure suitable for the vehicle 10. Next, the wax is evenly applied to the surface of the vehicle body by hand or by machine, and an appropriate waxing module is selected, as shown in step 631. Among them, the waxing machine cooker can be attached to the waxing module to move along with the waxing track and complete the waxing work. In general, the more complete beauty method of the vehicle is to carry out the crude wax beauty to remove the obvious scratches or the damaged parts of the outer paint, so as to smooth the light, and then carry out the fine wax beauty to repair the small scratches of the body, and the fine wax. After drying, a protective film can be formed on the outer layer of the paint. Rough and fine beauty requires different wax drive components, so in this step, the required wax drive assembly and its sanding head are replaced according to the cosmetic procedure being performed. i • Each waxing module includes a first honing transmission assembly having at least one first coarse wax grinding head 18*200940186, and a second grinding wax transmission assembly having at least one second fine grinding head The first waxing drive component or the second waxing drive component can be selectively activated in the control module 50 in accordance with the cosmetic procedure performed. Wherein, if the first grinding wax transmission component is selected to be activated, after the automatic waxing is started, the first coarse wax polishing head is in contact with the surface of the vehicle and is ground and polished to perform a crude waxing procedure in the vehicle cosmetic process. If the second grinding wax drive assembly is selected to be activated, after the automatic waxing is initiated, the second fine wax sanding head is brought into contact with the surface of the vehicle and polished and polished to perform a fine wax procedure for the vehicle. After the various related settings have been completed and the relevant components of the device are ready, proceed to step 64 of Figure 5. Step 64 includes steps 641 to 644 as shown in Fig. 6. As shown in step 641, the location of the vehicle is detected, including the coordinate position of at least one automobile component, and the coordinate position is transmitted to the control module 50 to further establish the body shape data of the vehicle 10, and according to the detection result. At least one of the first, second, and third waxing modules is fed to the vicinity of the vehicle ©. In this step, for example, an optical or mechanical sensor 31 is used to detect a plurality of vehicle components (for example: windshield leading edge, roof leading edge, roof trailing edge, trunk leading edge, and door) The coordinate position of the lower edge of the glass and the coordinate position is transmitted to the control module 50 to further establish the body shape information of the vehicle 10. The control module 50 calculates the actual width, height, and size of the particular automotive component from the detected coordinate positions. However, although the embodiment directly detects the coordinate position of the automobile•200940186 component optically or mechanically, the operator can directly perform the measurement operation, and then input the measured data into the input unit 24. Go to the control module 10 to further establish the body shape data of the automobile 100. Or in the control module 50, there are specifications of the built-in models, as long as the information is complete, the vehicle and the model (including the year of manufacture) are input in step 621, and the control module 50 can display the vehicle 10 The width, height, and size of the particular automotive component are such that step 641 can also be incorporated into step 621 or omitted, depending on the actual application. Q Next, an automated waxing process is initiated, as shown in step 642. The first, second and third waxing modules respectively have at least one set of grinding wax transmission components, and each set of the grinding and driving transmission components comprises at least one honing head, wherein the step of automatically waxing the smashing further comprises: The sanding head is in contact with the surface of the vehicle according to the set pressure parameters for grinding and polishing. In this embodiment, the method further includes detecting the contact pressure of the sanding head 21 with the surface of the vehicle 10, and automatically adjusting the feed amount of the waxing drive component according to the detection result, as shown in step 643. Each set of grinding wax transmission components includes, for example, a pressure sensing unit (not shown) coupled to the control module 50 and the sanding head 21, and the pressure sensing unit detects one of the sanding head 21 and the vehicle surface. The relative position and the instantaneous contact pressure, when the pressure detecting unit detects that the instantaneous contact pressure between the sanding head 21 and the surface of the vehicle changes or exceeds the originally set pressure range, the pressure detecting unit returns the signal to the control module 50. The feed amount of the sanding head 21 is adjusted, thereby achieving the purpose of automatically adjusting the contact pressure between the sanding head 21 and the surface of the vehicle. In addition, as previously mentioned, the periphery of each of the set of wax-driven components of the single or multiple 20 • 200940186 sanding heads 21 further includes a plurality of optical or mechanical sensors (Fig. 3A, 3B), at the start of automation In step 642 of the wax, the first, second, and third waxing modules are respectively independent according to the set top, left, and right side waxing stroke parameters, and the detection results of the sensors, respectively. The snoring action on the upper side, the left side and the right side of the vehicle is performed. Taking the first waxing module as an example, after the single or multiple grinding heads 21 are in contact with the top surface of one of the vehicles 10, the waxing stroke parameters of the top surface may be matched according to the set top sensor of the sanding head 21 The detection result is moved along a φ-path to complete the waxing action on the top surface of the vehicle 10. The first path is, for example, moved from the front of the vehicle to the rear of the vehicle, or moved from the rear of the vehicle to the front of the vehicle, or reciprocated between the front and rear of the vehicle for a plurality of times, and the present invention is not particularly limited thereto. Taking the second waxing module as an example, after the single or multiple grinding heads 21 are in contact with the left side surface of the vehicle, according to the set left side surface waxing stroke parameter and the sensor of the periphery of the sanding head 21 is detected. The measurement result is moved along a second path to independently complete the waxing action on the left side of the vehicle 10. (The waxing path of one of the left side surfaces of the second waxing module can be referred to FIG. 4 and its related description). Taking the third waxing module as an example, after the single or multiple grinding heads 21 are in contact with the right side surface of one of the vehicles, according to the set right side surface waxing stroke parameter and the sensor of the periphery of the sanding head 21 The detection result is moved along a third path to independently complete the waxing action on the right side of the vehicle 10. Thereafter, as shown in step 644, the waxing step can be determined manually or mechanically (e.g., using control module 50). If it has not been completed, for example, if it is necessary to strengthen a partial area of the vehicle 10 or to carry out another type of vehicle wax, then steps 622 to 644 are repeated. For example, if the owner needs to reinforce the scratch on the left rear door or complete the fine wax beauty program to complete the fine wax beauty program, the relevant parameters can be reset to complete partial or comprehensive automated beauty maintenance. If it is determined that the waxing step has been completed, then as shown in step 65, the first, second and third waxing modules are moved back to their respective operating origins. Thereafter, the operator can drive the vehicle 100 away from the fixed track 101, thus completing the snoring operation. Accordingly, the automated vehicle grooming apparatus and method thereof according to the present invention comprise both a coarse adjustment mode and a fine adjustment mode, wherein the first, second, and third waxing modules are movable relative to the vehicle based on vehicle data. And the waxing operation is a coarse adjustment mode, and each group of the waxing drive assembly can feed the sanding head 21 to the surface of the vehicle body for waxing work, which is a fine adjustment mode. For a system block diagram of an automated vehicle grooming device, please refer to FIGS. 7A and 7B, which illustrate a system block diagram of an automated vehicle grooming device according to a preferred embodiment of the present invention, wherein FIG. 7B is a single block in the waxing module. A block diagram of the system of the group of wax drive components. In this embodiment, the automated vehicle grooming device includes a control module 50 and at least three independent waxing commands coupled to the control module 50, including a first waxing track 11 and a second waxing command. The 12 and third waxing lanes 13, respectively, are independently located on the upper side, the left side, and the right side of the vehicle 10, and are independently movable relative to the upper, left, and right sides of the vehicle 10. The first waxing track 11 has a first waxing module (the first waxing module can move along the first waxing track 22 • 200940186 11), and the second waxing track 12 has a second waxing module (the first The second waxing module can be moved along the second waxing channel 12, and the third waxing channel 13 has a third waxing module (the third waxing module can be moved along the third waxing track 13) Each of the snoring modules includes one or more sets of wax drive assemblies, and the set of wax drive assemblies are coupled to the control module 50. In addition, the vehicle beauty device further includes an input unit 51 coupled to the control module 50 for inputting information of the vehicle 10. Please refer to Figure 7B for the system block diagram of a single set of wax drive φ components in each waxing module. Each set of ground drive assemblies includes at least a sanding head 21, a drive motor 23 and a motion assembly 25. The sanding head 21 is coupled to the control module 50. The drive motor 23 is coupled to the control module 50 and the sanding head 21 to drive the sanding head 21 to rotate and polish and polish the surface of the vehicle 10. The motion assembly 25 is coupled to the control module 50 and the sanding head 21. When the sanding head 21 is in contact with the surface of the vehicle 10, the moving assembly 25 (for example, a telescopic element allows the sanding head 21 to move in the z direction; or an xyz motion component allows the sanding head 21 to be freely in the X-axis direction, y The axial direction and the z-axis direction movement can adjust the feeding degree of the sanding head 21 in accordance with the curved surface change of the exterior of the vehicle 10. In this embodiment, each set of the wax drive assembly may further include a pneumatic valve 27 and a pressure sensing unit 28 coupled to the control module 50 and the sanding head 21, respectively. When the sanding head 21 is in surface contact with the vehicle 10, the pressure sensing unit can be used to detect contact pressure between the sanding head 21 and the vehicle 10. When the pressure sensing unit detects the pressure change between the sanding head 21 and the vehicle 10, the pressure sensing unit feeds back the signal to the control module 50, and the control module 50 drives the pneumatic valve to adjust the sanding head 21 23 200940186 Feed amount. In this way, the waxing module can adapt to the change of the surface of the vehicle, so as to provide an appropriate grinding force of the sanding head 21 to avoid harming the surface of the vehicle 10. Furthermore, in one embodiment, each set of the honing drive assembly may further include one or more sensors 31 disposed on the periphery of the one or more sanding heads 21 and coupled to the control module 50 for automatic sensing. The surface position of the vehicle 10. When the sensor 31 senses the non-waxed area, the signal is sent to the control module 50, and the control module 50 transmits a signal to the sanding head 21 to turn or move according to the set distance, so that the waxing drive component completes its playing. Wax path. According to the above embodiment, the automated vehicle grooming device of the present invention comprises three sets of independent waxing tracks, which are respectively located on both sides and upper sides of the vehicle, and each group of tracks is connected to a control unit to control the positions of the respective roads. After the vehicle is fixed, the three sets of waxing tracks can be moved relative to the vehicle (rough adjustment mode), and a waxing module is disposed on the waxing road, and each group of waxing modules has at least one sanding head. When the wax is applied to the vehicle body manually or mechanically, a waxing beauty action can be performed. Among them, the grinding head will touch the surface of the car body according to the set pressure and start grinding and polishing. During the grinding process, the grinding head will automatically sense the surface of the car body to adjust the feeding degree and relative position of the grinding head and the surface of the car body. (fine mode), and give appropriate contact pressure to maintain the waxing quality, and then search for the surface of the car body by the sensor on the periphery of the sanding head to generate and complete a grinding path. In summary, the automated vehicle grooming device of the present invention can not only greatly reduce the manpower requirement of the vehicle grooming work, but also, in practical application, the first, second and third waxing on the upper side, the left side and the right side of the beauty vehicle to be used. The command line 24 • 200940186 is independently set and can be moved separately with respect to the upper side, the left side and the right side of the vehicle, so the first, second and third waxing modules arranged on the waxing track can independently be used for the vehicle The top, left and right sides of the waxing are performed. The operator can perform a comprehensive snoring in a coarse mode and/or a fine mode according to the condition of the vehicle or the owner, or perform a snoring operation on a certain side. Or for local areas for strengthening or beauty, this design makes the automatic beauty device more flexible in operation, lower operating costs, and better waxing effect. The invention has been described above by way of a preferred embodiment, and is not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.
25 *200940186 【圖式簡單說明】 第1圖繪示依照本發明一較佳實施例的自動化車輛 美容裝置之正視圖。 第2圖繪示第1圖的自動化車輛美容裝置之側視圖。 第3A圖繪示單個打磨頭與感測器之上視圖。 第3B圖繪示多個打磨頭與感測器之上視圖。 第4A圖繪示依照本發明實施例之一種左側面打蠟路 徑之示意圖。 © 第4B圖係繪示依照本發明實施例之另一種左侧面打 蠟路徑之示意圖。 第5圖繪示依照本發明較佳實施例的自動化車輛美 容方法之流程圖。 第6圖繪示第5圖的自動化車輛美容方法之細部流程 圖。 第7A、7B圖繪示依照本發明一較佳實施例的自動化 車輛美容裝置之系統方塊圖，其中第7B圖為打蠟模組中 ❹單一組磨蠟傳動組件之系統方塊圖。 【主要元件符號說明】 10 :車輛 101 :汽車定位執道 11 :第一打蠟軌道 111 :第一打蠟軌道固定座 12 :第二打蠟執道 26 *200940186 121 :第二打蠟執道固定座 13 :第三打蠟執道 131 ··第三打蠟軌道固定座 50 :控制模組 21 :打磨頭 211 :基座 23 傳動馬達 25 運動組件 27 氣動閥 28 壓力感測單元 31 感測器 51 輸入單元 P:打蠟模組起始點 Q:打蠟模組的移動方向 S:打蠟模組的移動距離25 *200940186 [Schematic Description of the Drawings] Fig. 1 is a front elevational view of an automated vehicle cosmetic device in accordance with a preferred embodiment of the present invention. Fig. 2 is a side view showing the automated vehicle cosmetic device of Fig. 1. Figure 3A shows a top view of a single sanding head and sensor. Figure 3B shows a top view of a plurality of sanding heads and sensors. 4A is a schematic view showing a left side waxing path according to an embodiment of the invention. © Fig. 4B is a schematic view showing another left side waxing path in accordance with an embodiment of the present invention. Figure 5 is a flow chart showing an automated vehicle aesthetic method in accordance with a preferred embodiment of the present invention. Fig. 6 is a flow chart showing the details of the automated vehicle grooming method of Fig. 5. 7A and 7B are system block diagrams of an automated vehicle grooming device in accordance with a preferred embodiment of the present invention, wherein FIG. 7B is a system block diagram of a single set of waxing drive components in a waxing module. [Main component symbol description] 10: Vehicle 101: Car positioning command 11: First waxing track 111: First waxing track holder 12: Second waxing road 26 *200940186 121: Second waxing Fixing seat 13: Third waxing road 131 · Third waxing rail mount 50: Control module 21: Sanding head 211: Base 23 Drive motor 25 Moving assembly 27 Pneumatic valve 28 Pressure sensing unit 31 Sensing 51 Input unit P: waxing module starting point Q: moving direction of the waxing module S: moving distance of the waxing module
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