Car washing machine

Abstract

To accurately determine self-driving of a vehicle washed by a car washing machine.SOLUTION: A car washing machine (2) includes a car washing machine body (4) for washing a vehicle while relatively moving to the vehicle (X), a control part for controlling the car washing machine body, and a self-driving determination part (54) for determining self-driving of the vehicle. The control part controls the car washing body so as to allow a sensor (52) included in the car washing machine body to detect the vehicle. The self-driving determination part determines self-driving of the vehicle according to change of a detection result of the vehicle by the sensor in at least a part of a period during which the car washing machine body washes the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a car wash machine that washes vehicles and a method for controlling the car wash machine. [Background technology]

[0002] Patent Document 1 describes a technology for a car wash machine, which moves relative to a vehicle while washing the vehicle, to determine whether the vehicle is moving independently. In particular, Patent Document 1 describes a technology for determining whether the vehicle is moving independently based on the positions of the main body frame at the times when two vehicle body sensors, which are spaced apart from each other in the front-rear direction of the vehicle, detect the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-210007 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order to determine whether the vehicle is moving independently using the technology described in Patent Document 1, it is necessary to obtain the position of the main body frame at the time when each of the two body sensors detects the vehicle. Generally, the vehicle shape sensor is often installed on the front side of the car wash machine main body in order to identify the shape of the vehicle before the car wash machine main body washes the vehicle. Therefore, depending on the stopping position of the vehicle, the front end of the vehicle may already be located inside the car wash machine main body relative to the vehicle shape sensor before the car wash machine main body washes the vehicle.

[0005] In this case, after the car wash machine body starts to move relative to the vehicle to wash the vehicle, the vehicle shape sensor cannot correctly detect the front end of the vehicle, which is the basis for determining whether the vehicle is self-propelled. Therefore, with the technology described in Patent Document 1, the position of the main body frame at the time when each vehicle body sensor detects the vehicle cannot be specified, and there are cases where it is not possible to correctly determine whether the vehicle is self-propelled.

[0006] Furthermore, in order to determine whether a vehicle is moving independently using the technology described in Patent Document 1, it is necessary for two sensors located apart from each other in the front-rear direction of the vehicle to detect the vehicle. Therefore, with the technology described in Patent Document 1, the time required to determine whether the vehicle is moving independently may be longer or the number of such determinations may be reduced, which may result in a decrease in the accuracy of determining whether the vehicle is moving independently.

[0007] In this way, when determining whether a vehicle is moving independently based only on information at the time when the sensor detects the vehicle, the accuracy of the determination of whether the vehicle is moving independently may decrease. [Means for solving the problem]

[0008] A car wash machine according to one aspect of the present disclosure comprises a car wash machine main body that washes a vehicle by moving relative to the vehicle in the forward / backward direction, a control unit that controls the car wash machine main body, and a self-propelled determination unit that determines whether the vehicle is self-propelled, wherein the car wash machine main body includes a sensor that detects the vehicle, the control unit controls the sensor to detect the vehicle, and the self-propelled determination unit determines whether the vehicle is self-propelled based on a change in the detection result of the vehicle by the sensor during a predetermined period that is at least a part of the period during which the car wash machine main body washes the vehicle.

[0009] In addition, a control method for a car wash machine according to one aspect of the present disclosure is a control method for a car wash machine equipped with a car wash machine main body that washes a vehicle by moving relatively to the vehicle in a forward / backward direction, the car wash machine main body including a sensor that detects the vehicle, and includes a washing process in which the car wash machine main body washes the vehicle, a detection process in which the sensor detects the vehicle during a predetermined period which is at least a part of the washing process, and a self-propelling determination process in which the vehicle is self-propelled based on a change in the detection result of the vehicle by the sensor during the predetermined period. Effect of the Invention

[0010] Since the change in the detection result of the sensor for the vehicle to be washed over a certain period of time is taken into consideration, rather than just the detection result at the time when the sensor detects the vehicle to be washed, the self-propelled state of the vehicle can be determined with high accuracy. [Brief description of the drawings]

[0011] [Figure 1] 5 is a process side view for explaining a method of controlling the car wash machine in a guidance process according to the first embodiment. FIG. [Diagram 2] 1A and 1B are a schematic side view and a schematic front view showing a car wash machine according to a first embodiment. [Diagram 3] 4 is a flowchart for explaining a control method for the car wash machine according to the first embodiment. [Figure 4] 5 is a flowchart for explaining a method for controlling the car wash in a guidance process according to the first embodiment. [Diagram 5] 4 is a flowchart for explaining a method for controlling the car wash machine in a first washing step according to the first embodiment. [Figure 6] 4 is a process side view for explaining a method of controlling the car wash machine in a first washing process according to the first embodiment. FIG. [Figure 7] 5 is a flowchart for explaining a method for controlling the car wash machine in a second washing step according to the first embodiment. [Figure 8] 4 is an example of a graph plotting vehicle height data obtained in a first cleaning step and a second cleaning step according to the first embodiment. [Figure 9] 10 is a flowchart for explaining a method for controlling a car wash machine in a guidance process according to the second embodiment. [Figure 10] 11 is a process side view for explaining a method of controlling the car wash machine in a guidance process according to the second embodiment. FIG. [Figure 11] 11 is a flowchart for explaining a method for controlling the car wash machine in a second washing step according to the third embodiment. [Figure 12] 13 is another example of a graph plotting vehicle height data obtained in the first cleaning step and the second cleaning step according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] [Embodiment 1] <Car wash machine overview> 2 is a schematic diagram showing a schematic side view 2S of the car wash machine main body 4 and the remote panel 6 of the car wash machine 2 according to this embodiment, and a schematic front view 4F of the car wash machine main body 4. As shown in FIG. 2, the car wash machine 2 according to this embodiment includes the car wash machine main body 4 that washes the vehicle X, which is a vehicle to be washed. The car wash machine 2 further includes a remote panel 6 that acquires the car wash conditions of the vehicle X by the car wash machine main body 4. In the schematic side view 2S, the outline of the vehicle X is shown by a dotted line to indicate that the vehicle X is located further back than the remote panel 6 toward the page.

[0013] In this specification, a sedan-type vehicle will be described as an example of the vehicle X. For example, the vehicle X has a bonnet, a windshield, a roof, a rear glass, and a trunk on its upper surface in this order from the front. However, in this specification, the type and shape of the vehicle X are not particularly limited as long as it can be washed by the car wash machine main body 4.

[0014] As shown in a schematic front view 4F, the car wash machine main body 4 includes, for example, two frames 8 and a ceiling portion 10 connecting the upper ends of the two frames 8. The car wash machine main body 4 has a structure that allows the vehicle X to pass through a space 4S surrounded by the frames 8 and the ceiling portion 10 along an approach direction DA of the vehicle X, as shown in a schematic side view 2S. In this specification, the approach direction DA is defined as a direction from the front surface 4A to the rear surface 4B of the car wash machine main body 4. In this embodiment, the front surface 4A is, for example, a surface on which an operation panel 42, which will be described later, is provided.

[0015] <Car wash machine body> The car wash machine body 4 has wheels 12 at the bottom of each of the frames 8, and moves relatively to the vehicle X in the front-rear direction along rails R arranged on the ground G by rotating the wheels 12 using a drive unit (not shown). The rails R are formed along the approach direction DA, for example. Here, the car wash machine body 4 washes the vehicle X in the space 4S while moving relatively to the vehicle X.

[0016] The car wash machine main body 4 is provided with a plurality of rotating brushes that slide over and brush the vehicle X as one of the cleaning parts. For example, the rotating brushes provided in the car wash machine main body 4 include a top brush 14, a side brush 16, and a rocker brush 18, each of which is rotated by a rotary motor (not shown). The top brush 14 slides along the top surface of the vehicle X and washes the top surface of the vehicle X. The side brush 16 and the rocker brush 18 wash both side surfaces of the vehicle X.

[0017] A tank storage section 20 is disposed on the side of the car wash machine main body 4, and stores multiple liquid storage tanks (not shown) that store various liquid agents including detergent or wax. A distribution piping section 22 is provided above the tank storage section 20, and distributes water including city water or liquid agents from each liquid storage tank. From the distribution piping section 22, a first water purification nozzle 24, a second water purification nozzle 26, a first detergent nozzle 28, a second detergent nozzle 30, a water-repellent coating nozzle 32, and a wax nozzle 34, which are included in the cleaning section, are each led out via an electromagnetic valve (not shown).

[0018] The first water purification nozzle 24 and the second water purification nozzle 26 are arranged on the front surface 4A and rear surface 4B of each frame 8 of the car wash machine main body 4, respectively, and spray water including city water onto the vehicle X. The first detergent nozzle 28 and the second detergent nozzle 30 are arranged on the front surface 4A and rear surface 4B of each frame 8, respectively, and spray cleaning liquid including shampoo etc. onto the vehicle X. The water-repellent coating nozzle 32 and the wax nozzle 34 are arranged on the rear surface 4B of the car wash machine main body 4. The water-repellent coating nozzle 32 sprays a liquid water-repellent coating agent onto the vehicle X. The wax nozzle 34 sprays wax onto the vehicle X.

[0019] The car wash machine main body 4 is also provided with a blower 36 that generates an air current to dry the vehicle X. A top air blowing nozzle 38 and a side air blowing nozzle 40 are connected to the blower 36. The top air blowing nozzle 38 is provided at the upper center of the car wash machine main body 4 and blows air toward the ceiling surface of the vehicle X. The side air blowing nozzle 40 is provided on both sides of the car wash machine main body 4 and blows air toward the sides of the vehicle X. The car wash machine main body 4 dries the vehicle X after washing by blowing air from the top air blowing nozzle 38 and the side air blowing nozzle 40.

[0020] In addition, in Fig. 2, for simplicity of illustration, the illustration of each device for washing the vehicle X provided in the car wash machine main body 4 may be omitted. Also, each device provided in the car wash machine main body 4 shown in Fig. 2 is merely an example, and the car wash machine main body 4 may include, in addition to the above-mentioned devices, a device for washing the vehicle X and a device for assisting the washing, including a conventionally known configuration, on the frame 8 or the ceiling part 10.

[0021] An operation panel 42 is disposed on the front of one of the frames 8 of the car wash machine main body 4. The operation panel 42 includes operation buttons (not shown) for setting the car wash conditions. For example, a user who has got off the vehicle X, or another technician, etc. may operate the operation buttons to set the car wash conditions, etc.

[0022] <Control unit and remote panel> Furthermore, the car wash machine 2 includes a control unit 44 that controls the car wash machine main body 4. In particular, the control unit 44 controls the movement of the car wash machine main body 4 along the rail R and the operation of each part of the cleaning unit, thereby controlling the washing of the vehicle X by the car wash machine main body 4. The control unit 44 may be provided in the car wash machine main body 4 as shown in FIG. 2, or may be located outside the car wash machine main body 4. The control unit 44 may transmit and receive information between the car wash machine main body 4 or a remote panel 6 described later by a communication device (not shown) or the like, and control the car wash machine main body 4. The control unit 44 is composed of a processor such as a CPU, for example, and each control is realized by executing a control program stored in a memory on the processor.

[0023] The remote panel 6 is, for example, located on the front side of the car wash machine main body 4, and is disposed approximately along the moving direction of the car wash machine main body 4. As shown in Fig. 2, the remote panel 6 is disposed so that its front surface faces the side surface of the vehicle X before it is washed by the car wash machine main body 4, in other words, before it enters the inside of the car wash machine main body 4. For this reason, the rear surface of the remote panel 6 is illustrated in Fig. 2.

[0024] 2, the remote panel 6 includes a housing 46 and a support pole 48 that is erected on the ground G and supports the housing 46. The remote panel 6 may acquire at least a portion of the car wash conditions for the vehicle X to be washed by the car wash machine main body 4 through the operation of a touch panel or buttons (not shown) provided on the housing 46. The control unit 44 may control the car wash machine main body 4 based on at least a portion of the car wash conditions acquired by the remote panel 6 to wash the vehicle X.

[0025] <Sensor> The car wash machine body 4 further includes an outlet sensor 50 and a vehicle-shaped sensor 52 as sensors. The outlet sensor 50 is located closer to the rear surface 4B of the car wash machine body 4 than the above-mentioned side brushes 16, and the vehicle-shaped sensor 52 is located closer to the front surface 4A of the car wash machine body 4 than the side brushes 16.

[0026] Generally, when vehicle X enters and stops at the car wash site where car wash machine 2 is located, vehicle X stops in front of car wash machine main body 4 with its front facing toward car wash machine main body 4, as shown in Fig. 2. Therefore, vehicle X is generally washed by car wash machine main body 4 with its front facing in the direction from front surface 4A to rear surface 4B of car wash machine main body 4. Therefore, while vehicle X is being washed by car wash machine main body 4, outlet sensor 50 is located forward of side brush 16 in the front-rear direction of vehicle X, and vehicle shape sensor 52 is located rearward of side brush 16 in the front-rear direction of vehicle X, as shown in Fig. 2.

[0027] The exit sensor 50 is a sensor that detects whether or not the vehicle X has exited the car wash site after the washing of the vehicle X by the car wash machine main body 4 is completed. The exit sensor 50 may be, for example, an optical axis sensor. In other words, the exit sensor 50 may be a sensor that determines whether or not an object exists between a certain optical element and the optical sensor by determining whether or not an optical sensor corresponding to the optical element detects electromagnetic waves such as infrared rays emitted from the optical element. In this case, the exit sensor 50 may determine that the vehicle X exists between the optical element and the optical sensor when the electromagnetic waves from the optical element are not detected by the optical sensor.

[0028] For example, after the washing of the vehicle X by the car wash machine main body 4 is completed, the control unit 4 may move the car wash machine main body 4 to the rear of the vehicle X, and then guide the user in the vehicle X to leave by voice from the speaker of the car wash machine main body 4 or by video on the monitor of the car wash machine main body 4. Here, the position of the car wash machine main body 4 after the washing of the vehicle X is completed may be a position where the exit sensor 50 detects the vehicle X. In this case, when the user moves the vehicle X out of the car wash, the exit sensor 50 will no longer detect the vehicle X. Note that the vehicle X may leave the car wash by moving forward and passing through the space 4S on the rear side 4B side of the car wash machine main body 4. Alternatively, the vehicle X may leave the car wash by moving backward and exiting the space 4S toward the front side 4A side of the car wash machine main body 4.

[0029] Therefore, the exit sensor 50 may detect the exit of the vehicle X from the car wash site because the exit sensor 50 no longer detects the vehicle X after the washing of the vehicle X is completed. After the exit sensor 50 detects the exit of the vehicle X from the car wash site, the control unit 44 may control each part, including the movement of the car wash machine main body 4, to accept the next vehicle X to be washed.

[0030] The vehicle shape sensor 52 is a sensor for measuring the outer shape of the vehicle X to be washed. In particular, the vehicle shape sensor 52 detects the height of the vehicle X crossing a predetermined point. For example, the vehicle shape sensor 52 may be configured as a multi-axis optical axis sensor in which a light emitting unit and a light receiving unit are arranged in pairs on the front side of the frame 8 of the car wash machine main body 4 and on the space 4S side of the frame 8. Here, in the multi-axis optical axis sensor, each optical axis sensor is arranged so that multiple optical axes are lined up in the vertical direction and each optical axis is on a substantially horizontal plane. Therefore, each optical axis sensor in the multi-axis optical axis sensor is configured to be able to detect the presence or absence of a vehicle at different heights. In this case, the vehicle shape sensor 52 may detect the height of the vehicle X by, for example, checking the number of optical axis sensors that detect the vehicle X while the car wash machine main body 4 moves relatively from the front side to the rear side of the vehicle X.

[0031] As a result, the car wash machine main body 4 can estimate the height of the vehicle X for each position in a planar view from a change in the number of optical axis sensors that detect the vehicle X among the multi-axis optical axis sensors included in the vehicle shape sensor 52. In other words, the vehicle shape sensor 52 generates information for estimating at least a part of the shape of the vehicle X. As a result, the vehicle shape sensor 52 may determine at least a part of the outer shape of the vehicle X for each position in a planar view. The control unit 44 may control each part of the cleaning unit to wash the vehicle X based on the outer shape of the vehicle X determined by the vehicle shape sensor 52.

[0032] The car wash machine main body 4 further includes a self-propelling determination unit 54. The self-propelling determination unit 54 determines whether the vehicle X is self-propelled or not. A method for determining whether the vehicle X is self-propelled by the self-propelling determination unit 54 and control of the car wash machine main body 4 by the control unit 44 when the self-propelling determination unit 54 determines that the vehicle X is self-propelled will be described in detail later.

[0033] <Reception process> A method for washing a vehicle X using the car wash machine 2 will be described by explaining a method for controlling the car wash machine 2 with reference to Fig. 3. Fig. 3 is a flow chart showing an example of the method for controlling the car wash machine 2.

[0034] In the control method of the car wash machine 2 according to this embodiment, first, as a reception process, the control unit 44 controls each part of the car wash machine main body 4 or the remote panel 6 to receive a request for washing the vehicle X from a user of the vehicle X, etc. (step S2).

[0035] The control method of each part of the car wash machine 2 in the reception process will be described in more detail with reference to Fig. 1 and Fig. 4. Fig. 1 and Fig. 4 are a process side view and a flowchart, respectively, for explaining the control method of each part of the car wash machine 2 in the reception process. In this embodiment, the control method of the car wash machine 2 for determining whether the vehicle X is self-propelled in the reception process will also be described with reference to Fig. 1 and Fig. 4.

[0036] For ease of explanation, only some of the components of the car wash machine 2 are illustrated in Fig. 1. In particular, among the components of the car wash machine main body 4, Fig. 1 illustrates a frame 8, and also illustrates only the vehicle shape sensor 52 and the self-propelled determination unit 54 through the frame 8. Furthermore, in Fig. 1, the vehicle X is illustrated by a dotted line, and when the car wash machine main body 4 and the vehicle X overlap when viewed from the side of the car wash machine main body 4, the vehicle X is illustrated through the car wash machine main body 4. Furthermore, the shapes of the car wash machine main body 4 and the components of the vehicle X illustrated in Fig. 1 may be simplified compared to the shapes of the car wash machine main body 4 and the components of the vehicle X illustrated in Fig. 2 and the like.

[0037] 4, in the reception process, first, the control unit 44 controls each unit of the car wash machine main body 4 or the remote panel 6 to obtain the car wash conditions of the vehicle X from the user of the vehicle X or the like (step S2-2). For example, the control unit 44 controls the remote panel 6 or the operation panel 42 to receive operations of the remote panel 6 or the operation panel 42 or the like from the user. As a result, the car wash machine 2 obtains information such as the setting of the car wash conditions of the vehicle X and the payment of the car wash fee from the user.

[0038] Next, the control unit 44 controls the speaker or monitor of the car wash machine main body 4 to guide the user in the vehicle X to move the vehicle X to a predetermined position and stop it (step S2-4). As a result, the vehicle X stops in front of the car wash machine main body 4, for example, as shown in step S2-A of FIG.

[0039] 1 indicates the position where the front end XA of the car wash machine main body 4 in the moving direction is located at the time when step S2-4 is completed, in other words, when the vehicle X is guided and stopped. In other words, if the vehicle X is not self-propelled after step S2-4, the front end XA of the vehicle X continues to be located at position A1. Each step shown in FIG. 1 is illustrated so that the position A1 in the moving direction of the car wash machine main body 4 does not change.

[0040] Next, the control unit 44 controls the car wash machine main body 4 to start preparation for washing the vehicle X by the car wash machine main body 4 (step S2-6). In this embodiment, preparation for washing the vehicle X by the car wash machine main body 4 includes executing a process that should be executed before the start of the relative movement of the car wash machine main body 4 with respect to the vehicle X. For example, the control unit 44 may perform preliminary water discharge by spraying liquid from any of the nozzles described above onto the vehicle X in preparation for washing the vehicle X through the control of the car wash machine main body 4. Note that in this embodiment, the period from when the stopping of the vehicle X is notified to the time when the car wash machine main body 4 prepares to wash the vehicle X is also included in the washing process of washing the vehicle X.

[0041] <Vehicle detection process in the reception process> After starting preparation for washing the vehicle X, the control unit 44 judges, for example, from the control contents of the car wash machine main body 4, whether preparation for washing the vehicle X by the car wash machine main body 4 is completed (step S2-8). If it is judged in step S2-8 that preparation for washing the vehicle X by the car wash machine main body 4 is not yet completed, the control unit 44 judges, through the control of the car wash machine main body 4, whether the vehicle shape sensor 52 has detected a vehicle (step S2-10).

[0042] For example, when none of the optical axis sensors included in the vehicle shape sensor 52 detects the vehicle X, the control unit 44 determines that the vehicle X has not been detected by the vehicle shape sensor 52. In this case, the control unit 44 waits for a predetermined time while, for example, continuing preparations for washing the vehicle X by the car wash machine main body 4 (step S2-12), and then performs the determination of step S2-8 again. On the other hand, when any of the optical axis sensors included in the vehicle shape sensor 52 detects the vehicle X, the control unit 44 determines that the vehicle X has been detected by the vehicle shape sensor 52. In other words, during the period in the reception process in which the movement of the car wash machine main body 4 is stopped, the period during which the control unit 44 determines that the vehicle X has been detected by the vehicle shape sensor 52 is included in the detection process in which the control unit 44 controls the vehicle shape sensor 52 to detect the vehicle X.

[0043] 1, for example, in step S2-4, when the vehicle X stops in front of the car wash machine main body 4 and the vehicle X is not moving by itself, the vehicle shape sensor 52 will not detect the vehicle X unless the car wash machine main body 4 moves with respect to the vehicle X. Therefore, when the vehicle X stops in front of the car wash machine main body 4 and the vehicle shape sensor 52 does not detect the vehicle X, it can be determined that at least the vehicle X is not moving forward by itself.

[0044] On the other hand, when the vehicle X moves forward under its own power after stopping in front of the car wash machine main body 4, as shown in step S2-B of Fig. 1, the vehicle X may move under its own power to a position where the vehicle shape sensor 52 detects the vehicle X. In this case, whether the vehicle X is moving under its own power can be determined based on whether the vehicle shape sensor 52 detects the vehicle X or not.

[0045] However, depending on the stopping position of the vehicle X relative to the car wash machine main body 4 in step S2-4, as shown in step S2-C of FIG. 1, the vehicle shape sensor 52 may already detect the vehicle X immediately after the vehicle X stops, even if the vehicle X is not moving forward. Furthermore, as shown in step S2-D of FIG. 1, the vehicle X may move forward after being detected by the vehicle shape sensor 52 immediately after the vehicle X stops. In this case, even if the vehicle X is moving forward, the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 does not change. For this reason, the self-movement of the vehicle X may not be determined only from the information on the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 at a certain point in time.

[0046] <Changes in vehicle height over time at the reception desk> Here, in this embodiment, even if the control unit 44 determines in step S2-10 that the vehicle X is detected by the vehicle shape sensor 52, the self-propelled determination unit 54 does not immediately determine that the vehicle X is self-propelled. Instead, as shown in Fig. 4, the control unit 44 acquires the height of the part of the vehicle X detected by the vehicle shape sensor 52 through control of the car wash machine main body 4 (step S2-14). For example, the control unit 44 may acquire the height of the vehicle X by acquiring the number of optical axis sensors that detect the vehicle X among the optical axis sensors included in the vehicle shape sensor 52.

[0047] Next, the self-traveling determination unit 54 determines whether the difference between the height of the vehicle X acquired by the control unit 44 in the immediately preceding step S2-14 and the height of the vehicle X acquired in the previous step S2-14 is within a predetermined range (step S2-16). Here, when step S2-16 is executed for the first time, the heights of the two vehicles X to be compared have not been acquired, so no determination is made and step S2-12 is executed. Therefore, as long as the preparation for washing of the vehicle X is not complete and the vehicle shape sensor 52 detects the vehicle X until step S2-14 is executed again, the height of the vehicle X is acquired again in step S2-14, and the heights of the two vehicles X can be compared.

[0048] 1, when the vehicle X is moving forward, the part of the vehicle X detected by the vehicle shape sensor 52 gradually changes from the bonnet to the roof. Accordingly, when the vehicle X is moving forward, the height of the vehicle X detected by the vehicle shape sensor 52 also changes over time.

[0049] 1, even if the vehicle shape sensor 52 has already detected the vehicle X immediately after the guidance of the vehicle X, if the vehicle X is not moving forward by itself, the part of the vehicle X detected by the vehicle shape sensor 52 hardly changes. Accordingly, even if the vehicle shape sensor 52 has already detected the vehicle X when the vehicle X is stopped, if the vehicle X is not moving forward by itself, the height of the vehicle X detected by the vehicle shape sensor 52 hardly changes.

[0050] 1, if the vehicle shape sensor 52 has already detected the vehicle X immediately after the vehicle X is guided and the vehicle X is moving forward, the portion of the vehicle X detected by the vehicle shape sensor 52 gradually changes. Accordingly, if the vehicle shape sensor 52 has already detected the vehicle X when the vehicle X is stopped and the vehicle X is moving forward, the height of the vehicle X detected by the vehicle shape sensor 52 also changes over time.

[0051] Therefore, when the vehicle shape sensor 52 detects the vehicle X and the vehicle X is moving forward by itself, the height of the vehicle X detected by the vehicle shape sensor 52 gradually changes. On the other hand, when the vehicle X is not moving forward by itself, the height of the vehicle X detected by the vehicle shape sensor 52 hardly changes. Therefore, in step S2-16, the self-traveling determination unit 54 can determine whether the vehicle X is moving forward by itself by comparing the changes in the height of the two vehicles X acquired at different times.

[0052] Furthermore, even if the vehicle shape sensor 52 has already detected the vehicle X when the vehicle X is stopped and the vehicle X is self-propelled backward, the height of the vehicle X detected by the vehicle shape sensor 52 changes over time. Therefore, if the vehicle shape sensor 52 has already detected the vehicle X when the vehicle X is stopped, in step S2-16, the self-propelling determination unit 54 can also determine whether the vehicle X is self-propelled backward by comparing the above-mentioned two changes in the height of the vehicle X.

[0053] <Self-running counter> In step S2-16, if the difference in height between the two acquired vehicles X is within a predetermined range, the self-propelled determination unit 54 determines that the possibility of the vehicle X being self-propelled is low, or that the self-propelled distance of the vehicle X does not significantly affect normal washing. In this case, the control unit 44 proceeds to step S2-12 through control of the car wash machine main body 4. On the other hand, in step S2-16, if the difference in height between the two acquired vehicles X is not within a predetermined range, the self-propelled determination unit 54 determines that the possibility of the vehicle X being self-propelled is high. In other words, step S2-16 is included in a self-propelled determination step in which the self-propelled determination unit 54 determines that the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52.

[0054] In step S2-16, if the self-propelling determination unit 54 determines that there is a high possibility that the vehicle X is self-propelled, the control unit 44 increments a self-propelling counter recorded in a recording unit (not shown) provided in the car wash machine main body 4 by 1 through control of the car wash machine main body 4 (step S2-18). The self-propelling counter is, for example, 0 at the start of step S2, and is incremented by 1 each time step S2-18 is executed. The control unit 44 may, for example, record the value of the self-propelling counter incremented by 1 in a recording unit (not shown) provided in the car wash machine main body 4 each time step S2-18 is executed.

[0055] Following step S2-18, the self-propelling determination unit 54 checks the value of the self-propelling counter and determines whether the self-propelling counter has reached a predetermined value (step S2-20). If the self-propelling counter has reached the predetermined value, the self-propelling determination unit 54 determines that the self-propelling of the vehicle X has been confirmed. In other words, step S2-20 is included in a self-propelling determination process in which the self-propelling determination unit 54 determines the self-propelling of the vehicle X according to a change in the detection result of the vehicle X by the vehicle shape sensor 52. If the self-propelling determination unit 54 determines in step S2-20 that the vehicle X has self-propelled, the control unit 44 stops the operation of the car wash machine main body 4 (step S2-22).

[0056] For example, the control unit 44 may then control a speaker of the car wash machine main body 4 or a monitor of the car wash machine main body 4 to inform a user in the vehicle X that the vehicle X is moving under its own power and to guide the user to stop the vehicle X. The control unit 44 may also control each part of the car wash machine main body 4 or the remote panel 6 to accept an operation from the user of the vehicle X, and control the car wash machine main body 4 based on the operation to resume preparation for washing the vehicle X by the car wash machine main body 4.

[0057] On the other hand, if the self-propelling determination unit 54 determines in step S2-20 that the self-propelling counter has not reached the predetermined value, the control unit 44 transitions to step S2-12 through control of the car wash machine main body 4 and executes step S2-8 again. By not stopping the operation of the car wash machine main body 4 until the self-propelling counter reaches the predetermined value, the car wash machine 2 can transition to a normal washing process without detecting the self-propelling of the vehicle X when the vehicle X momentarily propels itself and then stops. Therefore, the car wash machine 2 can reduce erroneous detection of the self-propelling of the vehicle X by step S2-20.

[0058] <Summary of the guidance process> As described above, after the car wash machine main body 4 starts preparing to wash the vehicle X in step S2-6, the control unit 44 repeatedly executes steps S2-8, 10, 12, 14, 16, 18, and 20 through control of the car wash machine main body 4, etc. In particular, the control unit 44 repeatedly executes the above steps until it detects in step S2-8 that the car wash machine main body 4 has completed preparations for washing the vehicle X, or until the self-propelling determination unit 54 determines in step S2-20 that the self-propelling counter has reached a predetermined value.

[0059] As a result, during a period in which the movement of the car wash machine main body 4 is stopped, the self-propelling determination unit 54 of the car wash machine 2 determines whether the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52. In particular, the car wash machine 2 determines whether the vehicle X is self-propelled in response to a change over time in the height of the vehicle X detected by the vehicle shape sensor 52 during that period.

[0060] When the control unit 44 detects in step S2-8 that the preparation for washing the vehicle X by the car wash machine main body 4 is completed, the control unit 44 transitions to the execution of a first washing step, which will be described later, through control of the car wash machine main body 4 (step S2-24). With the above, the guidance step by the car wash machine 2 is completed.

[0061] For example, assume that in step S2-4, the stop position of the vehicle X is guided so that the front end XA of the vehicle X is located immediately before the vehicle shape sensor 52. In this case, even if the vehicle X is not moving under its own power, the vehicle X may be momentarily detected by the vehicle shape sensor 52 due to shaking when the vehicle X stops at the stop position, and may immediately become undetectable by the vehicle shape sensor 52. Furthermore, after the vehicle X stops at the stop position, the front end XA may be repeatedly detected by the vehicle shape sensor 52 due to vibration caused by idling of the vehicle X.

[0062] Even in the above case, the car wash machine 2 proceeds to step S2-12 at the point in time when the vehicle shape sensor 52 no longer detects the vehicle X in step S2-10, as shown in Fig. 4. As a result, the car wash machine 2 according to this embodiment can reduce erroneous determination that the vehicle X is self-propelled, even if the vehicle shape sensor 52 suddenly detects the vehicle X due to shaking or the like of the vehicle X.

[0063] <First cleaning process> Returning to FIG. 3, following the reception step, the control unit 44 controls each part of the car wash machine main body 4, causing the car wash machine 2 to execute the first wash step (step S4). The control method for each part of the car wash machine 2 in the first wash step will be described in more detail with reference to FIG. 5 and FIG. 6. FIG. 5 and FIG. 6 are a flowchart and a side view of the process, respectively, for explaining the control method for each part of the car wash machine 2 in the first wash step. In this embodiment, the control method for the car wash machine 2 to determine whether the vehicle X is self-propelled in the first wash step will also be described with reference to FIG. 5 and FIG. 6.

[0064] 6, as in Fig. 1, for simplicity, only some of the components of the car wash machine 2 will be explained. In Fig. 6, the vehicle X is indicated by a dotted line, and when the car wash machine main body 4 and the vehicle X overlap when viewed from the side of the car wash machine main body 4, the vehicle X is shown through the car wash machine main body 4.

[0065] For example, as shown in step S4-A in Fig. 6, immediately before the execution of the first washing step, the car wash machine main body 4 is located at the front side of the vehicle X. As shown in Fig. 5, in the first washing step, first, the control unit 44 controls the car wash machine main body 4 to start moving forward (step S4-2). Therefore, as shown in step S4-A in Fig. 6, the car wash machine main body 4 starts moving from the front of the vehicle X toward the forward direction D1, which is the direction from the front side to the rear side of the vehicle X.

[0066] Thereafter, in the first washing step, the control unit 44 moves the car wash machine main body 4 in the forward direction D1 while controlling each part of the washing unit, so that the car wash machine main body 4 washes the surface of the vehicle X passing through the space 4S. Unless otherwise specified, the movement of the car wash machine main body 4 and the washing of the surface of the vehicle X by the car wash machine main body 4 continue in each subsequent step. However, the control unit 44 may appropriately vary the movement speed of the car wash machine main body 4 during the first washing step, depending on the content of the washing of the vehicle X by the cleaning unit, and may also appropriately pause the movement of the car wash machine main body 4.

[0067] 6 indicates the position where the front end XA of the car wash machine body 4 in the moving direction is located at the time when step S4-2 is performed, in other words, when the car wash machine body 4 starts moving forward in the forward direction D1 in the first washing step. In other words, if the vehicle X is not moving under its own power after step S4-2, the front end XA of the vehicle X continues to be located at position B1. Each step shown in FIG. 6 is illustrated so that the position B1 in the moving direction of the car wash machine body 4 does not change.

[0068] Returning to FIG. 5, the control unit 44 then continues to move the car wash machine main body 4 in the forward direction D1 to cause the vehicle shape sensor 52 to detect the vehicle X (step S4-4, detection step). Furthermore, following step S4-4, the control unit 44 judges whether the detection of the vehicle X by the vehicle shape sensor 52 continues (step S4-6). For example, as shown in step S4-B of FIG. 6, as long as the vehicle shape sensor 52 and the vehicle X overlap when viewed from the side of the car wash machine main body 4, it is judged in step S4-6 that the detection of the vehicle X by the vehicle shape sensor 52 continues. During the period in the first washing step in which the car wash machine main body 4 is moving, the period in which the control unit 44 judges that the vehicle X is being detected by the vehicle shape sensor 52 is included in the detection step in which the control unit 44 controls the vehicle shape sensor 52 to detect the vehicle X.

[0069] <Changes in vehicle height over time during the first cleaning process> 5, when it is determined in step S4-6 that the detection of vehicle X by the vehicle shape sensor 52 is continuing, the control unit 44 acquires the height of vehicle X at the portion of vehicle X detected by the vehicle shape sensor 52 (step S4-8). The acquisition of the height of vehicle X by the vehicle shape sensor 52 may be performed, for example, by the same method as that of step S2-14 described above.

[0070] Next, the self-propelled determination unit 54 determines whether the difference between the height of the vehicle X acquired in the immediately preceding step S4-8 and the height of the vehicle X acquired in the previous step S4-8 is within a predetermined range (step S4-10). Here, when step S4-10 is executed for the first time, the heights of the two vehicles X to be compared have not been acquired, so the self-propelled determination unit 54 does not make the determination in step S4-10. Instead, the control unit 44 advances the car wash machine main body 4 in the forward direction D1 by a predetermined distance (step S4-12) and continues washing the vehicle X by the car wash machine main body 4. Following step S4-12, the control unit 44 again makes the determination in step S4-6. Therefore, as long as the vehicle shape sensor 52 detects the vehicle X until step S4-6 is executed again, the height of the vehicle X is acquired again in step S4-8, and the self-propelled determination unit 54 can compare the heights of the two vehicles X in step S4-10.

[0071] The height data of the vehicle X at each position of the vehicle X acquired in step S4-8 in the first washing step is recorded in a recording unit (not shown) by the control unit 44. In particular, each piece of height data of the vehicle X is linked to position information in the front-rear direction of the vehicle X and recorded as vehicle height information. The vehicle height information linked to the position information of the vehicle X is used for washing the vehicle X in the second washing step described in detail later and for determining whether the vehicle X is self-propelled.

[0072] In the first washing step, the car wash machine main body 4 washes the vehicle X while moving forward in the forward direction D1. For this reason, for example, as shown in step S4-B of Fig. 6, when the vehicle X is moving forward, the part of the vehicle X detected by the vehicle shape sensor 52 gradually changes from the bonnet to the roof. Accordingly, while the car wash machine main body 4 is moving forward, the height of the vehicle X detected by the vehicle shape sensor 52 also changes over time. In particular, when the part of the vehicle X detected by the vehicle shape sensor 52 is from the bonnet to the roof, the height of the vehicle X detected by the vehicle shape sensor 52 increases over time.

[0073] Here, as shown in step S4-C of Fig. 6, when the vehicle X is moving forward after the car wash machine main body 4 moves forward, the part of the vehicle X detected by the vehicle shape sensor 52 changes from the bonnet to the roof more quickly compared to when the vehicle X is not moving forward. Accordingly, when the vehicle X is moving forward, the height of the vehicle X detected by the vehicle shape sensor 52 may also change more rapidly compared to when the vehicle X is not moving forward. In particular, when the part of the vehicle X detected by the vehicle shape sensor 52 is from the bonnet to the roof and the vehicle X is moving forward, the height of the vehicle X detected by the vehicle shape sensor 52 increases rapidly.

[0074] 6, when the vehicle X is moving backward after the car wash machine main body 4 moves forward, the change in the part of the vehicle X detected by the vehicle shape sensor 52 becomes slower than when the vehicle X is not moving forward. In particular, when the forward speed of the car wash machine main body 4 and the backward speed of the vehicle X are substantially the same, the part of the vehicle X detected by the vehicle shape sensor 52 does not change substantially. Accordingly, when the vehicle X is moving backward, the increase in the height of the vehicle X detected by the vehicle shape sensor 52 may be smaller than when the vehicle X is not moving backward. In particular, when the part of the vehicle X detected by the vehicle shape sensor 52 is from the bonnet to the roof and the vehicle X is moving backward, the increase in the height of the vehicle X detected by the vehicle shape sensor 52 decreases.

[0075] Therefore, in step S4-10, when vehicle X is moving under its own power, the difference in height between the two acquired vehicles X may be larger or smaller than expected compared to the value detected when vehicle X is not moving under its own power. As a result, in step S4-10, when the difference in height between the two acquired vehicles X is larger or smaller than a predetermined range, it can be determined that there is a high possibility that vehicle X is moving under its own power.

[0076] The difference in height between the two vehicles X acquired in step S4-10 varies depending on the position of the part of vehicle X measured by the vehicle shape sensor 52 and the type of vehicle X. For example, if vehicle X is a sedan type vehicle, the vehicle shape sensor 52 initially measures the height of vehicle X from the bonnet to the roof, so that the height of vehicle X measured by the vehicle shape sensor 52 gradually increases. Here, as the car wash machine main body 4 continues to move forward, the vehicle shape sensor 52 measures the height of vehicle X from the roof to the trunk, so that the height of vehicle X measured by the vehicle shape sensor 52 eventually starts to decrease.

[0077] Also, for example, in the present specification, an example in which the vehicle X has a bonnet has been given, but the present specification is not limited to this, and the vehicle X may be, for example, a one-box type vehicle or the like that does not have a bonnet. In this case, the vehicle shape sensor 52 detects a portion including the roof immediately after detecting the front end XA of the vehicle X. Therefore, in the above case, the height of the vehicle X acquired in step S4-10 may not change for a while after initially changing significantly.

[0078] For this reason, the predetermined range of the difference in height between the two acquired vehicles X, which is the basis for the judgment in step S4-10, may differ depending on the type of vehicle X or the position of the part of the vehicle X measured by the vehicle shape sensor 52. For example, in step S4-10, the self-traveling determination unit 54 may also acquire the forward movement distance of the car wash machine main body 4 after the front end XA of the vehicle X is detected by the vehicle shape sensor 52, and may set the predetermined range used in step S4-10 according to the forward movement distance. Also, for example, in the above-mentioned step S2-2, the control unit 44 may acquire the type of vehicle X from the user through control of the remote panel 6 or the like, and the self-traveling determination unit 54 may set the predetermined range used in step S4-10 according to the type of vehicle X.

[0079] In step S4-10, if the difference in height between the two acquired vehicles X is within a predetermined range, the self-propelled determination unit 54 determines that the possibility of the vehicle X being self-propelled is low, or that the self-propelled distance of the vehicle X does not significantly affect normal washing. In this case, the control unit 44 proceeds to step S4-12 through control of the car wash machine main body 4. On the other hand, in step S4-10, if the difference in height between the two acquired vehicles X is not within a predetermined range, the self-propelled determination unit 54 determines that the possibility of the vehicle X being self-propelled is high. In other words, step S4-10 is included in a self-propelled determination step in which the self-propelled determination unit 54 determines whether the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52.

[0080] If the self-propelled determination unit 54 determines in step S4-10 that there is a high possibility that the vehicle X will self-propel, the self-propelled counter described above is incremented by 1 through control of the car wash machine main body 4 (step S4-14). For example, at the start of the first washing process, the self-propelled determination unit 54 may take over the value of the self-propelled counter recorded in the reception process as the value of the self-propelled counter in the first washing process. Alternatively, the self-propelled determination unit 54 may reset the value of the self-propelled counter in the first washing process to 0 at the start of the first washing process.

[0081] Following step S4-14, the self-propelling determination unit 54 checks the value of the self-propelling counter and determines whether the self-propelling counter has reached a predetermined value (step S4-16). If the self-propelling counter has reached the predetermined value, the self-propelling determination unit 54 determines that the self-propelling of the vehicle X has been confirmed. In other words, step S4-16 is included in a self-propelling determination process in which the self-propelling determination unit 54 determines the self-propelling of the vehicle X according to a change in the detection result of the vehicle X by the vehicle shape sensor 52. If the self-propelling determination unit 54 determines in step S4-16 that the vehicle X has self-propelled, the control unit 44 stops the operation of the car wash machine main body 4 (step S4-18).

[0082] After step S4-18 is executed, the control unit 44 may perform control similar to the control of the car wash machine main body 4 by the control unit 44 after step S2-22 is executed. For example, after step S4-18 is executed, the control unit 44 may control each part of the car wash machine main body 4 or the remote panel 6, accept an operation from a user of the vehicle X, etc., and control the car wash machine main body 4 based on the operation to resume washing of the vehicle X by the car wash machine main body 4.

[0083] <Summary of the first cleaning process> As described above, after the car wash machine main body 4 starts moving forward in step S4-4, the control unit 44 repeatedly executes steps S4-6, 8, 10, 12, 14, and 16 through control of the car wash machine main body 4, etc. In particular, the control unit 44 repeatedly executes the above steps until it determines in step S4-6 that the vehicle X is no longer detected by the vehicle shape sensor 52, or until the self-propelling determination unit 54 determines in step S4-16 that the self-propelling counter has reached a predetermined value.

[0084] As a result, during the period in which the car wash machine main body 4 is moving, the self-propelling determination unit 54 of the car wash machine 2 determines whether the vehicle X is self-propelled in response to changes in the detection results of the vehicle X by the vehicle shape sensor 52. In particular, the car wash machine 2 determines whether the vehicle X is self-propelled in response to changes over time in the height of the vehicle X detected by the vehicle shape sensor 52 during that period.

[0085] When the control unit 44 determines in step S4-6 that the vehicle X is no longer detected by the vehicle shape sensor 52, the control unit 44 continues washing of the vehicle X while further advancing the car wash machine body 4 through control of the car wash machine body 4. As a result, the control unit 44 continues advancing the car wash machine body 4 until the washing of the vehicle X by the car wash machine body 4 in the first washing process is completed (step S4-20). For example, the advancement of the car wash machine body 4 in step S4-20 may be stopped at the point in time when the exit sensor 50 located on the rear surface 4B side of the car wash machine body 4 relative to the vehicle shape sensor 52 no longer detects the vehicle X. As a result, the washing of the vehicle X in the first washing process is completed. Note that the control unit 44 may complete the washing of the vehicle X in the first washing process by confirming that the car wash machine body 4 advances until the wheels 12 reach the front end of the rail R and the advancement of the car wash machine body 4 has stopped.

[0086] <Second cleaning process> Returning to FIG. 3, following the first washing step, the control unit 44 controls each part of the car wash machine main body 4, causing the car wash machine 2 to execute the second washing step (step S6). The control method for each part of the car wash machine 2 in the second washing step will be described in more detail with reference to FIG. 7. FIG. 7 is a flowchart for explaining the control method for each part of the car wash machine 2 in the second washing step. In this embodiment, the control method for the car wash machine 2 to determine whether the vehicle X is self-propelled in the second washing step will also be described with reference to FIG. 7.

[0087] For example, immediately after the first washing step is completed, the car wash machine main body 4 is located at the rear side of the vehicle X. As shown in Fig. 7, in the second washing step, first, the control unit 44 controls the car wash machine main body 4 to start moving backward (step S6-2). Therefore, the car wash machine main body 4 starts moving from the rear of the vehicle X in a direction from the rear side to the front side of the vehicle X, in other words, in the reverse direction which is the direction opposite to the forward direction D1.

[0088] Thereafter, in the second washing step, the control unit 44 controls each part of the washing unit while moving the car wash machine main body 4 in the backward direction, so that the car wash machine main body 4 again washes the surface of the vehicle X passing through the space 4S. Here, the control unit 44 may control the cleaning unit to wash the vehicle X based on information linking the vehicle height information of the vehicle X obtained in the first washing step with the position information of the vehicle X. If the washing of the vehicle X is resumed after the self-propulsion of the vehicle X is detected in the first washing step, in the second washing step, the control unit 44 may appropriately correct the position information and vehicle height information of the vehicle X according to the self-propelled distance of the vehicle X in the first washing step and control the cleaning unit.

[0089] Unless otherwise specified, the movement of the car wash machine main body 4 and the cleaning of the surface of the vehicle X by the car wash machine main body 4 continue in each subsequent step. However, the control unit 44 may appropriately vary the moving speed of the car wash machine main body 4 during the second cleaning step depending on the contents of the cleaning of the vehicle X by the cleaning unit, and may also appropriately pause the movement of the car wash machine main body 4.

[0090] Following step S6-2, the control unit 44 continues to move the car wash machine main body 4 in the reverse direction, thereby causing the vehicle shape sensor 52 to detect the vehicle X (step S6-4). Furthermore, following step S6-4, the control unit 44 determines whether the detection of the vehicle X by the vehicle shape sensor 52 continues (step S6-6). During the period in the second washing process in which the car wash machine main body 4 is moving, the period in which the control unit 44 determines that the vehicle X is being detected by the vehicle shape sensor 52 is included in the detection process in which the control unit 44 controls the vehicle shape sensor 52 to detect the vehicle X.

[0091] <Changes in vehicle height over time during the second cleaning process> 7, if it is determined in step S6-6 that the detection of vehicle X by the vehicle shape sensor 52 is continuing, the control unit 44 acquires the height of the portion of vehicle X detected by the vehicle shape sensor 52 (step S6-8). The acquisition of the height of vehicle X by the vehicle shape sensor 52 may be performed, for example, by the same method as that of step S2-14 described above.

[0092] The height of the vehicle X acquired in step S6-8 is defined as the first vehicle height. Here, in step S6-8, the control unit 44, in addition to acquiring the first vehicle height described above, also identifies the position of the first portion, which is the portion of the vehicle X from which the first vehicle height has been acquired. In particular, in step S6-8, the control unit 44 identifies the position of the first portion in the fore-aft direction of the vehicle X. The position of the first portion may be identified, for example, by the control unit 44 acquiring the reverse distance of the car wash machine main body 4 after the vehicle shape sensor 52 detects the vehicle X, and identifying the position of the first portion in the fore-aft direction of the vehicle X.

[0093] Next, the control unit 44 identifies a second portion that is located at a position corresponding to the position of the first portion in the first cleaning step (step S6-10). For example, the control unit 44 identifies a portion that is located at a position in the front-rear direction of the vehicle X of the first portion in the first cleaning step as the second portion.

[0094] Here, in step S6-10, the control unit 44, in addition to identifying the second portion, also identifies a second vehicle height, which is the height of the second portion of the vehicle X acquired in the first cleaning process. The control unit 44, for example, refers to the vehicle height information of the vehicle X in the first cleaning process and the position information linked to each vehicle height information, which are recorded in the recording unit described above. The control unit 44 identifies the position and height of the second portion acquired in the first cleaning process from the vehicle height information and the position information, and acquires it as the second vehicle height.

[0095] In the first and second cleaning steps, if the vehicle X is not moving, ideally the first portion identified in step S6-8 and the second portion identified in step S6-10 are substantially the same portion of the vehicle X. On the other hand, if the vehicle X is moving at least in the second cleaning step, the first portion and the second portion are different portions of the vehicle X.

[0096] Therefore, when the vehicle X is self-propelled at least in the second cleaning step, the first vehicle height, which is the height of the first portion, and the second vehicle height, which is the height of the second portion, may differ from each other. Therefore, by comparing the difference between the first vehicle height and the second vehicle height, the self-propelled determination unit 54 may be able to determine whether the vehicle X is self-propelled.

[0097] <Method of obtaining and comparing the first and second vehicle heights> A specific method for acquiring and comparing the first and second vehicle heights will be described in more detail with reference to FIG. 8. FIG. 8 is an example of a graph plotting height data of the vehicle X acquired in the first cleaning step and the second cleaning step. In the graph of FIG. 8, the horizontal axis represents the position L in the longitudinal direction of the vehicle X, and in particular, the direction from the rear to the front of the vehicle X is the positive direction. In addition, in the graph of FIG. 8, the vertical axis represents the height H of the vehicle X at each position L in the longitudinal direction of the vehicle X, and in particular, the direction from the bottom to the top of the vehicle X is the positive direction. The graph of FIG. 8 shows first vehicle shape data X1 acquired in the first cleaning step and plotting the height H at each position L, and second vehicle shape data X2 acquired in the second cleaning step and plotting the height H at each position L.

[0098] Fig. 8 shows the first vehicle shape data X1 and the second vehicle shape data X2 from the rear end XB of the vehicle X to the trunk, the rear window, and partway up the roof. For this reason, the heights at the rear end XB of the vehicle X, acquired in the first cleaning step and the second cleaning step, respectively, are plotted in the first vehicle shape data X1 and the second vehicle shape data X2 shown in Fig. 8. Note that the first vehicle shape data X1 and the second vehicle shape data X2 shown in Fig. 8 are scaled in the front-rear direction of the vehicle X compared to the actual shape of the vehicle X in order to more clearly explain the method of determining whether the vehicle X is self-propelled.

[0099] For example, suppose that the data of the first vehicle height, which is the height of the first portion of the vehicle X acquired in the above-mentioned step S6-8, is plot P1 in the graph of Fig. 8. In this case, plot Q1 of the first vehicle shape data X1 located at the same position L as the plot P1 is the plot corresponding to the above-mentioned second portion. Therefore, in step S6-10, the control unit 44 specifies the height of the vehicle X of the plot Q1 as the second vehicle height.

[0100] Here, in the case where the vehicle X does not move under its own power in the first and second cleaning steps, ideally, each plot of the first vehicle shape data X1 and each plot of the second vehicle shape data X2 are shown at approximately the same position in the graph of Fig. 8. However, the graph of Fig. 8 shows, as an example, the first vehicle shape data X1 and the second vehicle shape data X2 in the case where the vehicle X moves forward under its own power at least after the first vehicle shape data X1 is acquired. Therefore, as is clear from the graph of Fig. 8, the positions of each plot of the second vehicle shape data X2 are shifted in the positive direction of the horizontal axis of the graph from the positions of each plot of the first vehicle shape data X1.

[0101] Therefore, in the first and second cleaning steps, if the vehicle X is not self-propelled, the height of each plot of the first vehicle shape data X1 and the height of each plot of the second vehicle shape data X2 will ideally be approximately the same value at the same position L. Furthermore, if the vehicle X self-propels forward at least after the first vehicle shape data X1 is acquired, a difference may occur between the height of each plot of the first vehicle shape data X1 and the height of each plot of the second vehicle shape data X2 at the same position L. Therefore, the self-propelled determination unit 54 may be able to determine whether the vehicle X is self-propelled by acquiring the vehicle height difference R1, which is the difference between the height of the plot P1 and the height of the plot Q1, and determining whether the vehicle height difference R1 is equal to or greater than a predetermined value.

[0102] Returning to FIG. 7, following step S6-10, the self-driving determination unit 54 calculates the difference between the first vehicle height obtained in step S6-8 and the second vehicle height obtained in step S6-10, and determines whether the difference is greater than or equal to a predetermined value (step S6-12).

[0103] In step S6-12, if the difference between the first vehicle height and the second vehicle height is within a predetermined range, the self-propelling determination unit 54 determines that the possibility of the vehicle X being self-propelled is low, or that the self-propelled distance of the vehicle X does not significantly affect normal washing. In this case, the control unit 44 controls the car wash machine main body 4 to move the car wash machine main body 4 backward by a predetermined distance (step S6-14), and allows the car wash machine main body 4 to continue washing the vehicle X. Following step S6-14, the control unit 44 again performs the determination in step S6-6.

[0104] On the other hand, if the difference between the heights of the two vehicles X obtained in step S6-12 is not within the predetermined range, the self-propelling determination unit 54 increments the self-propelling counter described above by 1, as it is highly likely that the vehicle X is self-propelled (step S6-16). In other words, step S6-12 is included in a self-propelling determination step in which the self-propelling determination unit 54 determines whether the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52. For example, at the start of the second cleaning step, the self-propelling determination unit 54 may take over the value of the self-propelling counter recorded in the first cleaning step as the value of the self-propelling counter in the second cleaning step. Alternatively, the self-propelling determination unit 54 may reset the value of the self-propelling counter in the second cleaning step to 0 at the start of the second cleaning step.

[0105] Following step S6-16, the self-propelling determination unit 54 checks the value of the self-propelling counter and determines whether the self-propelling counter has reached a predetermined value (step S6-18). If the self-propelling counter has reached the predetermined value, the self-propelling determination unit 54 determines that the self-propelling of the vehicle X has been confirmed. In other words, step S6-18 is included in a self-propelling determination process in which the self-propelling determination unit 54 determines the self-propelling of the vehicle X according to a change in the detection result of the vehicle X by the vehicle shape sensor 52. If the self-propelling determination unit 54 determines in step S6-18 that the vehicle X has self-propelled, the control unit 44 stops the operation of the car wash machine main body 4 (step S6-20). After step S6-20 is executed, the control unit 44 may perform control similar to the control of the car wash machine main body 4 by the control unit 44 after step S4-18 is executed.

[0106] In this embodiment, an example has been described in which the control unit 44 causes the vehicle shape sensor 52 to detect the vehicle X in step S6-4 in the second cleaning process. Then, in this embodiment, an example has been described in which the self-propelled determination unit 54 compares the detection result of the vehicle X by the vehicle shape sensor 52 obtained in the second cleaning process with the detection result of the vehicle X by the vehicle shape sensor 52 obtained in the first cleaning process to determine whether the vehicle X is self-propelled. However, the method of determining whether the vehicle X is self-propelled in this embodiment is not limited to this.

[0107] For example, before the start of the second washing process, the self-propelled determination unit 54 may determine, from the first vehicle shape data X1, the reverse distance of the car wash machine main body 4 at which the vehicle X should be detected by the vehicle shape sensor 52. In addition, the self-propelled determination unit 54 may compare the distance that the car wash machine main body 4 has actually reversed from the start of the second washing process until the vehicle X is detected by the vehicle shape sensor 52 with the reverse distance described above.

[0108] For example, if the vehicle X is detected by the vehicle shape sensor 52 even though the actual distance traveled backward by the car wash machine main body 4 is shorter than the above-mentioned reverse distance by a certain distance or more, the self-propelling determination unit 54 may determine that the vehicle X is reverse-propelling. Alternatively, if the vehicle X is not detected by the vehicle shape sensor 52 even though the car wash machine main body 4 has actually reversed by the above-mentioned reverse distance, the self-propelling determination unit 54 may determine that the vehicle X is forward-propelling. In this case, the self-propelling determination unit 54 can determine whether the vehicle X is self-propelling before executing step S6-8, and therefore can hasten the determination of whether the vehicle X is self-propelling.

[0109] Furthermore, in the second cleaning step, for a position not detected by the vehicle shape sensor 52, the vehicle height of the vehicle X at that position may be set to 0, and steps S6-8 and thereafter may be executed following step S6-2. In this case, the self-propelled determination unit 54 can determine that the vehicle X is self-propelled even before the vehicle X is detected by the vehicle shape sensor 52, and the self-propelled determination of the vehicle X can be made earlier.

[0110] <Summary of the second cleaning process> As described above, after the reverse movement of the car wash machine main body 4 starts in step S6-2, the control unit 44 repeatedly executes steps S6-6, 8, 10, 12, 14, 16, and 18 through control of the car wash machine main body 4, etc. In particular, the control unit 44 repeatedly executes the above steps until the second washing step is completed or the self-propelling determination unit 54 determines in step S6-18 that the self-propelling counter has reached a predetermined value.

[0111] Thereby, the car wash machine 2 determines the self-propelled state of the vehicle X according to the change in the detection result of the vehicle X by the vehicle shape sensor 52 during the period when the car wash machine main body 4 is moving, by the self-propelled state determination unit 54. In particular, the car wash machine 2 determines the self-propelled state of the vehicle X by comparing the change in the detection result of the vehicle X by the vehicle shape sensor 52 in the first washing process as the first period and the second washing process as the second period. Furthermore, the car wash machine 2 determines the self-propelled state of the vehicle X by comparing the change over time of the height of the vehicle X already detected in the first washing process with the change over time of the height of the vehicle X newly detected in the second washing process, by the self-propelled state determination unit 54.

[0112] 8, for example, in step S6-8 following step S6-12 in which the vehicle height difference R1 is acquired, the control unit 44 acquires, as the first vehicle height, the height of a plot P2 in the second vehicle shape data X2 that is located further forward of the vehicle X than the plot P1. In the next step S6-10, the control unit 44 specifies, as the second vehicle height, the height of a plot Q2 in the first vehicle shape data X1 that is located at the same position L as the plot P2. In the next step S6-12, the self-driving determination unit 54 determines whether the vehicle height difference R2, which is the difference between the heights of the plots P2 and Q2, is equal to or greater than a predetermined value.

[0113] Therefore, by repeatedly executing each of the above steps, each plot of the first vehicle shape data X1 corresponding to each plot of the second vehicle shape data X2 is identified. Furthermore, by repeatedly executing each of the above steps, the difference in height between each plot of the second vehicle shape data X2 and each plot of the first vehicle shape data X1 is obtained, and the self-propelled determination unit 54 performs a self-propelled determination for each difference in height of the vehicle X obtained.

[0114] When the control unit 44 determines in step S6-6 that the vehicle X is no longer detected by the vehicle shape sensor 52, the control unit 44 continues washing the vehicle X while further moving the car wash machine body 4 backward through control of the car wash machine body 4. As a result, the control unit 44 continues moving the car wash machine body 4 backward until washing of the vehicle X by the car wash machine body 4 in the second washing process is completed (step S6-22). In particular, when the vehicle shape sensor 52 is located on the front surface 4A side of the car wash machine body 4, the control unit 44 may stop the backward movement of the car wash machine body 4 at the time when it is determined in step S6-6 that the vehicle X is no longer detected by the vehicle shape sensor 52. As a result, washing of the vehicle X in the second washing process is completed. Note that the control unit 44 may complete washing of the vehicle X in the second washing process by confirming that the car wash machine body 4 moves backward until the wheels 12 reach the rear end of the rail R and the backward movement of the car wash machine body 4 has stopped.

[0115] <Drying process> 3, following the second washing step, the control unit 44 controls each part of the car wash machine main body 4 to cause the car wash machine 2 to execute a drying step (step S8). In the drying step, the control unit 44 may operate the blower 36 while moving the car wash machine main body 4 forward in the forward direction D1 to blow air onto the vehicle X and dry the vehicle X.

[0116] In the drying process, the self-propelled determination unit 54 may also determine the self-propelled state of the vehicle X by, for example, a method similar to the self-propelled state of the vehicle X in the first or second cleaning process described above. For example, in the drying process, the self-propelled state of the vehicle X may be determined from a change in the height of the vehicle X sequentially acquired by the vehicle shape sensor 52. Alternatively, in the drying process, the self-propelled state of the vehicle X may be determined by comparing the height of the vehicle X sequentially acquired by the vehicle shape sensor 52 with the height of the vehicle X acquired in the first or second cleaning process.

[0117] The drying process may end, for example, when the drying of the vehicle X by the car wash machine body 4 is completed until the car wash machine body 4 moves to the rear of the vehicle X. Here, if the car wash machine body 4 continues to move forward in the drying process, the drying process may be completed by controlling the car wash machine body 4 to stop drying of the vehicle X by the car wash machine body 4, for example, when it is confirmed that the outlet sensor 50 no longer detects the vehicle X. The method for washing the vehicle X using the car wash machine 2 may be completed with the completion of the drying process.

[0118] After the drying process is completed, the control unit 44 may guide the user to exit the car wash. If the exit sensor 50 is detecting the vehicle X at the time when the drying process is completed, the control unit 44 may determine that the vehicle X has exited the car wash when the exit sensor 50 no longer detects the vehicle X, and control the car wash machine main body 4 to accept the washing of the next vehicle. If the exit sensor 50 is not detecting the vehicle X at the time when the drying process is completed, the control unit 44 may control the car wash machine main body 4 to move the car wash machine main body 4 again to a position where the exit sensor 50 detects the vehicle X after the drying process is completed.

[0119] <Summary> The car wash machine 2 according to this embodiment includes a self-propelling determination unit 54 that determines whether the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52 during a predetermined period that is at least a part of the washing process in which the car wash machine main body 4 washes the vehicle X. In other words, the self-propelling determination unit 54 determines whether the vehicle X is self-propelled by taking into consideration not only the detection result at the time when the vehicle shape sensor 52 detects the vehicle X, but also a change in the detection result of the vehicle X by the vehicle shape sensor 52 during the predetermined period. Therefore, the car wash machine 2 according to this embodiment can accurately determine whether the vehicle X is self-propelled by the self-propelling determination unit 54.

[0120] In the above-mentioned guidance process, the self-propelled determination unit 54 according to this embodiment determines the self-propelled state of the vehicle X during a period when the movement of the car wash machine main body 4 is stopped, in response to a change in the detection result of the height of the vehicle X by the vehicle shape sensor 52. Therefore, the car wash machine 2 can determine the self-propelled state of the vehicle X by the self-propelled determination unit 54 during a period when the movement of the car wash machine main body 4 is stopped, for example, before a vehicle wash including a guidance process.

[0121] Furthermore, in the above-mentioned first washing process and second washing process, the self-propelled determination unit 54 determines the self-propelled state of the vehicle X in accordance with a change in the detection result of the height of the vehicle X by the vehicle shape sensor 52 during the period when the car wash machine main body 4 is moving. Therefore, the car wash machine 2 can determine the self-propelled state of the vehicle X by the self-propelled determination unit 54 during the period when the car wash machine main body 4 is moving, such as during vehicle washing, including the first washing process and the second washing process.

[0122] In particular, in the first washing step, the self-propelled determination unit 54 determines the self-propelled state of the vehicle X according to a change over time in the height of the vehicle X detected during at least a portion of the first washing step. Therefore, even if there is no change in the detection result of the vehicle X by the vehicle shape sensor 52, such as the height of the vehicle X, until the self-propelled determination unit 54 determines that the vehicle X is self-propelled, the car wash machine 2 can accurately determine the self-propelled state of the vehicle X by the self-propelled determination unit 54.

[0123] Furthermore, in the second washing step, the self-propelling determination unit 54 compares the change over time of the height of the vehicle X already detected in the first washing step with the change over time of the height of the vehicle X newly detected in the second washing step to determine the self-propelling of the vehicle X. Therefore, the car wash machine 2 can determine the self-propelling of the vehicle X by the self-propelling determination unit 54 based on the difference between the newly obtained change over time of the height of the vehicle X and the already obtained change over time of the height of the vehicle X. Therefore, the car wash machine 2 can determine the self-propelling of the vehicle X with higher accuracy than if the car wash machine 2 determines the self-propelling of the vehicle X based only on the newly obtained changes over time of the heights of both Xs.

[0124] In this way, the self-propelled determination unit 54 compares the change in the detection result of the vehicle X by the vehicle shape sensor 52 in the first washing process with the change in the detection result of the vehicle X by the vehicle shape sensor 52 in the second washing process to determine the self-propelled state of the vehicle X. Therefore, in the car wash machine 2, the self-propelled state of the vehicle X is determined by the self-propelled state of the vehicle X by referring to the past detection result of the vehicle X by the vehicle shape sensor 52, so that the self-propelled state of the vehicle X can be determined with high accuracy.

[0125] The vehicle shape sensor 52 detects the height of the vehicle X by checking the number of optical axis sensors that detect the vehicle X. Therefore, the self-propelled determination unit 54 may determine the self-propelled state of the vehicle X according to a change in the number of optical axis sensors that detect the vehicle X among the optical axis sensors included in the vehicle shape sensor 52, in determining the self-propelled state of the vehicle X described above. In this case, the self-propelled determination unit 54 only needs to acquire the change over time in the number of optical axis sensors that detect the vehicle X as data for determining the self-propelled state of the vehicle X. Therefore, the car wash machine 2 can simplify the process for the self-propelled determination unit 54 to determine the self-propelled state of the vehicle X.

[0126] [Embodiment 2] <Modification of the reception process> The car wash machine 2 according to this embodiment has the same configuration as the car wash machine 2 according to the previous embodiment. The method for washing a vehicle X using the car wash machine 2 according to this embodiment differs from the method for washing a vehicle X using the car wash machine 2 according to the previous embodiment only in the method for controlling the car wash machine 2 in the reception process. The control method for the car wash machine 2 according to this embodiment in the reception process will be described with reference to Figs. 9 and 10.

[0127] 9 and 10 are a flow chart and a side view of the process for explaining a control method of each part of the car wash machine 2 in the reception process. In this embodiment, the control method of the car wash machine 2 for determining whether the vehicle X is self-propelled in the reception process will also be explained with reference to FIGS. 9 and 10.

[0128] 1, in order to simplify the explanation, only some of the components of the car wash machine 2 will be explained in Fig. 10. In Fig. 10 as well, the vehicle X is indicated by a dotted line, and when the car wash machine main body 4 and the vehicle X overlap when viewed from the side of the car wash machine main body 4, the vehicle X is shown through the car wash machine main body 4.

[0129] In the reception process according to this embodiment, the same steps as step S2-2 and step S2-4 in the reception process according to the previous embodiment are executed. As a result, for example, as shown in step S2-E in Fig. 10, the vehicle X stops in front of the car wash machine main body 4. Note that position A1 shown by a dotted line in Fig. 10 indicates the position where the front end XA in the moving direction of the car wash machine main body 4 is located at the time point when step S2-4 is completed, as in Fig. 1. Also, each step shown in Fig. 10 is illustrated so that the position A1 in the moving direction of the car wash machine main body 4 does not change.

[0130] In the reception process according to this embodiment, following step S2-4, the control unit 44 acquires an initial state in the reception process by acquiring a detection result of the vehicle X by the vehicle shape sensor 52 (step S2-26). In particular, the control unit 44 checks whether or not the vehicle X has been detected by the vehicle shape sensor 52 as at least a part of the initial state in the reception process.

[0131] For example, when step S2-26 is executed, as shown in step S2-E of Fig. 10, if vehicle X is stopped in front of the car wash machine main body 4, the vehicle shape sensor 52 does not detect vehicle X. In this case, in step S2-26, the control unit 44 confirms, as the initial state in the reception process, a state in which vehicle X is not detected by the vehicle shape sensor 52.

[0132] Next, the control unit 44 executes the same steps as steps S2-6 and S2-8 in the previous embodiment to start preparation for washing the vehicle X and judge whether the preparation is completed. If the control unit 44 judges in step S2-8 that preparation for washing the vehicle X is not completed, then the self-driving judgment unit 54 checks whether the vehicle X is currently detected by the vehicle shape sensor 52. As a result, the self-driving judgment unit 54 judges whether the vehicle X is currently detected by the vehicle shape sensor 52 and whether the vehicle X is currently detected by the vehicle shape sensor 52 in the initial state described above are the same (step S2-28).

[0133] For example, assume that the vehicle X moves forward under its own power from the state shown in step S2-E of Fig. 10, and moves forward until the vehicle X is detected by the vehicle shape sensor 52, as shown in step S2-F of Fig. 10. In this case, the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 becomes a state in which the vehicle X is detected by the vehicle shape sensor 52, which is different from the initial state confirmed by the control unit 44 in step S2-26.

[0134] On the other hand, depending on the stopping position of the vehicle X relative to the car wash machine main body 4 in step S2-4, the vehicle X may already be detected by the vehicle shape sensor 52 immediately after the vehicle X stops, as shown in step S2-G of Fig. 10. In this case, in step S2-26, the control unit 44 confirms a state in which the vehicle X has been detected by the vehicle shape sensor 52, as an initial state in the reception process.

[0135] For example, assume that the vehicle X moves backward under its own power from the state shown in step S2-G of Fig. 10, and moves backward until the vehicle X is no longer detected by the vehicle shape sensor 52, as shown in step S2-H of Fig. 10. In this case, the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 becomes a state in which the vehicle X is not detected by the vehicle shape sensor 52, which is different from the initial state confirmed by the control unit 44 in step S2-26.

[0136] Therefore, regardless of whether or not the control unit 44 has detected the vehicle X by the vehicle shape sensor 52 in step S2-26, if the detection of the vehicle X by the vehicle shape sensor 52 in step S2-28 differs from the initial state, there is a possibility that the vehicle X is self-propelled. Therefore, the self-propelled determination unit 54 may be able to determine that the vehicle X is self-propelled in step S2-28 by determining whether or not the detection of the vehicle X by the vehicle shape sensor 52 is the same as the initial state.

[0137] In step S2-28, if the presence or absence of detection of vehicle X by the vehicle shape sensor 52 is the same as the initial state, the self-propelled determination unit 54 determines that the possibility of vehicle X being self-propelled is low. In this case, the control unit 44 transitions to the above-mentioned step S2-12 through control of the car wash machine main body 4. On the other hand, in step S2-28, if the self-propelled determination unit 54 determines that the difference in height of the two vehicles X acquired is not within a predetermined range, the self-propelled determination unit 54 determines that there is a possibility that vehicle X is self-propelled. In this case, the self-propelled determination unit 54 further determines whether a predetermined time has elapsed since the last change in the presence or absence of detection of vehicle X by the vehicle shape sensor 52 (step S2-30).

[0138] For example, suppose that in step S2-28, the self-driving determination unit 54 confirms for the first time that the presence or absence of detection of vehicle X by the vehicle shape sensor 52 has changed from the presence or absence of detection of vehicle X by the vehicle shape sensor 52 in the initial state. In this case, the self-driving determination unit 54 determines that a predetermined time has not elapsed since the last change in the presence or absence of detection of vehicle X by the vehicle shape sensor 52. In this case, the control unit 44 transitions to the above-mentioned step S2-12 through control of the car wash machine main body 4.

[0139] Following step S2-12, the above-mentioned steps S2-8 and S2-28 are executed. Here, it is assumed that the self-driving determination unit 54 determines that the presence or absence of detection of vehicle X by the vehicle shape sensor 52 in the second step S2-28 is also different from the presence or absence of detection of vehicle X by the vehicle shape sensor 52 in the initial state. In this case, in the following step S2-30, the self-driving determination unit 54 determines that a predetermined time has elapsed since the last change in the presence or absence of detection of vehicle X by the vehicle shape sensor 52.

[0140] In this manner, in step S2-30, when a predetermined time has elapsed since the last change in the presence or absence of detection of vehicle X by vehicle shape sensor 52, self-propelling determination unit 54 determines that vehicle X is self-propelled. In other words, step S2-30 is included in a self-propelling determination process in which self-propelling determination unit 54 determines whether vehicle X is self-propelled according to a change in the presence or absence of detection of vehicle X by vehicle shape sensor 52. When self-propelling determination unit 54 determines in step S2-30 that vehicle X has self-propelled, control unit 44 stops the operation of car wash machine main body 4 in step S2-22.

[0141] In this embodiment, for the same reason as that described in the previous embodiment, depending on the stopping position of the vehicle X in step S2-4, the front end XA may be momentarily detected by the vehicle shape sensor 52 and may immediately become undetectable by the vehicle shape sensor 52. Furthermore, after the vehicle X stops at the above-mentioned stopping position, the front end XA may be repeatedly detected by the vehicle shape sensor 52 due to vibrations caused by idling of the vehicle X, etc.

[0142] Even in the above case, the car wash machine 2 proceeds to step S2-12 at the point in time when it is determined in step S2-26 that the presence or absence of detection of vehicle X by the vehicle shape sensor 52 is the same as the presence or absence of detection of vehicle X by the vehicle shape sensor 52 in the initial state, as shown in Fig. 9. Furthermore, the car wash machine 2 does not determine that vehicle X has self-propelled until it is confirmed in step S2-30 that a specified time has elapsed since the last change in the presence or absence of detection of vehicle X by the vehicle shape sensor 52. As a result, the car wash machine 2 according to this embodiment can reduce erroneous determination that vehicle X is self-propelled, even when the vehicle shape sensor 52 suddenly detects vehicle X due to shaking or the like of vehicle X.

[0143] As described above, after the car wash machine main body 4 starts preparing to wash the vehicle X in step S2-6, the control unit 44 repeatedly executes steps S2-8, 12, 28, and 30 through control of the car wash machine main body 4, etc. In particular, the control unit 44 repeatedly executes the above steps until it detects in step S2-8 that the car wash machine main body 4 has completed preparations for washing the vehicle X, or until the self-propelling determination unit 54 determines in step S2-30 that the vehicle X is self-propelled.

[0144] As a result, during a period in which the movement of the car wash machine main body 4 is stopped, the self-propelling determination unit 54 of the car wash machine 2 determines whether the vehicle X is self-propelled in response to a change in the detection result of the vehicle X by the vehicle shape sensor 52. In particular, the car wash machine 2 determines whether the vehicle X is self-propelled in response to a change in the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 during a predetermined period by the self-propelling determination unit 54.

[0145] When the control unit 44 detects in step S2-8 that the preparation for washing the vehicle X by the car wash machine main body 4 is completed, the control unit 44 transitions to the above-mentioned step S2-24 through control of the car wash machine main body 4. With the above, the guidance process by the car wash machine 2 is completed.

[0146] In the guidance process according to this embodiment, the self-propelling determination unit 54 according to this embodiment determines the self-propelling of the vehicle X in accordance with a change in the presence or absence of detection of the vehicle X by the vehicle shape sensor 52 during a period in which the movement of the car wash machine main body 4 is stopped. For this reason, the car wash machine 2 only needs to acquire, for example, a change in whether or not the vehicle shape sensor 52 detects the vehicle X during a certain period including the guidance process as data for determining the self-propelling of the vehicle X. Therefore, the car wash machine 2 can simplify the process by the self-propelling determination unit 54 to determine the self-propelling of the vehicle X.

[0147] [Embodiment 3] <Modification of the second cleaning step> The car wash machine 2 according to this embodiment has the same configuration as the car wash machine 2 according to each of the above-described embodiments. The method for washing a vehicle X using the car wash machine 2 according to this embodiment differs from the method for washing a vehicle X using the car wash machine 2 according to each of the above-described embodiments only in the method for controlling the car wash machine 2 in the second washing step.

[0148] 11 is a flowchart for explaining a method for controlling each part of the car wash machine 2 in the second washing step. In this embodiment, a method for controlling the car wash machine 2 for determining whether the vehicle X is self-propelled in the second washing step will also be explained with reference to FIG.

[0149] In the second washing step according to this embodiment, as in the second washing step according to the previous embodiment, first, the control unit 44 executes steps S6-2 to S6-6 through control of the car wash machine main body 4. If it is determined in step S6-6 that the detection of the vehicle X by the vehicle shape sensor 52 is continuing, the control unit 44 executes the above-mentioned step S6-8 and identifies the first vehicle height, which is the height of the portion of the vehicle X detected by the vehicle shape sensor 52. Furthermore, in step S6-8, the control unit 44 identifies the position of the first portion, which is the portion of the vehicle X having the first vehicle height.

[0150] Next, the control unit 44 determines a part having the same height as the first vehicle height among the heights of each part of the vehicle X detected in the first washing process as a second part, and specifies the position of the second part in the longitudinal direction of the vehicle X (step S6-24). The control unit 44, for example, refers to the vehicle height information of the vehicle X in the first washing process and the position information linked to each vehicle height information recorded in the recording unit. From the vehicle height information and position information, the control unit 44 determines the position of the second part having the height that matches the first vehicle height among the heights at each position acquired in the first washing process. Note that, if there are multiple parts having the height that matches the first vehicle height among the heights at each position acquired in the first washing process, the part of the parts whose position in the longitudinal direction of the vehicle X is closest to the first part is determined as the second part.

[0151] In the first and second cleaning steps, if the vehicle X is not self-propelled, ideally, the first portion identified in step S6-8 and the second portion identified in step S6-24 are in substantially the same position in the fore-aft direction of the vehicle X. On the other hand, in the case where the vehicle X is self-propelled at least in the second cleaning step, the first portion and the second portion are in different positions from each other in the fore-aft direction of the vehicle X. Therefore, by acquiring the distance between the first portion and the second portion described above, the self-propelled determination unit 54 may be able to determine whether the vehicle X is self-propelled.

[0152] A specific method for acquiring the position of the first portion and the position of the second portion will be described in more detail with reference to FIG. 12. FIG. 12 is an example of a graph plotting height data of the vehicle X obtained in the first cleaning process and the second cleaning process. Each axis in the graph of FIG. 12 indicates the same parameters as each axis in the graph of FIG. 8. Note that the first vehicle shape data X1 and the second vehicle shape data X2 shown in FIG. 12 are vehicle shape data around the trunk and rear window located at the rear end side of the vehicle X, similar to the first vehicle shape data X1 and the second vehicle shape data X2 shown in FIG. 8. In addition, the first vehicle shape data X1 and the second vehicle shape data X2 shown in FIG. 12 are also scaled in the front-rear direction of the vehicle X compared to the actual shape of the vehicle X in order to more clearly explain the method for determining whether the vehicle X is running.

[0153] Moreover, the graph in Fig. 12 plots the same data as the first vehicle shape data X1 and the second vehicle shape data X2 shown in the graph in Fig. 8. In other words, the graph in Fig. 12 shows, as an example, the first vehicle shape data X1 and the second vehicle shape data X2 in a case where the vehicle X has been running forward under its own power since at least the first vehicle shape data X1 was acquired.

[0154] For example, suppose that the data of the first vehicle height, which is the height of the first portion of the vehicle X acquired in the above-mentioned step S6-8, is plot P3 in the graph of Fig. 12. In this case, plot Q3 of the first vehicle shape data X1, which is located at the same height H as the plot P3, is the plot corresponding to the above-mentioned second portion. Therefore, in step S6-24, the control unit 44 specifies the position of the vehicle X in the plot Q3 as the position of the second portion.

[0155] In the first and second cleaning steps, if the vehicle X is not self-propelled, the position of each plot of the first vehicle shape data X1 and the position of each plot of the second vehicle shape data X2 will ideally be substantially the same value at the same height H. Furthermore, if the vehicle X self-propels forward at least after the first vehicle shape data X1 is acquired, a difference may occur between the position of each plot of the first vehicle shape data X1 and the position of each plot of the second vehicle shape data X2 at the same height H. Therefore, by acquiring the distance R3 between the positions of the plots P3 and Q3 and determining whether the distance R3 is equal to or greater than a predetermined value, the self-propelling determination unit 54 may be able to determine whether the vehicle X is self-propelled.

[0156] Returning to reference to Figure 11, following step S6-24, the self-propelled determination unit 54 calculates the distance between the position of the first part obtained in step S6-8 and the position of the second part obtained in step S6-24, and determines whether the distance is greater than or equal to a predetermined value (step S6-26).

[0157] In step S6-26, if the distance between the position of the first part and the position of the second part is within a predetermined range, the self-propelling determination unit 54 determines that the possibility of the vehicle X being self-propelled is low, or that the self-propelled distance of the vehicle X does not significantly affect normal washing. In this case, the control unit 44 proceeds to each step from step S6-14 onwards through the control of the car wash machine main body 4. On the other hand, in step S6-26, if the distance between the position of the first part and the position of the second part is not within the predetermined range, the self-propelling determination unit 54 determines that the possibility of the vehicle X being self-propelled is high, and proceeds to each step from step S6-16 onwards. In other words, step S6-26 is included in a self-propelling determination step in which the self-propelling determination unit 54 determines that the vehicle X is self-propelled according to a change in the detection result of the vehicle X by the vehicle shape sensor 52.

[0158] As described above, after the car wash machine main body 4 starts to move backward in step S6-4, the control unit 44 repeatedly executes steps S6-6, 8, 14, 16, 18, 24, and 26 through control of the car wash machine main body 4, etc. In particular, the control unit 44 repeatedly executes the above steps until it determines in step S6-6 that the vehicle X is no longer detected by the vehicle shape sensor 52, or until the self-propelling determination unit 54 determines in step S6-18 that the self-propelling counter has reached a predetermined value.

[0159] 12, in step S6-8 following step S6-26 in which distance R3 is acquired, the control unit 44 acquires the height of plot P4, which is located further forward of the vehicle X than plot P3 in the second vehicle shape data X2, as the first vehicle height. In the next step S6-24, the control unit 44 identifies plot Q4 in the first vehicle shape data X1, which has the same height H as plot P4. In the next step S6-26, the self-driving determination unit 54 determines whether distance R4, which is the distance between the position of plot P4 and the position of plot Q4, is equal to or greater than a predetermined value.

[0160] Therefore, by repeatedly executing each of the above steps, each plot of the first vehicle shape data X1 corresponding to each plot of the second vehicle shape data X2 is identified. Furthermore, by repeatedly executing each of the above steps, the distance between the position of each plot of the second vehicle shape data X2 and the position of each plot of the first vehicle shape data X1 is obtained, and the self-driving determination unit 54 performs a self-driving determination for each of the obtained distances.

[0161] If the control unit 44 determines in step S6-6 that the vehicle X is no longer detected by the vehicle shape sensor 52, the control unit 44 executes the above-mentioned step S6-22, and completes washing of the vehicle X in the second washing step.

[0162] The self-propelled determination unit 54 according to this embodiment compares a change in the detection result of the vehicle X by the vehicle shape sensor 52 in the first washing step with a change in the detection result of the vehicle X by the vehicle shape sensor 52 in the second washing step to determine the self-propelled state of the vehicle X. Therefore, in the car wash machine 2, the self-propelled state of the vehicle X is determined by the self-propelled state of the vehicle X by referring to the past detection result of the vehicle X by the vehicle shape sensor 52, so that the self-propelled state of the vehicle X can be determined with high accuracy.

[0163] In the method of determining whether the vehicle is self-propelled in the second washing step according to the first embodiment, the values ​​of the vehicle height difference R1 and the like may vary greatly depending on the shape of the vehicle X. On the other hand, in the method of determining whether the vehicle is self-propelled in the second washing step according to the present embodiment, the distances R3 and the like are approximately equal to the self-propelled distance of the vehicle X, regardless of the shape of the vehicle X. Therefore, the method of determining whether the vehicle is self-propelled in the second washing step according to the present embodiment allows the car wash machine 2 to more accurately determine whether the vehicle X is self-propelled.

[0164] The car wash machine 2 according to each of the above-mentioned embodiments can reduce inappropriate washing of the vehicle X by determining whether the vehicle X is moving independently during the washing process. Therefore, the car wash machine 2 according to each of the embodiments can reduce spraying of city water or washing liquid, etc., at an incorrect position during the washing process, and can thus reduce wasteful consumption of the city water or washing liquid. Therefore, the car wash machine 2 according to each of the embodiments can contribute to achieving Goal 6 "Clean Water and Sanitation" and Goal 12 "Responsible Consumption and Production" of the Sustainable Development Goals (SDGs).

[0165] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0166] 2 car wash machine 4 Car wash machine body 44 Control section 52 Vehicle-shaped sensor (sensor) 54 Self-propelled judgment unit

Claims

1. a car wash machine body that washes a vehicle by moving relative to the vehicle in a front-rear direction; A control unit that controls the car wash machine body; a self-propelling determination unit that determines whether the vehicle is self-propelled, The car wash machine main body includes a sensor for detecting the vehicle, The control unit controls the sensor to detect the height of the vehicle crossing a predetermined point, The self-propelled determination unit determines whether the vehicle is self-propelled based on changes over time in the detection results of the height of the vehicle by the sensor during a specified period which is at least a portion of the period during which the car wash machine main body washes the vehicle.

2. The control unit controls the sensor to detect the height of the vehicle at least during a period when the movement of the car wash machine body is stopped, The car wash machine according to claim 1 , wherein the self-propelling determination unit determines whether the vehicle is self-propelling based on a change over time in the detection result of the vehicle by the sensor during at least a portion of a period during which the movement of the car wash machine body is stopped.

3. The control unit controls the sensor to detect the height of the vehicle at least during a period when the car wash machine body is moving, The car wash machine according to claim 1 or 2, wherein the self-propelling determination unit determines whether the vehicle is self-propelled based on a change over time in the detection result of the vehicle by the sensor during at least a portion of a period during which the car wash machine body is moving.

4. the control unit controls the sensor to detect the height of the vehicle at least during a first period that is a part of the predetermined period and a second period that is a part of the predetermined period and is a period after the first period; A car wash machine as described in any one of claims 1 to 3, wherein the self-propelled determination unit determines whether the vehicle is self-propelled by comparing the change over time of the detection result of the vehicle by the sensor during at least a portion of the first period with the change over time of the detection result of the vehicle by the sensor during at least a portion of the second period.

5. A plurality of the sensors are arranged in a vertical direction of the vehicle, The car wash machine according to claim 1 , wherein the self-propelling determination unit determines whether the vehicle is self-propelled based on a change over time in the number of the sensors that detected the vehicle during the predetermined period.

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