Car wash equipment

Abstract

To provide a car wash system that can detect positional deviations when a vehicle enters the vehicle, regardless of the vehicle's color, shape, or condition. [Solution] The car wash device 10 is a car wash device having an imaging unit (19a, 19b), an object to be identified (20a, 20b), and a control unit (50), wherein the control unit has an object identification means (59) that identifies the object to be identified in the image captured by the imaging unit, and a vehicle position determination means (60) that can determine the position of a vehicle to be washed based on the identification result of the object identification means.

Description

Technical Field

[0001] The present invention relates to a car washing device.

Background Art

[0002] Patent No. 6840471 (hereinafter referred to as "Patent Document 1") describes a car washing machine that can prevent washing from being performed in an inappropriate state by imaging and detecting a vehicle to be washed before washing. In Patent Document 1, an example of an inappropriate state for washing includes a deviation in the stop position of the vehicle to be washed. Generally, a car washing device needs to stop the vehicle to be washed at a predetermined position before starting washing. If the stop position of the vehicle is deviated from the predetermined position, for example, there is a risk that the washing process may stop halfway.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The car washing machine described in Patent Document 1 images the vehicle to confirm that the vehicle to be washed is in an appropriate stop position, extracts its contour, and detects the position of the vehicle. However, recent automobiles are rich in design, with various colors and shapes, making detection difficult. The vehicle to be washed is often covered with mud or snow. Due to such uncertain factors and detection difficulties, conventional car washing devices cannot correctly detect the position deviation of the vehicle at the time of vehicle entry from the image, and there is a risk of starting washing in an inappropriate state.

[0005] An object of the present invention is to provide a car washing device that can detect a position deviation at the time of vehicle entry without being affected by the color, shape, state, etc. of the vehicle.

Means for Solving the Problems

[0006] One solution relates to a car wash device having an imaging unit, an object to be identified, and a control unit, wherein the control unit is characterized by having an object identification means for identifying the object to be identified in an image captured by the imaging unit, and a vehicle position determination means capable of determining the position of a vehicle to be washed based on the identification result of the object identification means. [Effects of the Invention]

[0007] According to one solution, it is possible to detect the displacement of the vehicle's position. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic front view of a car wash device 10 according to one embodiment of the present invention. [Figure 2] Figure 1 is a schematic side view of the car wash system. [Figure 3] Figure 1 is a schematic top view showing the imaging range of cameras 19a and 19b in the car wash system. [Figure 4] Figure 1 is a schematic side view showing the imaging range of cameras 19a and 19b in the car wash system. [Figure 5] Figure 1 is a conceptual diagram illustrating the imaging process of guides 20a and 20b by cameras 19a and 19b of the car wash system shown. [Figure 6] Figure 1 is a block diagram showing the control system of the car wash device. [Figure 7] This is a conceptual diagram showing an example of a situation where a vehicle C is overlapping the guides 20a and 20b of the car wash device shown in Figure 1. [Figure 8] Figure 1 is a flowchart showing the processing at the time of vehicle wash reception in the vehicle wash system. [Figure 9] This is a block diagram showing the control system of a car wash device 10A according to another embodiment of the present invention. [Best Mode for Carrying Out the Invention]

[0009] In the embodiments of the present invention described below, explanations will be divided into multiple sections where necessary, but in principle, they are not unrelated to each other; one is a modification, detail, or part of the other. For this reason, in all figures, components having the same function are denoted by the same reference numeral, and repeated explanations will be omitted. Furthermore, the number of components (including number, numerical value, quantity, range, etc.) is not limited to a specific number unless otherwise explicitly stated or clearly limited in principle, and may be greater than or less than a specific number. Also, when referring to the shape of components, unless otherwise explicitly stated or clearly considered not to be so in principle, it will include those that are substantially similar or approximate to that shape.

[0010] (Embodiment 1) Figure 1 is a schematic front view of the car wash device 10 according to this embodiment, and Figure 2 is a schematic side view of the car wash device 10.

[0011] The car wash device 10 includes a main body 11 that is erected on the ground G (laying surface). The main body 11 is made up of a gate-shaped frame (housing) that straddles the vehicle C to be treated. Therefore, the main body 11 has a pair of leg frames 11a that stand up from the ground G and a beam frame 11b that rests on this pair of leg frames 11a.

[0012] The car wash device 10 also includes a pair of rails 12, wheels 13 and 14. The pair of rails 12 extend parallel to each other and are installed on the ground G. Wheels 13 and 14 are installed at the bottom of a pair of leg frames 11a, respectively. In the car wash device 10, wheels 13 are the driving wheels and wheels 14 are the driven wheels. The main body 11 can move back and forth (reciprocate) on the rails 12 via wheels 13 and 14 (a total of 4 wheels) when a vehicle C is stopped between the pair of rails 12. Note that in Figure 2, the right side (for example, the side where vehicle C and the reception device 51 are shown) is the front direction of the main body 11, and the left side is the rear direction.

[0013] The car wash device 10 also includes a driving motor 15 and a driving encoder 16. The driving motor 15 is provided on each of the pair of leg frames 11a of the main body 11 so as to connect to the wheels 13 from a position higher than the wheels 13 relative to the ground G. The driving motor 15 is configured to be reversible and moves the main body 11 back and forth via the wheels 13 (drive wheels). The driving encoder 16 is provided on one of the leg frames 11a of the main body 11 and is connected to the output shaft of the driving motor 15 on that side. The driving encoder 16 detects the driving position of the main body 11 on the rail 12. That is, the driving encoder 16 outputs a pulse signal for each unit angle rotation while detecting the rotation direction of the driving motor 15 (i.e., the rotation direction of the wheels 13).

[0014] The car wash device 10 also includes a front / rear switch 17, a dock 18a, and a dock 18b. The front / rear switch 17 is located at the bottom of one of the leg frames 11a. The dock 18a is located at one end of one rail 12 (the front side in the front-rear direction of the main body 11), and the dock 18b is located at the other end of the same rail 12 (the rear side in the front-rear direction). The front / rear switch 17 switches at either dock 18a or 18b in response to the movement of the main body 11, detecting the movement limit of the main body 11 between dock 18a and dock 18b. Therefore, the main body 11 can move within the movement limit so as to pass over a parked vehicle C in the vehicle length direction. When the car wash device 10 is waiting for a vehicle to enter (standby state), the main body 11 is stopped when the front / rear switch 17 switches with dock 18b. In this explanation, the position of the main unit 11 when it is stopped in this manner will be referred to as the standby position of the main unit 11.

[0015] Furthermore, the car wash device 10 is equipped with a camera 19a and a camera 19b capable of imaging the area in front of the main body 11. In addition, the car wash device 11 is equipped with a guide 20a and a guide 20b along a pair of rails 12. The installation positions of the cameras 19a and 19b and the guides 20a and 20b in this embodiment will be explained with reference to Figures 3 to 5.

[0016] The cameras 19a and 19b are arranged on the main body 11 formed in a portal shape (or around the main body 11) such that all or most of the guides 20a or 20b (the object to be identified described in the claims) described later are within their imaging ranges. More specifically, the camera 19a is arranged so that it can image all or most of the guide 20a, and the camera 19b is arranged so that it can image all or most of the guide 20b.

[0017] The cameras 19a and 19b may be arranged at any position as long as it satisfies the above-described conditions. In the present embodiment, the cameras 19a and 19b are fixed to the front surface of the main body 11 with jigs, and the camera 19a is arranged on the extension line of the guide 20a, and the camera 19b is arranged on the extension line of the guide 20b. Note that the cameras 19a and 19b may be provided, for example, on the other end sides of the pair of rails 12 in FIG. 3 so as to face the main body 11. For example, they may be mounted on a blocking rod of a gate device 23 described later.

[0018] The guides 20a and 20b (the object to be identified described in the claims) imaged by the cameras 19a and 19b are provided on the ground G between the rails 12 along the pair of rails 12. In the present embodiment, the guides 20a and 20b are provided as lines drawn with paint or the like on the ground G.

[0019] The guides 20a and 20b have a function as position indicators when the vehicle C to be subjected to the cleaning process travels between the rails 12 and approaches the proper stop range (range L in FIG. 3). The vehicle C can easily reach the proper stop range by traveling between the rails 12 along the guides 20a and 20b. When the vehicle C strays over or overlaps either of the guides 20a or 20b, it can be seen that the vehicle C has deviated from the proper stop range. The guides 20a and 20b are provided at such positions.

[0020] Guides 20a and 20b should be painted in a color that stands out from the ground G in order to function as positional indicators as described above. Guides 20a and 20b may also be formed from three-dimensional objects such as rails or pipes so that the driver of vehicle C can easily recognize them when they are stepped over. If guides 20a and 20b are formed from three-dimensional objects, it is even better to make them in a shape that does not easily retain mud and other debris washed off from vehicle C.

[0021] Furthermore, the car wash system 10 is equipped with a tire detection device 21 between a pair of rails 12. The tire detection device 21 has a known photoelectric sensor having a light-emitting unit 21a and a light-receiving unit 21b. The tire detection device 21 is installed so that the light emitted by the light-emitting unit 21a is blocked by the tires of a vehicle C moving within the appropriate stopping range. The tire detection device 21 can detect when a vehicle C moving between the rails 12 has completely entered the appropriate stopping range.

[0022] The appropriate stopping range is determined for each car wash device based on the structure of the main unit, etc. However, in this embodiment, the car wash device 10 uses the range L shown in Figure 3 as an example of the appropriate stopping range for the vehicle C. For the vehicle C to undergo the washing process by the main unit 11, the entire vehicle body must be contained within range L so that the main unit 11 and the vehicle C do not collide.

[0023] The car wash system 10 is also equipped with a display device 22. The display device 22 is installed at the rear of the main unit 11, for example. The display device 22 has a display unit with multiple LEDs arranged in a row, and has the function of displaying arbitrary characters or symbols. For example, before the washing process begins, the car wash system 10 displays a message such as "Forward" using the display device 22 to encourage vehicle C to enter. When the light emitted from the light emission unit 21a of the tire detection unit 21 is blocked, the system displays a message such as "Stop," indicating that vehicle C has entered the appropriate stopping range, and stops vehicle C. After the washing process is completed, the system displays a message such as "Exit," encouraging vehicle C to exit.

[0024] Furthermore, the car wash device 10 is equipped with a gate device 23. The gate device 23 has a barrier rod that swings up and down. The barrier rod of the gate device 23 is opened as needed, for example, when a car wash reservation (reservation for execution of washing process) is made by the reception device 51, which will be described later. The gate device 23 prevents other vehicles from approaching the travel range of the main unit 11 while the vehicle C is being washed.

[0025] Furthermore, the car wash device 10, as a washing device, is equipped with a top brush 30 and a pair of side brushes 31 provided on the main body 11. The top brush 30 (rotating brush) is housed in the beam frame 11b of the gate-shaped main body 11 when in standby mode. As a movable part, the top brush 30 rotates and moves up and down in accordance with the movement of the main body 11, and can mainly brush the top surface of the vehicle C. The pair of side brushes 31 (rotating brushes) are each housed in the leg frames 11a of the gate-shaped main body 11 when in standby mode. As movable parts, the pair of side brushes 31 rotate and open and close (move closer to and further apart from each other) in accordance with the movement of the main body 11, and can mainly brush the front, sides, and rear of the vehicle C.

[0026] Furthermore, the car wash device 10 includes a top spray 32 and a pair of side sprays 33 as cleaning devices, which are provided on the main body 11. The top spray 32 is housed in the beam frame 11b of the gate-shaped main body 11. As the main body 11 moves, the top spray 32 sprays cleaning fluid such as water or detergent from multiple spray nozzles (not shown) provided on a pipe, mainly cleaning the top surface of the vehicle C. The pair of side sprays 33 are each housed in the leg frames 11a of the gate-shaped main body 11. As the main body 11 moves, the pair of side sprays 33 spray cleaning fluid such as water or detergent from multiple spray nozzles (not shown) provided on a pipe, mainly cleaning the sides of the vehicle C. In the car wash device 10, the top spray 32 and side sprays 33 are provided in front of the main body 11 than the top brush 30 and side brushes 31 in order to brush the vehicle C as the main body 11 moves forward.

[0027] Furthermore, the car wash device 10 includes a top nozzle 34 (blower nozzle) and a pair of side nozzles 35 (blower nozzles) provided on the main body 11 as a washing device. The top nozzle 34 is housed in the beam frame 11b of the gate-shaped main body 11 when in standby mode. As a movable part, the top nozzle 34 moves up and down without contacting the vehicle C while blowing air as the main body 11 moves, and can mainly dry the top surface of the vehicle C. The pair of side nozzles 35 are each housed in the leg frame 11a of the gate-shaped main body 11 when in standby mode. As movable parts, the pair of side nozzles 35 open and close without contacting the vehicle C while blowing air as the main body 11 moves, and can mainly dry the sides of the vehicle C.

[0028] Furthermore, the car wash device 10 is equipped with a vehicle detection unit 36 ​​on the main body 11 for detecting the shape of the vehicle C. The vehicle detection unit 36 ​​is located on the front side of the main body 11 and extends in the upright direction of the main body 11 (in the direction of the vehicle height of the vehicle C). The vehicle detection unit 36 ​​can detect the shape of the vehicle C using a known method, for example, a photoelectric sensor. More specifically, as the main body 11 moves, it can read the shape (silhouette) of the vehicle C from the side. Since the car wash device 10 brushes and washes along the shape of the vehicle C as the main body 11 moves forward, the vehicle detection unit 36 ​​is located in front of the main body 11, ahead of the top brush 30 and side brushes 31.

[0029] The car wash device 10 drives washing devices such as the top brush 30 and top nozzle 34 based on the detection results of the vehicle detection unit 36. By driving the devices in accordance with the shape of the vehicle C acquired by the vehicle detection unit 36, it is possible to prevent, for example, the top brush 30 from being pressed too hard against the vehicle C during brushing, and to prevent the top nozzle 34 from coming into contact with the vehicle C during drying.

[0030] Figure 6 is a block diagram showing the control system of this embodiment. The car wash device 10 includes a control unit 50 (for example, a semiconductor element or an electronic circuit board on which it is mounted) as shown in Figure 6. The control unit 50 is located in the main body 11 and is electrically connected to a driving encoder 16, a front / rear switch 17, a tire detection device 21, a display device 22, a gate device 23, a vehicle detection unit 36, a reception device 51, and a drive unit 52. The control unit 50 executes a pre-programmed sequence (means) based on signals and data from the reception device 51 and the like.

[0031] The control unit 50 includes a driving detection means 53, a vehicle shape detection means 54, a vehicle shape data creation means 55, a vehicle shape data storage means 56, and a processing means 57.

[0032] The driving detection means 53 can detect the driving position (movement position) of the main unit 11 from the pulse signal of the driving encoder 16 and the signal of the front / rear switch 17. The vehicle shape detection means 54 can detect the top surface shape of the vehicle C by driving the vehicle detection unit 36 ​​each time the vehicle moves a unit distance triggered by the pulse signal of the driving encoder 16. The vehicle shape data creation means 55 can create vehicle shape data (vehicle shape data) from the detection results of the driving detection means 53 and the vehicle shape detection means 54. The vehicle shape data storage means 56 can store the vehicle shape data. The processing means 57 can control the driving of various washing processing devices and the driving motor 15, etc., via the drive unit 52 based on the vehicle shape data, etc.

[0033] The control unit 50 further includes contour line extraction means 58, object identification means 59, and overhang determination means 60. The contour line extraction means 58 can extract contour lines of objects present in images captured by cameras 19a and 19b. More specifically, the contour line extraction means 58 focuses on a specific coordinate range in the image (at least the range in which either guide 20a or 20b is visible) and applies appropriate filtering operations related to smoothing and brightness gradient detection to the pixel values ​​within that coordinate range, thereby extracting contour lines of objects present within the specific coordinate range including guides 20a and 20b.

[0034] The object identification means 59 can identify the contour lines of guides 20a and 20b from the contour lines extracted by the contour line extraction means 58. More specifically, for example, the object identification means 59 can determine the length of each contour line extracted by the contour line extraction means 58 (i.e., the number of pixels of that contour line) and identify contour lines having a predetermined length. In this case, by setting the predetermined length related to contour line identification as, for example, the longitudinal length of guides 20a and 20b, the object identification means 59 can identify the contour lines of guides 20a and 20b from the extracted contour lines.

[0035] Furthermore, the criteria for identifying guides 20a and 20b are not limited to their length. For example, thresholds may be set for the brightness value of pixels or the depth distance of each contour line from camera 19a or 19b and used to identify guides 20a and 20b. Also, the predetermined length for identifying guides 20a and 20b does not necessarily have to be an absolute value; for example, a range may be set as a value that allows for the inference that line segments with a length greater than or equal to that value are guides 20a and 20b.

[0036] The overhang determination means 60 can determine the left-right deviation (i.e., overhang from the proper stopping range) of the vehicle C that is stopped or moving between the rails 12, based on whether the object identification means 59 was able to identify the contour lines of the guides 20a and 20b.

[0037] A situation in which the object identification means 59 cannot identify the contour lines of guides 20a and 20b is, for example, a situation in which vehicle C partially (or entirely) overlaps guides 20a and 20b, as shown in Figure 7. In the situation in Figure 7, in the images captured by cameras 19a and 19b, both guides 20a and 20b appear to be partially missing. Let's assume that the contour line extraction means 58 performs contour line extraction processing on such an image, and the object identification means 59 performs contour line identification processing for guides 20a and 20b. In this case, the object identification means 59 cannot detect contour lines having a predetermined length (in this embodiment, the length of guides 20a and 20b). This is because vehicle C partially covers guides 20a and 20b, and the contour lines of guides 20a and 20b in the image are extracted as line segments shorter than their actual length.

[0038] As described above, guides 20a and 20b are drawn on the ground G as position indicators for the proper stopping range. Therefore, when a vehicle C covers guide 20a or 20b, it can be determined that the vehicle C is deviating from or going beyond the proper stopping range. In this way, the deviation determination means 60 can determine whether the vehicle C is properly entering (or has properly entered) the space between the rails 12, based on whether the object identification means 59 was able to identify the contour lines of guides 20a and 20b.

[0039] As described above, the car wash device 10 is equipped with various means (functions), and each means is executed by the control unit 50. Although each means has been described as being provided by the control unit 50, some of them may be provided as separate components or devices from the control unit 50. For example, means related to the contour line detection processing of guides 20a and 20b (i.e., in this embodiment, contour line extraction means 58, image storage means 59, and image determination means 60) may be mounted on a separate control board and communicated with the control unit 50. Contour line detection processing for guide 20a and contour line detection processing for guide 20b may also be mounted on separate control boards.

[0040] Next, an example of the operation of the car wash device 10 will be explained based on the flowchart in Figure 8.

[0041] When the car wash system 10 receives a registration from a user at the reception device 51 [1], it opens the barrier arm of the gate device 23 and guides the user via the display device 22 to move the vehicle C to the position of the tire detection device 21 [2]. Furthermore, the car wash system 10 uses cameras 19a and 19b to image the area around guides 20a and 20b. This imaging process is repeated at predetermined time intervals until the vehicle C has entered the area (or until the accepted washing process is canceled) [3].

[0042] Each time the aforementioned imaging process is performed and an image of the area around guides 20a and 20b is obtained, the control unit 50 extracts the contour lines of objects in the image using the contour line extraction means 58. The object identification means 59 determines the length of each contour line extracted by the contour line extraction means 58 and identifies the contour lines of guides 20a and 20b [4]. If the object identification means 59 cannot identify the contour lines of guides 20a and 20b, it can be determined that vehicle C is partially (or entirely) overlapping guide 20a or 20b. In other words, it can be determined that vehicle C is outside the proper stopping range and has shifted to the left or right (to either side of the pair of rails 12).

[0043] The car wash device 10 can provide guidance to the driver of vehicle C in accordance with the determination of the object identification means 59. In this embodiment, the car wash device 10 provides guidance to the driver of vehicle C according to the identification status of the contour lines of guides 20a and 20b [5]. If the object identification means 59 has not identified the contour lines of guides 20a and 20b, and the tire detection device 21 has detected the tires of vehicle C, the display device 22 will guide the driver of vehicle C to reverse once to eliminate the left-right bias between lanes 12 (i.e., exceeding the proper stopping range) and re-enter the position of the tire detection device 21 [6]. If the object identification means 59 has not identified the contour lines of guides 20a and 20b, and the tire detection device 21 has not detected the tires of vehicle C, the display device 22 will guide the driver to correct the left-right bias between rails 12 and proceed [7].

[0044] If the object identification means 59 identifies the contour lines of guides 20a and 20b, the car wash device 10 guides the vehicle to continue straight ahead using the display device 22 [8]. If the object identification means 59 identifies the contour lines of guides 20a and 20b and the tire detection device 21 detects the tires of vehicle C [9], the gate device 23 lowers its barrier arm, indicating that the vehicle has entered the gate properly

[10] , and the washing process selected by the reception device 51 is started

[11] .

[0045] For example, if the reception device 51 selects a process in which the main unit 11 moves back and forth 1.5 times on the rail 12 to perform cleaning (1.5-back-back car wash course), the car wash device 10, as the first forward step, moves the main unit 11 forward (forward travel) while detecting the vehicle C with the vehicle detection unit 36, and sprays cleaning water and cleaning agent from the top spray 32 and side spray 33. Furthermore, in accordance with the shape of the vehicle C determined by the vehicle detection unit 36, the top brush 30 and side brush 31 are used to brush and clean the surface of the vehicle C.

[0046] Next, as a re-process, the car wash device 10 moves its main body 11 backward (reverse movement) while spraying washing water onto the vehicle C from the top spray 32 and side spray 33 to wash away dirt and detergent.

[0047] Finally, in the second forward process, the car wash device 10 moves its main body 11 forward (forward travel) while blowing air onto the vehicle C using the top nozzle 34, etc., to remove water droplets and dry it. After that, the display device 22 guides the user to exit the vehicle, and the washing process is completed.

[0048] Thus, in this embodiment, when a vehicle C enters, the car wash device 10 identifies guides 20a and 20b provided on the vehicle C's entry path, rather than the vehicle C itself. Guides 20a and 20b are provided in positions where they are partially or entirely hidden by the vehicle C if the vehicle C extends beyond a predetermined range. Therefore, by extracting the contour lines of guides 20a and 20b, the car wash device 10 can determine the deviation of the vehicle C's stopping position or moving position without being affected by the shape of the vehicle C.

[0049] Because the shapes of guides 20a and 20b are less complex than those of typical vehicles and are easy to identify, the deviation between the stopping position and the moving position of vehicle C can be determined with high accuracy.

[0050] (Embodiment 2) In the above embodiment 1, we described a case in which the guides 20a and 20b, which are objects to be identified, are identified by extracting contour lines from images captured by cameras 19a and 19b using contour line extraction means 58, and then determining the length of each obtained contour line using object identification unit 59. However, the method for detecting guides 20a and 20b is not limited to this method.

[0051] Guides 20a and 20b may be detected, for example, as regions on images captured by cameras 19a and 19b. In this embodiment, a car wash device 10A having region classification means 90 and overhang determination means 91 will be described.

[0052] The control unit 50A of the car wash device 10A includes a region classification means 90 and an overflow detection means 91. The region classification means 90 can perform segment extraction processing on images captured by cameras 19a and 19b. More specifically, the region classification means 90 can classify which of a number of predefined regions each pixel of the images captured by cameras 19a and 19b belongs to, based on training data (training model) learned by a machine learning algorithm such as deep learning.

[0053] The multiple regions to be classified by the region classification means 90 may be set as, for example, the region occupied by the ground G in the image, the region occupied by guides 20a and 20b (i.e., the object to be identified), and the region occupied by the vehicle being washed. As training data, for example, a group of images consisting of images taken by cameras 19a and 19b and region labels corresponding to each pixel of those images may be used. By using the trained model thus generated as a region classification engine, the region classification means 90 can determine which regions of an image newly taken by cameras 19a and 19b are guides 20a and 20b each time.

[0054] The overhang detection means 91 can determine whether guides 20a and 20b are covered by vehicle C by comparing the area on the image occupied by each pixel classified as guides 20a and 20b by the area classification means 90 with pre-stored images of guides 20a and 20b. For this comparison process, for example, a machine learning algorithm as described above or a template matching process may be used.

[0055] For example, the overhang detection means 91 may be configured to pre-store images of guides 20a and 20b that are not covered by the vehicle body, and to determine the similarity of these images each time cameras 19a and 19b take new pictures of guides 20a and 20b. With this configuration, the overhang detection means 91 can determine that guides 20a and 20b are covered by vehicle C if the similarity is below a predetermined value. The state in which guides 20a and 20b are covered by vehicle C is equivalent to the state in which vehicle C is deviating from or overhanging the proper stopping position.

[0056] Although the present invention has been specifically described above based on embodiments, it goes without saying that the present invention is not limited to the above embodiments and can be modified in various ways without departing from its essence.

[0057] For example, the means for identifying guides 20a and 20b by contour line extraction described in Embodiment 1 and the means for identifying guides 20a and 20b by region detection described in Embodiment 2 may both be mounted on the car wash device to improve identification accuracy. The means for identifying guides 20a and 20b can be appropriately adapted to the shapes of guides 20a and 20b.

[0058] Furthermore, the cameras 19 and guides 20 do not necessarily have to be installed in multiple locations. The number of cameras 19 and guides 20 can be changed depending on the structure of the main unit 11 and the specific location where the main unit 11 is installed.

[0059] Furthermore, the shape of the main body 11 does not necessarily have to be gate-shaped. For example, the main body may be provided in the shape of a column that stands vertically to the ground G. In addition, the car wash device may be configured so that the main body 11 does not move back and forth during washing, but rather the vehicle C moves along it (or the vehicle C is moved by a conveyor or the like). [Explanation of symbols]

[0060] 10 Car wash equipment 11 Main body 12 rails 19a Camera 19b Camera 20a Guide 20b Guide 21 Tire detection device 22 Display device 50 Control Unit 57 Processing means 58 Contour extraction means 59 Object identification means 60 Overhang detection means

Claims

1. A car wash device having a gate-shaped main body, multiple rails provided on the ground, an imaging unit, an object to be identified, and a control unit, The main body is capable of running on the plurality of rails, The object to be identified is provided along each of the rails between the plurality of rails, The main body is capable of traveling over a vehicle stopped between the objects to be identified and washing the vehicle. The control unit, Object identification means for identifying the object to be identified in the image captured by the imaging unit, The vehicle position determination means is capable of determining the position of the vehicle to be cleaned based on the identification result of the object identification means. If the object identification means identifies that, after the vehicle begins to enter the space between the rails, part or all of the object to be identified is obstructed and not captured in the image, the vehicle position determination means determines that the position of the vehicle to be washed is inappropriate. A car wash device characterized by the following features.

2. The car wash device according to claim 1, characterized in that the imaging unit is provided in the main body.

3. The car wash device according to claim 1 or 2, characterized in that the vehicle position determination means determines the position of the vehicle while the vehicle is moving toward a predetermined stopping position.

Images