WO2005068270A1 - ロボットアーム型自動洗車装置 - Google Patents
ロボットアーム型自動洗車装置 Download PDFInfo
- Publication number
- WO2005068270A1 WO2005068270A1 PCT/JP2004/000329 JP2004000329W WO2005068270A1 WO 2005068270 A1 WO2005068270 A1 WO 2005068270A1 JP 2004000329 W JP2004000329 W JP 2004000329W WO 2005068270 A1 WO2005068270 A1 WO 2005068270A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- cleaning
- robot arm
- tire
- brush
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
- B60S3/042—Wheel cleaning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
- B60S3/06—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle
Definitions
- the present invention is a mouth-arm type automatic car wash apparatus for automatically washing a vehicle with a rotating brush provided at a tip of a robot arm. Drive the vehicle and go to a robot arm type automatic car wash area equipped with a robot arm type automatic car wash device, and the driver once from the vehicle from the start of car washing such as vehicle washing processing and rinsing processing or wiping processing to the end of car washing.
- This is a robot arm type automatic car washer, a robot arm type automatic car wash device, or a robot arm type automatic car wash method that enables a drive-through method without getting down.
- the conventional car washing method is to drive a vehicle, go to a car wash, get off the vehicle, and manually perform a vehicle washing process and a rinsing process or a wiping process.
- the vehicle is parked at a predetermined position, the driver gets off the vehicle and operates the operation panel, and the automatic car washer, which covers the entire vehicle, moves in the vertical direction of the vehicle,
- An automatic car washer of a type in which a washing process and a rinsing process are performed by a large rotating brush having a width and a width and a wiping process is performed by compressed air is used. Disclosure of the invention
- An object of the present invention is not to perform the car washing work manually, which is a conventional method, but to fix the vehicle to a position in front of the vehicle stop position, 'left side', 'right side' and 'rear' immediately before starting the car washing.
- vehicle image data created by photographing a stopped vehicle using a camera equipped with fixed equipment the measured vehicle size is converted into numerical data, and the robot arm tip is determined based on the measured vehicle size data.
- the cleaning arm is used to wash the entire vehicle using the cleaning solution, and the robot arm automatically performs the cleaning process and compresses the floor where the vehicle is parked toward the bottom of the vehicle at a predetermined position.
- Cleaning solution jet nozzle for jetting cleaning solution There are many facilities.
- the vehicle cleaning rotary brush mounted on the tip of the robot arm and the cleaning solution delivery nozzle deliver cleaning solution while cleaning the entire vehicle surface while cleaning the vehicle bottom surface with the compressed cleaning solution sprayed from the cleaning solution spray nozzle. .
- the tires and wheels are cleaned with the tire cleaning rotary brush provided at the tire stop position.
- the rinsing process is performed with a rinsing shower curtain device, and finally, the wiping process is performed with an air jet wiping device that blows compressed air to the vehicle.
- Each process from the start of vehicle cleaning to the end of wiping process can be performed in a drive-through manner without the vehicle driver getting off the vehicle.
- FIG. 1 is a diagram for explaining a robot arm type automatic car wash apparatus that automatically performs a vehicle washing process using a vehicle washing rotating brush mounted on a tip of a robot arm.
- FIG. 2 shows that when the vehicle arrives at the robot arm type automatic car wash, a washing method is selected, the vehicle is cleaned by the robot arm type automatic car wash device shown in Fig. 1, and then the vehicle rinsing process and the vehicle wiping process are performed.
- FIG. 7 is a diagram for explaining a robot arm type automatic car wash method in which a vehicle driver automatically advances only to a predetermined position when performing all processes until the process is performed.
- FIG. 3 is a flowchart for explaining the operation from the arrival of the vehicle to the robot arm type automatic car wash to the end of the car wash.
- FIG. 4 (a) shows a robot arm and a vehicle cleaning rotary brush of a robot arm type automatic car washer
- FIG. 4 (b) is a diagram for explaining a tire and wheel cleaning process of a vehicle. It is.
- Fig. 5 (a) is a diagram for explaining a method of performing a cleaning process and a rinsing process of a vehicle bottom surface
- Fig. 5 (b) shows a tire and wheel cleaning process by the method shown in Fig. 4 (b).
- FIG. 9 is a diagram for explaining a method of performing tire and wheel rinsing processing of a vehicle that has completed the above.
- FIG. 6 shows the selection and payment of equipment for washing the robot, which is installed in a robot arm type automatic car wash area scattered in an urban area or suburb, etc., and a robot arm type automatic car wash apparatus, a rinsing shower curtain device, or an air jet wiper.
- the main control units for the automatic car wash system which have functions to control the entire robot arm type automatic car wash, such as a pick-up device, are connected to the FIG. 3 is a diagram for explaining a robot arm type automatic car wash garage centralized management system that enables remote operation management such as failure monitoring and function diagnosis by connecting to a single-arm automatic car wash garage maintenance center.
- the robot arm type automatic car washer includes a car washing method selection and fee payment device, a robot arm type automatic car washer and a rinse shower curtain device or an air jet wiping device.
- a robot arm type automatic car washer that automatically performs vehicle washing with the vehicle washing rotating brush installed at the end of the robot arm is a vehicle that stops at a predetermined vehicle washing processing stop position 179 7
- Main control unit for car wash 102102 ⁇
- Left side cleaning robot arm 1 10 Vehicle left side cleaning rotary brush 1 1 1 ⁇
- Vehicle right side cleaning robot arm 120 Vehicle right side cleaning rotary brush 1 21 ⁇
- Vehicle front photographing camera 1 50 ⁇ Vehicle left side It consists of a camera for photographing 1 53 ⁇ A camera for photographing the right side of the vehicle 159 ⁇ A camera for photographing the back of the vehicle 1 55 ⁇ A camera for photographing the top of the vehicle 1 57 ⁇ Brake 160
- the vehicle 7 is immediately forwarded by the five cameras on the front, left, right, rear, and upper sides, in addition to the vehicle body, to the outside of the vehicle body. Even if a storage box or spare tires are installed, photograph each surface of the vehicle 7 without removing it.
- the vehicle image data created by photographing each side of the vehicle is analyzed as three-dimensional data by the automatic car wash main controller 102 using the silhouette method, etc. Become Then, by analyzing the outside state of the vehicle 7 from the vehicle image data, it is determined whether or not the window of the door of the vehicle 7 or the sunroof provided on the roof is open. In order to confirm that the vehicle is ready for washing, a speaker at the site will notify the user of the sound by closing the window.
- the vehicle size measurement was completed, and it was confirmed that the vehicle was in a condition where the vehicle windows could not be cleaned because the windows of the doors of the vehicle 7 were not open, and no vehicles were standing around the vehicle 7.
- the vehicle image data taken from each direction is analyzed or When it is determined that the cleaning operation can be started in accordance with the method such as whether the alarm of the human detection sensor installed in the printer has issued a warning, the cleaning process is started.
- the left-hand washing and rotating brush 111 provided at the tip of the left-hand washing robot arm 1 10 mainly covers the left half of the vehicle
- the right-hand washing and rotating brush 121 provided at the tip of the right-hand cleaning robot arm 120 mainly uses the rotating brush 121.
- the right half of the vehicle 7 is selected by the driver at the entrance of the robot arm type automatic car wash, while keeping the distance between the vehicle washing and rotating brush and the vehicle surface constant, according to the measured vehicle measured size data.
- Cleaning method whether or not a cleaning agent is used in the cleaning solution, whether the cleaning time is long or short, whether the pressing pressure of the cleaning rotary brush is strong or weak, and whether the cleaning rotary brush is
- the vehicle cleaning rotary brush equipped on the vehicle cleaning robot arm is automatically operated according to several preset cleaning methods depending on the combination of the rotation speed, fast or slow. Performing a cleaning process of the vehicle the whole surface. Cleaning of the bottom of the vehicle, around the suspension, and around the brakes is performed according to the specified vehicle cleaning stop position 179.
- the vehicle bottom cleaning process is a method of cleaning the vehicle bottom with a cleaning solution jetting from a cleaning solution jetting nozzle 610 provided in a large number at a predetermined vehicle washing vehicle stop position 179. Is optimal. Scratch dust such as metal powder adheres to the brake area and the brake disc, which reduces the braking ability.Therefore, it is better to wash and clean the area around the tires and wheels.
- FIG. 4A is a view showing a vehicle cleaning rotary brush 510 provided at the tip of the vehicle cleaning robot arm 520.
- Force indicating the vehicle cleaning robot arm 520 and the vehicle cleaning rotary brush 510 provided at the tip The vehicle cleaning robot arm 520 advances in either the left or right direction by alternately rotating the vehicle cleaning rotary brush 510 in reverse. It is possible to better cope with the unevenness existing on the vehicle surface even when the vehicle is running.
- the operation of the vehicle washing robot arm 520 is controlled by the main control unit 102 of the automatic car washing device, and the method of cleaning the operation panel provided in the car washing method selection and fee payment device 201 provided at the entrance of the robot arm type automatic car washing area.
- the selection switch determines the distance between the vehicle surface and the vehicle cleaning rotary brush 510 based on the vehicle actual measurement size data converted into numerical data by the vehicle actual measurement size measurement means using the vehicle washing method selected and determined by the vehicle driver. Clean the entire surface of the vehicle while keeping it constant.
- the vehicle cleaning robot arm 520 is equipped with a cleaning solution delivery hose for delivering the cleaning solution to the vehicle cleaning rotary brush 510.
- the rotation speed does not have to be so high, so that a protective cover for preventing the washing solution from scattering may not be necessary.
- the vehicle cleaning rotating brush 510 that is performed between the end of the vehicle cleaning process and the start of the next vehicle cleaning process
- the cleaning process of the rotating brush 5 10 itself is performed at a high rotation speed, so that the washing solution for that time is prevented from scattering.
- a vehicle cleaning rotating brush protective cover may be installed.
- a comb-shaped vehicle cleaning rotary brush cleaning device is attached to a portion where the vehicle cleaning rotary brush 510 is attached to the vehicle cleaning robot arm 520.
- a method of cleaning the body of the vehicle cleaning rotary brush 510 seems to be suitable.
- the vehicle cleaning / rotating brush cleaning device is provided with a single comb having a length reaching the rotation axis of the vehicle cleaning / rotating brush 510 in an attached state, and having a comb-like shape having the same width as the vehicle cleaning / rotating brush 510. Cleaning equipment.
- FIG. 4A shows an example of a vehicle cleaning rotary brush 550 having a shape different from the example of the vehicle cleaning rotary brush 510 described above.
- One rotating brush has a supporting column attached to the center of the rotating shaft and has rotating brushes on both sides, and the treatment on both ends is not made of a hard material such as metal but elastic.
- a vehicle cleaning rotary brush 550 with two identical rotary brushes installed side by side, and rotates in different directions. Mounting type without mounting brackets on both ends of the rotating brush Since the entire area around the vehicle cleaning rotary brush 550 can be made of a soft material, the vehicle cleaning rotary brush 550 has a shape that is unlikely to be damaged even if the robot arm malfunctions and hits the vehicle.
- FIG. 4 (b) is a diagram showing a tire cleaning rotary brush 570 for performing a tire cleaning process and the state of equipment. Since the tire cleaning process is inappropriate with the vehicle cleaning rotary brush 510 described in the section where the vehicle cleaning process is performed, the vehicle cleaning process stop position 1 is set using the tire cleaning rotary brush 570 provided exclusively for the tire cleaning process. To 79, the position at which the vehicle 7 has actually stopped is detected, and the tire cleaning rotary brush 570 is calculated from the vehicle actual size data measured by the vehicle actual size measuring means and moved to each tire position, and then the tire cleaning rotation is performed.
- a method for cleaning tires and wheels in which the rotating shaft of the brush 570 is stretched and the tire cleaning rotary brush 570 is set to an appropriate pressing pressure against the tires and wheels, and the cleaning solution is sent out and rotated in both directions to perform cleaning. is there.
- the cleaning process of the tires and wheels is performed while the cleaning solution is sent to the tire cleaning rotary brush 570.
- the equipment configuration of the automatic tire cleaning device is as follows: vehicle cleaning processing stop position 1 7 where vehicle 7 is stopped
- the tire cleaning rotary brush 570 is lifted up from both sides of the tire 9 or the tire cleaning rotary brush is removed from both side walls of the vehicle cleaning stop position 1 79 as shown in Fig. 4 (b). After the 570 has moved to each tire position, the tire cleaning rotary brush 570 extends its rotation axis to perform a tire cleaning process.
- Both the vehicle cleaning rotary brush 510 and the tire cleaning rotary brush 570 need to be durable, and the flocked brush itself contains particulate matter such as mud and sand that causes scratches on the painted surface of the vehicle surface. Needless to say, a flocking style that does not remain between the flocking brushes is required.
- the cleaning solution used for cleaning the vehicle 7 and the tires or wheels is capable of dissolving and cleaning dirt on the vehicle 7 and the tires or wheels, and at the same time, the surface of the vehicle 7 or the wheels is scratched by the cleaning agent acting as a cushion.
- the brush flocking shape of the vehicle cleaning rotary brush 510 and the tire cleaning rotary brush 570 needs to have a shape that does not clog mud sand.
- the vehicle cleaning rotary brush may be used every time one cleaning process is completed. Equipped with a cleaning rotary brush cleaning function to clean the 510 and tire cleaning rotary brush 570 itself.
- the method of cleaning and rinsing the suspension part of the vehicle 7 and the undercarriage such as around the brakes is determined by the number of tire cleaning positions at the tire height positions on both sides of the specified vehicle cleaning stop position 1 79 where the vehicle 7 stops.
- Compressed cleaning solution or compressed rinse from a large number of jet nozzles attached to the cleaning solution or rinse solution delivery pipe installed at a distance of 10 cm, or from a jet nozzle fitting attached to the tip of the cleaning solution or rinse solution delivery pipe or delivery hose.
- This is a cleaning method in which the cleaning solution or the rinsing solution is sprayed with a solution and the cleaning force is used to dissolve dirt.
- the vehicle underbody automatic cleaning device 620 is suitable for performing the rinsing process of the tire or the wheel and the rinsing process around the brake.
- FIG. 5 (b) is an example showing the operating state of the vehicle underbody automatic cleaning device 620, which is equipped with cleaning solution or rinse solution ejection nozzles arranged in a line, and when the vehicle stops. It shows a situation in which equipment is installed at the tire height position on both sides of the vehicle.
- This is a device for intensively performing the rinsing process from the outside of the vehicle undercarriage when the automatic curtain rinsing process is performed by the shower curtain device 230 when the vehicle 7 is rinsed.
- the vehicle underbody automatic cleaning device 620 detects the vehicle 7 as soon as the vehicle 7 arrives at the vehicle cleaning stop position 179 or the rinsing stop position 230 and stops completely, and starts operating.
- the vehicle 7 starts the rinsing process stop position 230 and the vehicle exits the rinsing shower curtain device 230
- the vehicle underbody automatic cleaning device 620 performs the underbody rinsing process of the vehicle 7.
- Rinse processing is performed not only when the vehicle is stopped at a predetermined stop position but also when the tires and wheels are rotating at a slow speed. Where the tires and wheels are not slowly By rotating, the whole can be well rinsed.
- the shape of the vehicle underbody automatic cleaning device 620 is not limited to the configuration shown in FIG. 5 (b), in which the cleaning solution or rinse solution jet nozzles are arranged in a row at both sides of the vehicle at the tire height position. Detect the tire stop position when the vehicle stops using a camera, etc., or calculate the tire stop position from the measured vehicle size, and concentrate the cleaning solution around the tire and the wheel or around the disk brake over the wheel. Alternatively, a washing treatment method and a rinsing treatment method in which a rinsing solution is ejected from an ejection nozzle can be considered.
- a bunch of hoses or pipes that have a jet nozzle fitting attached to the end of the hose or pipe that sends the cleaning solution or rinse solution are bundled, and the cleaning solution or rinse solution is concentrated from the jet nozzle toward the tire, wheel, or disc brake.
- a vehicle underbody automatic cleaning device 620 of a jet type and a vehicle underbody cleaning processing method or a vehicle underbody rinsing method can be considered.
- FIG. 2 is a diagram for explaining the entire robot arm type automatic car wash where the robot arm type automatic car wash is installed.
- FIG. 3 is a flowchart for explaining the operation of the robot arm type automatic car wash.
- the car wash method performed by the robot arm type automatic car wash apparatus will be described step by step with reference to FIG. 2 and the flowchart of FIG.
- the driver of the vehicle 7 arriving at the entrance (A) of the robot arm type automatic car wash will use the cleaning agent in consideration of the degree of contamination of the vehicle 7 using the car washing method selection and fee payment device 201 provided at the entrance.
- Step S 313 which is a forward movement to the predetermined vehicle stop position, is the force of S 313.
- the surface of the vehicle 7 is lifted and the surface of the vehicle is dried.
- the vehicle 7 passes through the shower curtain device 205 in step S 315, because the vehicle is likely to be scratched.
- the vehicle 7 stopped at the predetermined vehicle stop position of the vehicle actual size measurement device 210 is provided at S317, the front position and the left position, the right position, the rear position, or the upper position where the vehicle 7 is stopped.
- Camera for photographing the front of the vehicle 150 and camera for photographing the left side of the vehicle 153 or photographing the right side of the vehicle The camera 1159, the camera 155 for photographing the rear surface of the vehicle, or the camera 157 for photographing the upper surface of the vehicle performs a vehicle photographing process.
- the vehicle actual measurement size is measured by analyzing the vehicle front image data and the vehicle left surface image data, the vehicle right surface image data, the vehicle rear surface image data, or the vehicle upper surface image data created by the vehicle photographing process with the automatic car wash main controller 102. Step S320.
- step S323 the actual vehicle size measurement device 210, the vehicle stop at the stop position is released, so the vehicle advances to step S325, the robot arm type automatic car washer 220, and step S327, a predetermined vehicle.
- Step S329 to stop at the stop position.
- the robot arm type automatic car washer 220 Based on the measured vehicle size data, the robot arm type automatic car washer 220 sends the vehicle left side cleaning rotary brush 1 11 and the vehicle right side cleaning robot arm 120 equipped to the vehicle left side cleaning robot arm 110 to the vehicle right side cleaning robot arm 120.
- instructions such as stopping the engine or cautions are displayed on a display panel provided in front of the vehicle stopping position, and a person riding the vehicle is cleaned. Instructions or cautions that require special attention, such as not to go out of the vehicle 7 during the processing, are given by the sound from the speakers. It is preferable that the door of the vehicle 7 be locked by voice of a speaker at the place of the car washing method selection and fee payment device 201 when the vehicle arrives at the entrance (A) of the robot arm type car washing place.
- the vehicle left side cleaning rotary brush 111 and the vehicle right side cleaning rotary brush 121 are formed by arranging several roll-type rotary brushes as shown in FIG. 4 (a). Even when the vehicle cleaning robot arm 520 is moving in either the left or right direction, the cleaning can be efficiently performed even when the vehicle cleaning rotary brush 510 passes over an uneven portion existing on the surface of the vehicle 7.
- the traveling direction of the vehicle cleaning rotary brush 510 may be a horizontal direction or a vertical direction, and may move obliquely in some cases. For example, when cleaning a large surface such as the side of a vehicle, the washing is performed from the left end to the right in the horizontal direction, and when returning to the left end position of the next step, the washing is performed diagonally while returning.
- the washing robot arm 520 performs the washing process with the vehicle washing rotary brush 510 by giving priority to the operation data stored as the operation S330.
- the vehicle cleaning rotary brush 510 shown in FIG. 4 (a) is equipped with three roll-shaped rotary brushes. One to five roll-shaped rotary brushes can be considered. When the diameter of the rotating brush is large and the rotating speed is high, the bristle tip of the rotating brush hits the surface of the vehicle together with the sand particles adhered to the vehicle surface, and the painted surface of the vehicle surface is easily scratched.
- the rotation speed of the vehicle cleaning rotary brush 510 is ideally a relative speed that is the minimum speed required for cleaning the vehicle surface, in combination with the moving speed of the vehicle cleaning robot arm 520. It is preferable that the rotation speed is as low as possible because the necessary rotation speed is ensured so that the surface of the vehicle is not scratched and the cleaning solution used does not scatter.
- the brush material is a material that does not easily damage the painted surface of the vehicle surface and also has durability. If the diameter of the rotating brush is increased and the number of rotating brushes is 5 or more and arranged side by side, the entire area of the washing brush 510 becomes too large and is not suitable for washing a passenger car. Increasing the diameter of the rotating brush increases the distance from the rotating shaft of the rotating brush to the bristle tip.Therefore, even when the protective cover is attached to the vehicle cleaning robot arm 520, the edge or corner of the protective brush for the vehicle cleaning rotary brush is not removed. There is an advantage that contact is difficult.
- the diameter of the rotating brush, the number of rotating brushes to be mounted on the vehicle cleaning rotating brush 510, or the vehicle surface is not damaged and the durability is improved.
- the brush material to be combined, or the rotation speed of the vehicle cleaning rotary brush 510, etc. are determined and determined.
- the rotation speed of the vehicle cleaning rotary brush 510 may be changed when cleaning a large surface or when cleaning a narrow place where parts are assembled.
- FIG. 4 (b) is a diagram for explaining a method of cleaning a tire and a wheel.
- the vehicle 7 is stopped at a predetermined position of the rinsing shower curtain device 230 to stop the engine S339.
- the rinsing process of the front, both side surfaces, the rear surface and the upper surface of the vehicle 7 is performed by the jet jet of the rinse solution jetted from the jet nozzle of the rinse shower curtain provided on the both side and the upper surface of the vehicle stop position S340.
- the vehicle bottom surface is subjected to the same vehicle bottom cleaning process as the vehicle bottom cleaning jet nozzle installed at the stop position 179 of the robot arm type automatic car washer 220 described above.
- the rinsing process is performed with the rinsing solution jetted from the jet nozzle to perform the rinsing process.
- the rinsing process for the bottom of the vehicle is the necessary rinsing process corresponding to the vehicle washing method selected by the driver at the entrance of the robot arm type automatic car wash area (A).
- the method is automatically performed as the amount of the rinse solution ejected is large or small, or the rinsing processing time is long or short.
- FIG. 5 (b) is a view showing a situation in which the bottom of the vehicle 7 and the underbody are rinsed, and the periphery of the suspension and the brake of the vehicle 7 are cleaned with a cleaning agent. If this is done, it must be carefully rinsed so that no detergent is left.
- the rinsing of the vehicle bottom is performed by rinsing with a high-pressure rinsing solution from a number of jet nozzles installed on the predetermined vehicle stop surface of the rinsing shower curtain device 230 (610).
- Rinsing around the tires, wheels or brakes on the side of the vehicle is performed by applying high pressure from the rinse nozzle 620 installed at the tire level at a distance of several tens of centimeters from the side of the vehicle. Rinse with a rinsing solution that is blown off by force.
- the vehicle 7 has passed through the air jet wiping device 240 at a low speed and slowly in order to perform the wiping process of the entire vehicle, which has been completed the cleaning process and the rinsing process, but is finally finished (S351).
- the air jet wiping device 240 through which the vehicle 7 passes is in the shape of a tunnel, and the vehicle is powered by compressed air that is vigorously blown out from a number of compressed air blowout nozzles installed on both the inner wall and ceiling. Perform a wiping process.
- the wiping process is performed gradually from the front of the vehicle to the rear of the vehicle while moving forward at a speed as low as possible.
- the vehicle wiping process is completed when the vehicle has passed through the air jet wiping device 240, and the vehicle passes through the robot arm type automatic car wash yard exit shown in FIG. 2 (C) and completes all the car wash processes.
- FIG. 6 shows that the main control unit 102 of the automatic car wash equipment installed in each robot arm automatic wash area is connected to the robot arm automatic car wash equipment maintenance center 601 via a communication line in order to centrally control the robot arm type automatic car wash equipment.
- FIG. 3 is a diagram for explaining a robot arm type automatic car wash equipment centralized management system that enables remote operation management such as failure monitoring and function diagnosis.
- the operation of the air jet wiping device 240 which starts when the vehicle 7 approaches the air jet wiping device or detects that the vehicle 7 has approached the air jet wiping device, is centrally controlled by the main controller 102 of the automatic car washing device. It is going.
- the robot arm type automatic scattered in the city or the suburbs as shown in the figure by comparing (A) district ⁇ (B) district ⁇ (C) district ⁇ (D) district ⁇ (E) district.
- the main control unit 102 of the automatic car wash equipment installed in the car wash area is connected to the robot arm type automatic car wash maintenance center 601 via a communication line, and remote diagnosis processing is performed if a failure or abnormality occurs in the robot arm type automatic car wash equipment. It is possible to investigate the cause of the problem and quickly respond to trouble repairs.
- the silhouette method can be considered as a method of converting vehicle image data created by photographing each surface of the vehicle 7 with a camera into three-dimensional data and converting the data into numerical data as measured vehicle size data. If it is a method that understands, other measurement methods such as a method using a laser may be used. Alternatively, the movement of gradually painting the vehicle surface of the three-dimensional model of the vehicle reproduced on a computer based on the vehicle photographed image data is performed by a vehicle cleaning brush mounted on the tip of the robot arm with respect to the actual vehicle. A method such as realization is conceivable.
- the vehicle actual size measuring device 210 and the robot arm type automatic car wash device 220 for measuring the vehicle actual size shown in FIGS. 1 and 2 may be of a type in which they are performed simultaneously in one place as shown in FIG. 1 or shown in FIG. The method may be performed in different places as described above.
- the robot arm type automatic car washer shown in Fig. 4 (a) is used to wash the vehicle washing robot arm 520 on the floor on both sides of the vehicle, as in the robot arm type automatic car washer shown in Fig. 1, respectively. It may be installed as the robot arm 110 and the robot arm 120 for cleaning the right side of the vehicle, or may be installed on the wall or ceiling of the equipment.
- two vehicle cleaning robot arms are provided in the form of a left vehicle cleaning robot arm 110 for mainly cleaning the left side of the vehicle and a right vehicle cleaning robot arm 120 for mainly cleaning the right side of the vehicle.
- the vehicle cleaning robot arm can also perform the cleaning process of the entire vehicle as a single unit.
- the whole vehicle is divided into several blocks, such as the right side and left side or the top, and each part is separated.
- ⁇ It is also possible to use a cleaning robot arm equipped with one unit for cleaning.
- the method of cleaning with a robot arm type automatic cleaning device that uses a robot arm for cleaning is not limited to an automobile, but may be a train car or an airplane.
- the tire cleaning rotary brush 570 may be installed at the location where the robotic arm type automatic car washing device 220 is installed as shown in Fig. 2, or at a dedicated location (not shown) for cleaning the tires. It can be in any format.
- the method of cleaning the tire may be a method in which the rotation axis is extended from the wall force provided on both sides of the vehicle stop position and the cleaning process is performed by the tire cleaning rotary brush 570,
- a rotary cleaning brush 570 may be provided on both sides of the floor at a predetermined vehicle stop position of the robot arm type automatic car washing apparatus 220 shown in FIG.
- the method for paying the car wash fee was described in the method of paying when selecting the car wash method with the car wash method selection and fee payment device 201 provided at the entrance of the robot arm type automatic car wash area (A), but the vehicle performs each process.
- a camera is installed at the position where the vehicle stops, and the license plate attached to the vehicle is read each time the vehicle passes the location, and the license plate attached to the vehicle that selected the car washing method at the entrance While performing each process while checking the number of vehicles, it is also possible to identify the vehicle with a pick-up plate and perform the automatic fee collection process from the financial institution account set for the car wash fee collection process at the robot arm type automatic car wash. .
- the size of the robot arm type automatic car wash is not limited to installing an automatic car wash machine as in the conventional car wash, but also securing several facilities for manual car wash and several places for wiping. It does not require any equipment and space for the vehicle, it performs vehicle cleaning and rinsing or wiping in order from the entrance, and only one set of equipment to the exit is required, and the preceding vehicle performs the rinsing. In some cases, the next vehicle may be starting the cleaning process, and it may be possible to use a series of sequential operations. It is preferable to install a roof like a conventional gas station in order to protect the working machines such as the vehicle washing robot arm, etc., where the space space would be sufficient for a conventional gas station. Industrial applicability
- Car maintenance is a time-consuming task, but it is time-consuming and labor-intensive to perform car-washing operations that need to be performed frequently.
- Robot-type automatic car washer and robot-arm-type automatic car-washing device or robot-arm-type automatic car-washing method which makes it possible to wash a car with the feeling of refueling almost at a gas station.
- Robot arms with sufficient functional performance have already been completed at assembly plants in various industries, and can be handled without problems by providing durability for outdoor installation.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002553317A CA2553317A1 (en) | 2004-01-16 | 2004-01-16 | Robot arm type automatic car washing device |
PCT/JP2004/000329 WO2005068270A1 (ja) | 2004-01-16 | 2004-01-16 | ロボットアーム型自動洗車装置 |
JP2005516951A JPWO2005068270A1 (ja) | 2004-01-16 | 2004-01-16 | ロボットアーム型自動洗車装置 |
AU2004313840A AU2004313840A1 (en) | 2004-01-16 | 2004-01-16 | Robot arm type automatic car washing device |
EP04702830A EP1705087A1 (en) | 2004-01-16 | 2004-01-16 | Robot arm type automatic car washing device |
US10/586,119 US20080229531A1 (en) | 2004-01-16 | 2004-01-16 | Robot Arm Type Automatic Car Washing Device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2004/000329 WO2005068270A1 (ja) | 2004-01-16 | 2004-01-16 | ロボットアーム型自動洗車装置 |
Publications (1)
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WO2005068270A1 true WO2005068270A1 (ja) | 2005-07-28 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/000329 WO2005068270A1 (ja) | 2004-01-16 | 2004-01-16 | ロボットアーム型自動洗車装置 |
Country Status (6)
Country | Link |
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US (1) | US20080229531A1 (ja) |
EP (1) | EP1705087A1 (ja) |
JP (1) | JPWO2005068270A1 (ja) |
AU (1) | AU2004313840A1 (ja) |
CA (1) | CA2553317A1 (ja) |
WO (1) | WO2005068270A1 (ja) |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1806265A1 (fr) * | 2006-01-10 | 2007-07-11 | Financière Clairac | Système de lavage de véhicule robotisé |
EP1894797A2 (de) * | 2006-08-30 | 2008-03-05 | WashTec Holding GmbH | Fahrzeugwaschanlage und Verfahren zur Konturerfassung eines in einer Fahrzeugwaschanlage zu waschenden Fahrzeugs |
EP1894797A3 (de) * | 2006-08-30 | 2010-09-15 | WashTec Holding GmbH | Fahrzeugwaschanlage und Verfahren zur Konturerfassung eines in einer Fahrzeugwaschanlage zu waschenden Fahrzeugs |
JP2012051536A (ja) * | 2010-09-03 | 2012-03-15 | Fukuda Kogyo Kk | タイヤ洗浄装置 |
JP2013244761A (ja) * | 2012-05-23 | 2013-12-09 | Act:Kk | 車両消毒装置 |
JP2013252859A (ja) * | 2013-08-23 | 2013-12-19 | Fukuda Kogyo Kk | タイヤ洗浄装置 |
JP6303058B1 (ja) * | 2017-10-16 | 2018-03-28 | 株式会社北土開発 | 車両洗浄装置 |
JP2019073155A (ja) * | 2017-10-16 | 2019-05-16 | 株式会社北土開発 | 車両洗浄装置 |
CN109552262A (zh) * | 2019-01-09 | 2019-04-02 | 北京铁道工程机电技术研究所股份有限公司 | 一种补洗方法、系统、上位机及存储介质 |
JP2021142911A (ja) * | 2020-03-12 | 2021-09-24 | 株式会社ダイフク | 清掃システム、および清掃システムの制御方法 |
JP7331742B2 (ja) | 2020-03-12 | 2023-08-23 | 株式会社ダイフク | 清掃システム、および清掃システムの制御方法 |
Also Published As
Publication number | Publication date |
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JPWO2005068270A1 (ja) | 2007-08-23 |
US20080229531A1 (en) | 2008-09-25 |
CA2553317A1 (en) | 2005-07-28 |
EP1705087A1 (en) | 2006-09-27 |
AU2004313840A1 (en) | 2005-07-28 |
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