Car wash machine and method for controlling the car wash machine

Abstract

To improve accuracy for determining self-travelling of a vehicle that is washed by a car washing machine.SOLUTION: A car washing machine includes: a car washing machine body (4) for washing a vehicle by relative movement in a longitudinal direction with respect to a vehicle (X); and a self-travelling determination unit (54) for determining self-travelling of a vehicle. The self-travelling determination unit determines self-travelling of a vehicle according to a first distance that is a distance in which the car washing machine body moves from timing at which a brush (16) for washing a vehicle abuts on a first part (XA) of the vehicle to timing at which a first sensor (50) detects the first part of 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 technique for a car wash machine that moves relative to a vehicle to wash the vehicle, and determines whether the vehicle is moving under its own power. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-210007 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to determine whether a vehicle is moving using the technology described in Patent Document 1, it is necessary to check whether the vehicle is detected by the vehicle shape sensor while moving the car wash machine body. Generally, the vehicle shape sensor is often installed on the front side of the car wash machine body in order to identify the shape of the vehicle before the car wash machine body starts washing the vehicle. Therefore, depending on the vehicle's stopping position, the front end of the vehicle may already be located inside the car wash machine body relative to the vehicle shape sensor before the car wash machine body starts washing the vehicle.

[0005] In this case, after the car wash machine main 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 moving. Therefore, the technology described in Patent Document 1 may not correctly determine whether the vehicle is moving.

[0006] Furthermore, sensors including vehicle-shaped sensors may erroneously detect a vehicle due to splashes of water or the adhesion of foreign matter, etc. Therefore, the method of determining whether a vehicle is moving under its own power described in Patent Document 1 may erroneously determine that the vehicle is moving under its own power even when it is not, or may erroneously determine that the vehicle is not moving under its own power even when it is moving under its own power. [Means for solving the problem]

[0007] A car wash machine according to one embodiment of the present disclosure comprises a car wash machine main body that washes a vehicle by moving relative to the vehicle in a 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. The car wash machine main body includes a brush that washes the vehicle and a first sensor that detects the vehicle. When the control unit moves the car wash machine main body relative to the vehicle in either the forward-backward direction, the control unit controls the brush to come into contact with a first part of the vehicle and to cause the first sensor to detect the first part when the car wash machine main body washes the vehicle. The self-propelled determination unit determines whether the vehicle is self-propelled based on a first distance, which is the distance traveled by the car wash machine main body from the time the brush comes into contact with the first part to the time the first sensor detects the first part.

[0008] Furthermore, a method for controlling a car wash machine according to one aspect of the present disclosure is a method for controlling a car wash machine equipped with a car wash machine main body that washes a vehicle by moving relative to the vehicle in a forward-backward direction, wherein the car wash machine main body includes a brush that washes the vehicle and a first sensor that detects the vehicle, and includes a washing process in which the car wash machine main body is moved relative to the vehicle in either the forward-backward direction or the forward-backward direction, and the washing process includes a contact process in which the brush is brought into contact with a first part of the vehicle, a detection process in which the first sensor detects the first part, and a self-propelled determination process in which the vehicle is self-propelled based on a first distance, which is the distance moved by the car wash machine main body from the time the brush contacts the first part to the time the first sensor detects the first part. [Effects of the Invention]

[0009] To enable a car wash machine to accurately determine whether a vehicle is moving while being washed. [Brief explanation of the drawings]

[0010] [Figure 1] 10A and 10B are side views illustrating a process for controlling the car wash machine in a first washing process according to the embodiment. [Figure 2] 1A and 1B are a schematic side view and a schematic front view showing a car wash machine according to an embodiment. [Figure 3] 4 is a flowchart illustrating a method for controlling a car wash machine according to an embodiment. [Figure 4] 4 is a flowchart for explaining a method for controlling the car wash machine in a first washing step according to the embodiment. [Figure 5] 6 is a flowchart for explaining a method for controlling the car wash machine in a second washing step according to the embodiment. [Figure 6] 10 is a side view illustrating a process for controlling the car wash machine in the second washing process according to the embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] [Embodiment] <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 provided in 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 the 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 plane of the page.

[0012] As shown in the 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 the approach direction DA of the vehicle X, as shown in the schematic side view 2S. In this specification, the approach direction DA is defined as the direction from the front surface 4A toward the rear surface 4B of the car wash machine main body 4. In this embodiment, the front surface 4A is the surface on which, for example, an operation panel 42, which will be described later, is provided.

[0013] The car wash machine main body 4 has wheels 12 at the bottom of each of the frames 8, and by rotating the wheels 12 using a drive unit (not shown), the car wash machine main body 4 moves in the front-to-rear direction relative to the vehicle X along rails R arranged on the ground G. The rails R are formed, for example, along the approach direction DA. Here, the car wash machine main body 4 washes the vehicle X in the space 4S while moving relative to the vehicle X.

[0014] 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 units. For example, the rotating brushes provided in the car wash machine main body 4 include a top brush 14, side brushes 16, and rocker brushes 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 cleans the top surface of the vehicle X. The side brushes 16 and rocker brushes 18 clean both side surfaces of the vehicle X.

[0015] The side brush 16 according to this embodiment includes, for example, a rotation shaft 16S extending in a direction substantially perpendicular to the ground G and a plurality of bristles 16T formed on the rotation shaft 16S. In other words, the side brush 16 includes the rotation shaft 16S parallel to at least a portion of the side surface of the vehicle X, and is a brush that cleans the side surface by bringing the bristles 16T rotating around the rotation shaft 16S into contact with at least a portion of the side surface of the vehicle X. Furthermore, the side brush 16 may include an arm 16A that supports the rotation shaft 16S and moves the rotation shaft 16S in the left-right direction of the vehicle X by a power unit (not shown).

[0016] A tank storage section 20 is arranged 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. Above the tank storage section 20, a distribution piping section 22 is provided that 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).

[0017] The first water purification nozzle 24 and the second water purification nozzle 26 are arranged on the front 4A side and the rear 4B side 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 4A side and the rear 4B side 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 4B of the car wash machine main body 4. The water-repellent coating nozzle 32 sprays a water-repellent coating agent liquid onto the vehicle X. The wax nozzle 34 sprays wax onto the vehicle X.

[0018] 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 nozzles 40 are provided on both sides of the car wash machine main body 4 and blow 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 nozzles 40.

[0019] 2, for simplicity of illustration, the illustration of each of the devices for washing the vehicle X that are provided in the car wash machine main body 4 as described above may be omitted. Furthermore, the devices provided in the car wash machine main body 4 shown in FIG. 2 are merely examples, and the car wash machine main body 4 may be provided with, in addition to the devices described above, devices for washing the vehicle X and devices that assist in the washing, including conventionally known configurations, on the frame 8 or the ceiling portion 10.

[0020] An operation panel 42 is disposed on the front of one frame 8 of the car wash machine main body 4. The operation panel 42 has operation buttons (not shown) for setting the car wash conditions. For example, a user who has gotten out of the vehicle X, or another technician, etc. may operate the operation buttons to set the car wash conditions, etc.

[0021] 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 control the car wash machine main body 4 by transmitting and receiving information between the car wash machine main body 4 or a remote panel 6 (described later) via a communication device (not shown) or the like. The control unit 44 is configured with a processor such as a CPU, for example, and each control is realized by executing a control program stored in memory on the processor.

[0022] The remote panel 6 is located, for example, on the front side of the car wash machine main body 4, and is disposed approximately along the direction of movement 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 car wash machine main body 4. For this reason, Fig. 2 illustrates the back surface of the remote panel 6.

[0023] 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 some of the car wash conditions for the vehicle X to be washed by the car wash machine main body 4 by operating 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 to wash the vehicle X based on at least some of the car wash conditions acquired by the remote panel 6.

[0024] The car wash machine main body 4 further includes an outlet sensor 50 as a first sensor and a vehicle-shaped sensor 52 as a second sensor. The outlet sensor 50 is located closer to the rear surface 4B of the car wash machine main body 4 than the side brushes 16 described above, and the vehicle-shaped sensor 52 is located closer to the front surface 4A of the car wash machine main body 4 than the side brushes 16.

[0025] 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 the front surface 4A to the rear surface 4B of car wash machine main body 4. Therefore, while vehicle X is being washed by car wash machine main body 4, as shown in Fig. 2, the outlet sensor 50 is located forward of the side brushes 16 in the front-to-rear direction of vehicle X, and vehicle shape sensor 52 is located rearward of the side brushes 16 in the front-to-rear direction of vehicle X.

[0026] The exit sensor 50 is a sensor that detects whether or not the vehicle X has exited the car wash area after the car wash machine main body 4 has completed washing of the vehicle X. 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 is present between a certain optical element and the optical sensor by determining whether or not the 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 is present between the optical element and the optical sensor if the optical sensor does not detect electromagnetic waves such as infrared rays from the optical element.

[0027] For example, after the car wash machine main body 4 has completed washing of the vehicle X, the control unit 44 may move the car wash machine main body 4 to the rear of the vehicle X, and then guide the user inside the vehicle X to exit by audio from a speaker of the car wash machine main body 4 or by video on a monitor of the car wash machine main body 4. Here, the position of the car wash machine main body 4 after washing of the vehicle X is completed may be a position where the exit sensor 50 detects the vehicle X. In this case, if the user moves the vehicle X out of the car wash facility, the exit sensor 50 will no longer detect the vehicle X. Note that the vehicle X may exit the car wash facility by moving forward and passing through the space 4S toward the rear surface 4B of the car wash machine main body 4. Alternatively, the vehicle X may exit the car wash facility by moving backward and exiting the space 4S toward the front surface 4A of the car wash machine main body 4.

[0028] Therefore, the exit sensor 50 may detect the exit of the vehicle X from the car wash premises because it 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 premises, 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 for washing.

[0029] The vehicle shape sensor 52 is a sensor for measuring the outer shape of the vehicle X to be washed. For example, the vehicle shape sensor 52 may be an area sensor including a plurality of optical axis sensors formed in the vertical direction on the front side and space 4S side of each of the frames 8 of the car wash machine main body 4. In this case, the vehicle shape sensor 52 may check 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, for example.

[0030] 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 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.

[0031] The car wash machine main body 4 further includes a self-propelled state determination unit 54. The self-propelled state determination unit 54 determines whether the vehicle X is self-propelled or not. In particular, the self-propelled state determination unit 54 determines whether the vehicle X is self-propelled while the car wash machine main body 4 moves relative to the vehicle X and washes the vehicle X. A method for determining whether the vehicle X is self-propelled by the self-propelled state determination unit 54 and control of the car wash machine main body 4 by the control unit 44 when the self-propelled state determination unit 54 determines that the vehicle X is self-propelled will be described in detail later.

[0032] <Car wash method overview and reception process> A method for washing vehicle X using the car wash machine 2 will be described with reference to FIG. 3 by explaining a method for controlling the car wash machine 2. FIG. 3 is a flowchart showing an example of the method for controlling the car wash machine 2. In the method for controlling the car wash machine 2 according to this embodiment, first, as a reception step, the control unit 44 controls each unit 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 or the like (step S2). 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 receives a request for washing the vehicle X by obtaining information such as settings of the car wash conditions for the vehicle X and payment of the car wash fee from the user.

[0033] <First cleaning process> 3, after the reception of the car wash is completed, the control unit 44 controls each part of the car wash machine main body 4, and the car wash machine 2 executes the first wash process (step S4, wash process). The control method of each part of the car wash machine 2 in the first wash process will be described in more detail with reference to FIGS. 1 and 4. FIGS. 1 and 4 are a side view and a flowchart, respectively, of the process for explaining the control method of each part of the car wash machine 2 in the first wash process. In this embodiment, the control method of the car wash machine 2 for determining whether the vehicle X is self-propelled in the first wash process will also be described with reference to FIGS. 1 and 4.

[0034] 1, for ease of explanation, only some of the components of the car wash machine 2 are illustrated. In particular, FIG. 1 shows the frame 8 of the components of the car wash machine main body 4, and also shows only the side brushes 16, the outlet sensor 50, the vehicle shape sensor 52, and the self-propelled determination unit 54 through the frame 8. Furthermore, in FIG. 1, the vehicle X is shown 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 car X is shown through the car wash machine main body 4. Furthermore, the shapes of the components of the car wash machine main body 4 and the vehicle X shown in FIG. 1 may be simplified compared to the components of the car wash machine main body 4 and the vehicle X shown in FIG. 2, etc.

[0035] For example, immediately before the first washing step is performed, the car wash machine main body 4 is located at the front side of the vehicle X. As shown in Fig. 4, 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 S4-2 in Fig. 1, the car wash machine main body 4 starts moving from the front of the vehicle X in the forward direction D1.

[0036] Thereafter, in the first washing step, the control unit 44 controls each part of the washing unit while moving the car wash machine main body 4 in the forward direction D1, so that the car wash machine main body 4 washes the surface of the vehicle X passing through the space 4S. Here, the control unit 44 may control the vehicle shape sensor 52 to calculate the shape of the vehicle X for each position in the moving direction of the car wash machine main body 4. As a result, the control unit 44 may control the cleaning unit to wash the vehicle X based on information linking the shape information of the vehicle X obtained by the vehicle shape sensor 52 with the position information of the vehicle X.

[0037] 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 movement speed of the car wash machine main body 4 during the first washing step depending on the content 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.

[0038] 4, the control unit 44 then controls the car wash machine main body 4 to bring the side brush 16 into contact with the front end XA, which is a first portion of the vehicle X (step S4-4, contact step). For example, after step S4-2, the control unit 44 may control the arm 16A to move the side brush 16 to the center of the space 4S, and then move the car wash machine main body 4 forward to bring the side brush 16 into contact with the front end XA. Thereafter, the control unit 44 may control the car wash machine main body 4 to temporarily stop the movement of the car wash machine main body 4, and then clean the front side of the vehicle X with the side brush 16, and then resume the forward movement of the car wash machine main body 4.

[0039] 1 indicates the position A1 in the moving direction of the car wash machine main body 4 at step S4-4, in other words, the position where the front end XA of the vehicle X is located at the time when the side brush 16 contacts the front end XA of the vehicle X. In other words, if the vehicle X is not moving under its own power after step S4-4, 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 position A1 in the moving direction of the car wash machine main body 4 does not change.

[0040] Here, for example, the self-propelled determination unit 54 determines whether the side brush 16 has contacted the front end XA. For example, the self-propelled determination unit 54 may determine whether the side brush 16 has contacted the front end XA from the inclination of the rotation shaft 16S. When the side brush 16 contacts the front end XA, the side brush 16 is pushed by the vehicle X, causing the rotation shaft 16S to tilt. Here, for example, an inclination sensor (not shown) formed on the arm 16A may detect that the arm 16A has tilted in the fore-and-aft direction of the car wash machine main body 4. Furthermore, the self-propelled determination unit 54 may confirm a change in the inclination of the rotation shaft 16S from the detection result of the inclination sensor and determine that the side brush 16 has contacted the front end XA.

[0041] When the side brush 16 is brought into contact with the front end XA, the control unit 44 may control the car wash machine main body 4 to press the side brush 16 more firmly against the front end XA compared to when the side brush 16 is used to clean the front of the vehicle X. This causes the rotation axis 16S of the side brush 16 to be more inclined when the side brush 16 comes into contact with the front end XA, improving the accuracy with which the self-propelled determination unit 54 determines whether the side brush 16 has come into contact with the front end XA.

[0042] In this embodiment, the self-propelled determination unit 54 starts measuring the distance traveled by the car wash machine main body 4 from the time it determines that the side brush 16 has come into contact with the front end XA. Position A2 of the front surface 4A of the car wash machine main body 4 in the direction of movement of the car wash machine main body 4 at the time it determines that the side brush 16 has come into contact with the front end XA is indicated by a dashed line in FIG. 1 . For example, the distance traveled by the car wash machine main body 4 from the time it determines that the side brush 16 has come into contact with the front end XA is equal to the distance traveled by the front surface 4A from position A2. Each step shown in FIG. 1 is illustrated so that position A2 in the direction of movement of the car wash machine main body 4 does not change.

[0043] The self-propelled determination unit 54 may, for example, calculate the travel distance of the car wash machine main body 4 from the rotation angle of the wheels 12. For example, the car wash machine main body 4 may be equipped with a rotary encoder that measures the rotation angle of the wheels 12, and the self-propelled determination unit 54 may, for example, calculate the travel distance of the car wash machine main body 4 from the measurement results of the rotary encoder.

[0044] Furthermore, the self-propelled determination unit 54 may, for example, calculate the travel distance of the car wash machine main body 4 from the time elapsed since it was determined that the side brush 16 has come into contact with the front end XA and the travel speed of the car wash machine main body 4. The self-propelled determination unit 54 may, for example, measure the time using a timer provided in the car wash machine main body 4. Furthermore, the self-propelled determination unit 54 may, for example, calculate the travel speed of the car wash machine main body 4 from the control details of the car wash machine main body 4 by the control unit 44.

[0045] 4, the control unit 44 then controls the car wash machine main body 4 to cause the exit sensor 50 to detect the front end XA (step S4-6, detection step). For example, from the completion of step S4-4, the control unit 44 continues to check whether the exit sensor 50 has detected the front end XA. For example, as shown in step S4-6 of FIG. 1, when the car wash machine main body 4 moves forward until the exit sensor 50 and the front end XA overlap, as viewed from the side of the car wash machine main body 4, the front end XA is detected by the exit sensor 50.

[0046] <1st distance> 4, the self-propelled determination unit 54 calculates a first distance, which is the distance traveled by the car wash machine main body 4 from the time step S4-4 is performed to the time step S4-6 is performed, in order to determine whether the vehicle X is self-propelled in the subsequent process (step S4-8). In other words, the self-propelled determination unit 54 calculates the first distance, which is the distance traveled by the car wash machine main body 4 from the time the side brush 16 contacts the front end XA to the time the outlet sensor 50 detects the front end XA.

[0047] For example, the first distance is equal to the distance from position A2 to the front surface 4A of the car wash machine main body 4 at the time step S4-6 is executed. For example, if the vehicle X has not been moving under its own power since step S4-4 was executed, the first distance is ideally distance R1, as shown in step S4-6 of FIG. 1. Here, because the side brush 16 hardly moves in the direction of movement of the car wash machine main body 4, the distance between the side brush 16 and the outlet sensor 50 is substantially constant. Therefore, distance R1 can ideally be set to a constant and known value.

[0048] The distance R1 can be measured by an appropriate method and set as a known value in advance. For example, the distance R1 may be measured from the distance in the direction of movement of the car wash machine main body 4 from the portion of the side brush 16 that abuts against the front end XA to the detection position of the outlet sensor 50. However, the distance R1 may be measured taking into account the tilt of the rotation shaft 16S and the deformation of the bristles 16T due to contact between the side brush 16 and the front end XA. Alternatively, the distance R1 may be measured by, for example, washing the vehicle X, which is known in advance not to be self-propelled, several times using the car wash machine 2 and averaging the first distances measured each time.

[0049] Here, if vehicle X has been self-propelled forward since step S4-4 was executed, the first distance will be distance R1A, which is shorter than distance R1, as shown in step S4-6A of Fig. 1. Furthermore, if vehicle X has been self-propelled backward since step S4-4 was executed, the first distance will be distance R1B, which is longer than distance R1, as shown in step S4-6B of Fig. 1. Therefore, by calculating the length of the first distance and calculating the deviation from the known distance R1, self-propelled determination unit 54 can calculate the self-propelled distance of vehicle X.

[0050] <Self-propelled determination process in the first cleaning process> Next, the car wash machine 2 executes a self-propelled determination step in which the self-propelled determination unit 54 determines whether the vehicle X is self-propelled based on the first distance calculated in step S4-8. The car wash machine 2 appropriately changes the operation of the car wash machine main body 4 as described below depending on whether the vehicle X is self-propelled or not and the self-propelled distance of the vehicle X.

[0051] For example, in the self-propelling determination step, as shown in Fig. 4, the self-propelling determination unit 54 first determines whether the first distance is less than or equal to a first upper limit value and greater than or equal to a first lower limit value (step S4-10). The first upper limit value is, for example, a distance below which it can be determined that the vehicle X is not self-propelling backward if the first distance is shorter. The first lower limit value is, for example, a distance below which it can be determined that the vehicle X is not self-propelling forward if the first distance is longer. The first upper limit value and the first lower limit value may be determined from the maximum deviation of the first distance from distance R1 at which it can be determined that the vehicle X is not self-propelling.

[0052] Therefore, in step S4-10, if the self-propelling determination unit 54 determines that the first distance is equal to or less than the first upper limit value and equal to or greater than the first lower limit value, the self-propelling determination unit 54 determines that the vehicle X is not self-propelled. Therefore, in step S4-10, if the self-propelling determination unit 54 determines that the vehicle X is not self-propelled, the control unit 44 controls the car wash machine main body 4 as usual, for example, based on the obtained shape information and position information of the vehicle X. As a result, as shown in FIG. 4, the control unit 44 controls the car wash machine main body 4 to continue washing the vehicle X by the car wash machine main body 4 (step S4-12).

[0053] In step S4-10, if the self-propelling determination unit 54 determines that the first distance is not greater than the first upper limit nor greater than the first lower limit, the self-propelling determination unit 54 determines that the vehicle X is self-propelled. If the self-propelling determination unit 54 determines in step S4-10 that the vehicle X is self-propelled, as shown in Fig. 4, the self-propelling determination unit 54 then determines whether the first distance is not greater than a second upper limit nor greater than a second lower limit (step S4-14). Here, the second upper limit is longer than the first upper limit, and the second lower limit is shorter than the first lower limit.

[0054] Here, the second upper limit value is, for example, a distance at which the car wash machine main body 4 can properly wash the vehicle X if the position information of the vehicle X is changed taking into account the self-propelled distance even if the vehicle X is self-propelled backward when the first distance is shorter than that distance. The second lower limit value is, for example, a distance at which the car wash machine main body 4 can properly wash the vehicle X if the position information of the vehicle X is changed taking into account the self-propelled distance even if the vehicle X is self-propelled forward when the first distance is longer than that distance.

[0055] Therefore, when the first distance is not equal to or less than the first upper limit value and not equal to or more than the first lower limit value, but is equal to or less than the second upper limit value and equal to or more than the second lower limit value, the control content of the car wash machine main body 4 by the control unit 44 can be appropriately changed to allow the car wash machine main body 4 to appropriately wash the vehicle X. The second upper limit value and the second lower limit value may be determined from the maximum deviation of the first distance from the distance R1, at which it can be determined that the car wash machine main body 4 can appropriately wash the vehicle X by appropriately changing the control content of the car wash machine main body 4 by the control unit 44.

[0056] Therefore, in step S4-14, if the self-propelled determination unit 54 determines that the first distance is equal to or less than the second upper limit value and equal to or greater than the second lower limit value, the control unit 44 corrects the position information of the vehicle X in accordance with the first distance (step S4-16), as shown in Fig. 4. Furthermore, in step S4-16, the control unit 44 again links the corrected position information of the vehicle X with the shape information of the vehicle X, controls the car wash machine main body 4, and continues washing the vehicle X by the car wash machine main body 4.

[0057] If the first distance is not equal to or less than the second upper limit and equal to or greater than the second lower limit, it will be difficult for the car wash machine main body 4 to properly wash the vehicle X, even if the control unit 44 changes the control content of the car wash machine main body 4. Therefore, if the self-propelled determination unit 54 determines in step S4-14 that the first distance is not equal to or less than the second upper limit and equal to or greater than the second lower limit, the control unit 44 stops the operation of the car wash machine main body 4 (step S4-18), as shown in Fig. 4. Step S4-18 makes it possible to reduce the continuation of inappropriate washing of the vehicle X by the car wash machine main body 4.

[0058] For example, the control unit 44 may then control a speaker or a monitor of the car wash machine main body 4 to inform the user inside 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 receive an operation from the user of the vehicle X, 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.

[0059] The first washing step may end, for example, when washing of vehicle X by the car wash machine main body 4 is completed until the car wash machine main body 4 moves to the rear of vehicle X. Here, if the car wash machine main body 4 continues to move in the forward direction D1 from the time step S4-6 is performed, the exit sensor 50 may continue to detect vehicle X from the time step S4-6 is performed until the car wash machine main body 4 moves to the rear of vehicle X. In this case, the control unit 44 may complete the first washing step by controlling the car wash machine main body 4 to stop washing of vehicle X by the car wash machine main body 4, for example, when it is confirmed that the exit sensor 50 no longer detects vehicle X.

[0060] <Second cleaning process> Returning to FIG. 3, after the first washing step is completed, 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, washing step). 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 FIGS. 5 and 6. FIGS. 5 and 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 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 FIGS. 5 and 6.

[0061] 6, as with Fig. 1, for simplicity of explanation, only some of the components of the car wash machine 2 will be explained. In Fig. 6, the vehicle X is also 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 as being transparent to the car wash machine main body 4.

[0062] For example, at the completion of the first washing step, the car wash machine main body 4 is located at the rear side of the vehicle X. As shown in Fig. 5, 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, as shown in step S6-2 in Fig. 6, the car wash machine main body 4 starts moving from the rear of the vehicle X in the backward direction D2.

[0063] 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 D2, 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 shape information of the vehicle X obtained in the first washing step with the position information of the vehicle X. If the position information of the vehicle X is corrected in step S6-16, the control unit 44 may control the cleaning unit based on information linking the shape information of the vehicle X with the corrected position information of the vehicle X.

[0064] 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 movement speed of the car wash machine main body 4 during the second washing step depending on the content 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.

[0065] In the present embodiment, an example has been given in which the first washing step is completed when the exit sensor 50 no longer detects the vehicle X, and the second washing step is started from a state in which the car wash machine main body 4 is positioned behind the vehicle X. However, this is not limited thereto. For example, the first washing step may end when washing of the rear surface of the vehicle X by the side brushes 16 is completed. Alternatively, the car wash machine 2 may calculate the length of the vehicle X from the distance traveled by the car wash machine main body 4 while the vehicle shape sensor 52 detects the vehicle X in the first washing step. Furthermore, in the first washing step, the control unit 44 may stop the movement of the car wash machine main body 4 when it detects that washing of the vehicle X is completed from the vehicle length and the distance traveled by the car wash machine main body 4. In other words, the exit sensor 50 may still detect the vehicle X at the end of the first washing step. In this case, the second washing step may be started from a state in which the exit sensor 50 has already detected the vehicle X.

[0066] 5, the control unit 44 then controls the car wash machine main body 4 to bring the side brush 16 into contact with the rear end XB of the vehicle X (step S6-4, contact step). For example, after step S6-2, the control unit 44 may control the arm 16A to move the side brush 16 to the center of the space 4S, and then move the car wash machine main body 4 backward, thereby bringing the side brush 16 into contact with the rear end XB. Thereafter, the control unit 44 may control the car wash machine main body 4 to temporarily stop the movement of the car wash machine main body 4, and after cleaning the rear side of the vehicle X with the side brush 16, resume the reverse movement of the car wash machine main body 4.

[0067] 6 indicates the position B1 in the moving direction of the car wash machine main body 4 at step S6-4, in other words, the position where the rear end XB of the vehicle X is located at the time when the side brush 16 contacts the rear end XB of the vehicle X. In other words, if the vehicle X is not moving under its own power after step S6-4, the rear end XB of the vehicle X continues to be located at position B1. Each step shown in FIG. 6 is illustrated so that position B1 in the moving direction of the car wash machine main body 4 does not change.

[0068] Here, for example, the self-propelled determination unit 54 determines contact with the rear end XB of the side brush 16. For example, the self-propelled determination unit 54 may determine contact with the rear end XB of the side brush 16 from the inclination of the rotation shaft 16S, similar to the method for determining contact with the front end XA of the side brush 16. Furthermore, in this embodiment, the self-propelled determination unit 54 starts measuring the travel distance of the car wash machine main body 4 from the point in time when it determines that the side brush 16 has contacted the rear end XB.

[0069] Here, position B2 of the front surface 4A of the car wash machine main body 4 in the movement direction of the car wash machine main body 4 at the time when it is determined that the side brush 16 has come into contact with the rear end XB is shown by a dashed line in Figure 6. For example, the movement distance of the car wash machine main body 4 from the time when it is determined that the side brush 16 has come into contact with the rear end XB is equal to the distance that the front surface 4A has moved from position B2. Note that each step shown in Figure 6 is illustrated so that the position of position B2 in the movement direction of the car wash machine main body 4 does not change.

[0070] 5, the control unit 44 then controls the car wash machine main body 4 to have the vehicle shape sensor 52 detect the rear end XB (step S6-6, detection step). For example, from the completion of step S6-4, the control unit 44 continues to check whether the vehicle shape sensor 52 has detected the rear end XB. For example, as shown in step S6-6 of FIG. 6, when the car wash machine main body 4 moves backward until the vehicle shape sensor 52 and the rear end XB overlap, as viewed from the side of the car wash machine main body 4, the rear end XB is detected by the vehicle shape sensor 52.

[0071] <Second distance> 5, the self-propelled determination unit 54 calculates a second distance, which is the distance traveled by the car wash machine main body 4 from the time when step S6-4 is performed to the time when step S6-6 is performed, in order to determine whether the vehicle X is self-propelled in the subsequent process (step S6-8). In other words, the self-propelled determination unit 54 calculates the second distance, which is the distance traveled by the car wash machine main body 4 from the time when the side brush 16 contacts the rear end XB to the time when the vehicle shape sensor 52 detects the rear end XB.

[0072] For example, the second distance is equal to the distance from position B2 to the front surface 4A of the car wash machine main body 4 at the time step S6-6 is executed. For example, if the vehicle X has not been moving under its own power since step S6-4 was executed, the second distance is ideally distance R2, as shown in step S6-6 of FIG. 6. Here, the side brush 16 hardly moves in the direction of movement of the car wash machine main body 4, so the distance between the side brush 16 and the vehicle shape sensor 52 is substantially constant. Therefore, distance R2 can ideally be a constant and known value. Distance R2 may be measured, for example, using the same principle as the method for measuring distance R1 and set as a known value in advance.

[0073] Here, if vehicle X has been traveling forward under its own power since step S6-4 was executed, the second distance will be distance R2A, which is longer than distance R2, as shown in step S6-6A of Fig. 6. Furthermore, if vehicle X has been traveling backward under its own power since step S6-4 was executed, the second distance will be distance R2B, which is shorter than distance R2, as shown in step S6-6B of Fig. 6. Therefore, the self-traveling distance of vehicle X can be calculated by calculating the length of the second distance and calculating the deviation from the known distance R2.

[0074] <Self-propelled determination process in the second cleaning process> Next, the car wash machine 2 executes a self-propelled determination step in which the self-propelled determination unit 54 determines whether the vehicle X is self-propelled based on the second distance calculated in step S6-8. The car wash machine 2 appropriately changes the operation of the car wash machine main body 4 as described below depending on whether the vehicle X is self-propelled or not and the self-propelled distance of the vehicle X.

[0075] For example, in the self-propelling determination step, first, as shown in Fig. 5, the self-propelling determination unit 54 determines whether the second distance is equal to or smaller than a third upper limit value and equal to or larger than a third lower limit value (step S6-10). The third upper limit value is, for example, a distance below which it can be determined that the vehicle X is not self-propelled forward if the second distance is shorter. The third lower limit value is, for example, a distance below which it can be determined that the vehicle X is not self-propelled backward if the second distance is longer.

[0076] Therefore, in step S6-10, if the self-propelling determination unit 54 determines that the second distance is less than the third upper limit value and greater than or equal to the third lower limit value, the self-propelling determination unit 54 determines that the vehicle X is not self-propelled. Therefore, in step S6-10, if the self-propelling determination unit 54 determines that the vehicle X is not self-propelled, the control unit 44 controls the car wash machine main body 4 as usual, for example, based on the obtained shape information and position information of the vehicle X. As a result, as shown in Fig. 5, the control unit 44 controls the car wash machine main body 4 to continue washing the vehicle X by the car wash machine main body 4 (step S6-12).

[0077] In step S6-10, if the self-propelling determination unit 54 determines that the second distance is not equal to or less than the third upper limit nor equal to or greater than the third lower limit, the self-propelling determination unit 54 determines that the vehicle X is self-propelled. If the self-propelling determination unit 54 determines in step S6-10 that the vehicle X is self-propelled, as shown in Fig. 5, the self-propelling determination unit 54 then determines whether the second distance is equal to or less than the fourth upper limit and equal to or greater than the fourth lower limit (step S6-14). Here, the fourth upper limit is longer than the third upper limit, and the fourth lower limit is shorter than the third lower limit.

[0078] Here, the fourth upper limit value is, for example, a distance at which the car wash machine main body 4 can appropriately wash the vehicle X if the position information of the vehicle X is changed taking into account the self-propelled distance even if the vehicle X is self-propelled forward when the second distance is shorter than the fourth upper limit value. The fourth lower limit value is, for example, a distance at which the car wash machine main body 4 can appropriately wash the vehicle X if the position information of the vehicle X is changed taking into account the self-propelled distance even if the vehicle X is self-propelled backward when the second distance is longer than the fourth upper limit value. Therefore, when the second distance is not equal to or less than the third upper limit value and not equal to or more than the third lower limit value, but is equal to or less than the fourth upper limit value and not less than the fourth lower limit value, the control content of the car wash machine main body 4 by the control unit 44 can be appropriately changed to allow the car wash machine main body 4 to appropriately wash the vehicle X.

[0079] Therefore, in step S6-14, if the self-propelled determination unit 54 determines that the second distance is equal to or less than the fourth upper limit value and equal to or greater than the fourth lower limit value, the control unit 44 corrects the position information of the vehicle X in accordance with the second distance (step S6-16), as shown in Fig. 5. Furthermore, in step S6-16, the control unit 44 again links the corrected position information of the vehicle X with the shape information of the vehicle X, controls the car wash machine main body 4, and continues washing the vehicle X by the car wash machine main body 4.

[0080] If the second distance is not equal to or less than the fourth upper limit and not equal to or greater than the fourth lower limit, it will be difficult for the car wash machine main body 4 to properly wash the vehicle X, even if the control unit 44 changes the control content of the car wash machine main body 4. Therefore, if the self-propelled determination unit 54 determines in step S6-14 that the second distance is not equal to or less than the fourth upper limit and not equal to or greater than the fourth lower limit, the control unit 44 stops the operation of the car wash machine main body 4 (step S6-18), as shown in FIG. 5. Step S6-18 reduces the possibility of the car wash machine main body 4 continuing to inappropriately wash the vehicle X. Following step S6-18, the control unit 4 may control the car wash machine main body 4 to cause it to perform the same operations as those following step S4-18, which notify the user that the vehicle X is self-propelled and resume washing of the vehicle X by the car wash machine main body 4.

[0081] The second washing step may end, for example, when washing of the vehicle X by the car wash machine main body 4 is completed until the car wash machine main body 4 moves in front of the vehicle X. Here, if the car wash machine main body 4 continues to move in the reverse direction D2 from the time step S6-6 is performed, the vehicle shape sensor 52 may continue to detect the vehicle X from the time step S6-6 is performed until the car wash machine main body 4 moves in front of the vehicle X. In this case, the control unit 44 may complete the second washing step by controlling the car wash machine main body 4 to stop washing of the vehicle X by the car wash machine main body 4, for example, when it is confirmed that the vehicle shape sensor 52 no longer detects the vehicle X.

[0082] <Drying process> 3, after the second washing step is completed, the control unit 44 controls each part of the car wash machine main body 4, causing the car wash machine 2 to perform the drying step (step S8). For example, at the completion of the second washing step, the car wash machine main body 4 is located in front of the vehicle X. In the drying step, the control unit 44 controls the car wash machine main body 4 to move the car wash machine main body 4 forward, while controlling the blower 36 to blow air from each blower nozzle onto the surface of the vehicle X, thereby drying the vehicle X using the car wash machine main body 4. When either step S4-16 or step S6-16 is performed and the position information of the vehicle X is corrected, the control unit 44 may control each part of the car wash machine main body 4 based on the corrected position information of the vehicle X, causing the car wash machine main body 4 to dry the vehicle X.

[0083] The drying process may end, for example, when the car wash machine main body 4 has completed drying of the vehicle X until the car wash machine main body 4 has moved to the rear of the vehicle X. Here, if the car wash machine main body 4 continues to move forward during the drying process, the drying process may be completed by controlling the car wash machine main body 4 to stop drying of the vehicle X by the car wash machine main body 4, for example, when it is confirmed that the outlet sensor 50 no longer detects the vehicle X. Alternatively, the control unit 44 may detect that drying of the vehicle X has been completed during the drying process from the vehicle length measured by the above-mentioned method and the movement distance of the car wash machine main body 4, and stop the movement of the car wash machine main body 4 and the blowing of air to the vehicle X. The method for washing the vehicle X using the car wash machine 2 may end upon completion of the drying process.

[0084] 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 still detecting the vehicle X at the time 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 may control the car wash machine main body 4 to accept the washing of the next vehicle. Furthermore, if the exit sensor 50 is not detecting the vehicle X at the time the drying process is completed, the control unit 44 may control the car wash machine main body 4 to move again to a position where the exit sensor 50 detects the vehicle X after the drying process is completed.

[0085] <Summary> The car wash machine 2 according to this embodiment includes a self-propelled determination unit 54 that determines whether the vehicle X is self-propelled based on a first distance traveled by the car wash machine main body 4 from the time when the side brush 16 contacts the front end XA to the time when the outlet sensor 50 detects the front end XA. Therefore, the car wash machine 2 uses physical contact between the side brush 16 and the vehicle X to determine a standard for measuring the first distance for determining whether the vehicle X is self-propelled during the washing process of the vehicle X. Therefore, the car wash machine 2 can determine whether the vehicle is self-propelled with greater accuracy than when determining whether the vehicle X is self-propelled by only using detection of the vehicle X using an optical axis sensor or the like.

[0086] In particular, when the vehicle X is washed using the car wash machine 2, splashes of city water or the like used to wash the vehicle X may adhere to the optical axis sensor, and foreign matter including dirt removed from the surface of the vehicle X may also adhere to the optical axis sensor. For this reason, when the car wash machine 2 determines whether the vehicle X is self-propelled by only using the detection of the vehicle X using the optical axis sensor or the like, the optical axis sensor may erroneously detect the vehicle X, leading to an erroneous determination of self-propelled motion. The car wash machine 2 according to this embodiment determines whether the vehicle X is self-propelled by using the physical contact between the side brush 16 and the vehicle X, thereby reducing the number of times the sensor for detecting the vehicle is used and reducing erroneous determination of self-propelled motion.

[0087] Furthermore, due to regulations such as laws and regulations, there is generally a predetermined minimum height from the ground of the optical axis sensor installed in a car wash. Furthermore, the front end of a vehicle generally includes the bumper and the like located on the lower side of the vehicle. Therefore, in order to accurately detect the front end of the vehicle using an optical axis sensor, a sensor that is more expensive than a normal sensor, such as a wide-angle sensor, may be required. The car wash machine 2 according to this embodiment uses the side brushes 16 of a commonly used car wash machine 2 to determine whether the vehicle X is self-propelled, thereby reducing the increase in the cost of the car wash machine 2 required to determine whether the vehicle X is self-propelled.

[0088] For example, consider a case where, in the first washing step, the self-propelled state of the vehicle X is determined based on the distance traveled by the car wash machine main body 4 from the time when the vehicle shape sensor 52 detects the front end XA until the time when the side brush 16 contacts the front end XA of the vehicle X. In this case, for example, if, in the reception step, the vehicle X stops at a position where the vehicle shape sensor 52 has already detected the front end XA at the start of the first washing step, it is difficult to accurately calculate the distance, and therefore it is difficult to accurately determine whether the vehicle X is self-propelled.

[0089] In the car wash machine 2 according to this embodiment, the exit sensor 50 detects the front end XA of the vehicle X after the side brush 16 comes into contact with the front end XA, and the car wash machine main body 4 determines whether the vehicle X is self-propelled using a first distance traveled during that time. Therefore, even if the vehicle shape sensor 52 has already detected the front end XA at the start of the first washing process, the first distance can be calculated more accurately, improving the accuracy of determining whether the vehicle X is self-propelled.

[0090] The car wash machine 2 according to this embodiment determines whether the car wash machine main body 4 is self-propelled based on a first distance traveled by the car wash machine main body 4 during the period from when the side brush 16 contacts the front end XA of the vehicle X to when the exit sensor 50 detects the front end XA. Therefore, the car wash machine 2 can determine whether the car wash machine 2 is self-propelled earlier in the washing process than when the car wash machine main body 4 determines whether the car wash machine 2 is self-propelled based on the distance traveled by the car wash machine main body 4 from when the side brush 16 contacts the central portion of the vehicle X in the longitudinal direction until the exit sensor 50 detects that portion. Therefore, the car wash machine 2 can shorten the period during which the car wash machine main body 4 is inappropriately washing the vehicle X due to the vehicle X self-propelling.

[0091] Furthermore, in order to detect that the side brush 16 has come into contact with any part of the center of the vehicle X, it is necessary to detect that the position of the side brush 16 changes slightly due to the unevenness of the surface of the vehicle X. In this case, it becomes difficult to detect that the side brush 16 has come into contact with the vehicle X, and there is also a possibility that the contact between the side brush 16 and the vehicle X may be erroneously detected due to vibrations or the like caused when the car wash machine main body 4 is moved.

[0092] In this embodiment, the self-propelled determination unit 54 determines whether the side brush 16 has come into contact with the vehicle X by determining whether the front end XA of the side brush 16 has come into contact with the vehicle X. This allows the self-propelled determination unit 54 to more simply and accurately determine whether the side brush 16 has come into contact with the vehicle X, compared to when the point in time when the side brush 16 comes into contact with the center of the vehicle X is used as the reference point.

[0093] Furthermore, when the exit sensor 50 detects the center of the vehicle X, it is necessary to employ a high-performance sensor such as an optical reflection sensor that can detect unevenness on the surface of the vehicle X. For this reason, since the exit sensor 50 detects the front end XA of the vehicle X, an inexpensive sensor such as an optical axis sensor that merely detects the presence or absence of the vehicle X can be used for the exit sensor 50.

[0094] The car wash machine 2 according to this embodiment uses the exit sensor 50 as the sensor used to determine whether the vehicle X is self-propelled. Therefore, the car wash machine 2 can use the exit sensor 50, which is used to detect the exit of the vehicle X from the car wash, as a sensor used to determine whether the vehicle X is self-propelled, thereby reducing the increase in the cost of the car wash machine 2 required to determine whether the vehicle X is self-propelled.

[0095] Furthermore, the exit sensor 50 is generally formed at a position farther away from the cleaning section of the car wash machine main body 4 than the vehicle-shaped sensor 52, and the possibility of false detection due to splashes of water or the adhesion of foreign matter is low. Therefore, the car wash machine 2 according to this embodiment can reduce false detection of the self-propelled state of the vehicle X compared to when the self-propelled state is determined by a sensor located on the front surface 4A side of the car wash machine main body 4, such as the vehicle-shaped sensor 52.

[0096] The self-propelled determination unit 54 according to this embodiment further determines whether the vehicle X is self-propelled based on a second distance traveled by the car wash machine main body 4 from the time when the side brush 16 contacts the rear end XB of the vehicle X to the time when the vehicle shape sensor 52 detects the rear end XB. Therefore, the car wash machine 2 according to this embodiment can determine whether the vehicle X is self-propelled even in the second washing process in which the car wash machine main body 4 moves from the rear to the front of the vehicle X.

[0097] Furthermore, with the above configuration, the self-propelled state can be determined earlier in the washing process compared to when the self-propelled state is determined based on the distance traveled by the car wash machine main body 4 from the time the side brush 16 contacts the central portion of the vehicle X until the vehicle shape sensor 52 detects that portion. Therefore, the car wash machine 2 can shorten the period during which the car wash machine main body 4 is unable to properly wash the vehicle X due to the self-propelled state of the vehicle X.

[0098] Furthermore, compared to when the point in time when the side brush 16 comes into contact with the center of the vehicle X is used as the reference point, the self-propelled determination unit 54 can more simply and accurately determine whether the side brush 16 has come into contact with the vehicle X. Also, because the vehicle shape sensor 52 detects the rear end XB of the vehicle X, an inexpensive sensor such as an optical axis sensor that merely detects the presence or absence of the vehicle X can be used for the vehicle shape sensor 52.

[0099] As described above, the exit sensor 50 may have already detected the vehicle X at the start of the second washing process. However, in the second washing process, the self-propelled determination unit 54 determines that the vehicle X is self-propelled regardless of the detection of the vehicle X by the exit sensor 50. Therefore, even if the exit sensor 50 has already detected the rear end XB at the start of the second washing process, the car wash machine 2 can more accurately calculate the second distance, thereby improving the accuracy of determining whether the vehicle X is self-propelled.

[0100] In this embodiment, the determination of whether the vehicle X is self-propelled is performed in both the first washing process and the second washing process. However, this embodiment is not limited to this, and the determination of whether the vehicle X is self-propelled may be performed only in either the first washing process or the second washing process. Here, when the determination of whether the vehicle X is self-propelled is performed only in the second washing process, the car wash machine main body 4 may be equipped with a vehicle shape sensor 52 as the first sensor, and may detect the rear end XB of the vehicle X as the first part of the vehicle X.

[0101] Furthermore, in this embodiment, in the first washing step, the car wash machine main body 4 starts moving from the front side of the vehicle X and washes the vehicle X while moving in the forward direction D1. However, this embodiment is not limited to this, and in the first washing step, the car wash machine main body 4 may start moving from the rear side of the vehicle X and wash the vehicle X while moving in the backward direction D2. In this case, the car wash machine main body 4 may be equipped with a vehicle shape sensor 52 as the first sensor, and may detect the rear end XB of the vehicle X as the first part of the vehicle X.

[0102] The car wash machine 2 according to this embodiment can reduce inappropriate washing of the vehicle X by determining whether the vehicle X is self-propelled during the washing process. Therefore, the car wash machine 2 according to this embodiment can reduce spraying of city water or cleaning liquid, etc., at the wrong position during the washing process, and ultimately reduce wasteful consumption of the city water or cleaning liquid. Therefore, the car wash machine 2 according to this embodiment can contribute to achieving Goal 6 "Clean water and sanitation" and Goal 12 "Responsible consumption and production" of the Sustainable Development Goals (SDGs).

[0103] 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 different technical means disclosed in the respective embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0104] 2 car wash machine 4 Car wash machine body 16 Side brush (brush) 16S Rotating shaft 44 Control Unit 50 Exit sensor (first sensor) 52 Vehicle type sensor (first sensor, second sensor) 54 Self-propelled judgment section

Claims

1. a car wash machine body that washes a vehicle by moving relative to the vehicle in a front-to-rear direction; a control unit that controls the car wash machine body; a self-propelled determination unit that determines self-propelled movement of the vehicle; The car wash machine main body includes a brush for washing the vehicle and a first sensor for detecting the vehicle, the control unit controls the brush to come into contact with a first portion of the vehicle and the first sensor to detect the first portion when the car wash machine main body is moved relative to the vehicle in either a forward or backward direction and the car wash machine main body is caused to wash the vehicle, The self-propelled determination unit determines that the vehicle is stopped if a first distance, which is the distance the car wash machine body moves from the time the brush contacts the first part to the time the first sensor detects the first part, is less than a first upper limit value and greater than a first lower limit value, and determines that the vehicle is self-propelled if the first distance is longer than the first upper limit value or less than the first lower limit value.

2. The car wash machine described in claim 1, wherein the control unit changes the control content of the car wash machine main body to continue washing the vehicle by the car wash machine main body when the first distance is less than a second upper limit value that is longer than the first upper limit value and greater than or equal to a second lower limit value that is shorter than the first lower limit value, and stops washing the vehicle by the car wash machine main body when the first distance is longer than the second upper limit value or the first distance is less than the second lower limit value.

3. The brush includes a side brush that cleans at least a portion of the side surface of the vehicle and includes a rotation axis that is parallel to at least a portion of the side surface of the vehicle; The car wash machine according to claim 1 or 2, wherein the self-propelled determining unit determines whether the side brush is in contact with the vehicle based on an inclination of the rotation shaft.

4. the first sensor is located rearward of the brush in the front-rear direction of the car wash machine body, the first portion is located at a front end of the vehicle; The car wash machine according to claim 1 , wherein the control unit causes the car wash machine body to wash the vehicle while moving the car wash machine body relatively from a front side to a rear side of the vehicle.

5. the car wash machine body includes a second sensor located forward of the brush in a front-to-rear direction of the car wash machine body and configured to detect the vehicle; the control unit controls the brush to come into contact with the rear end of the vehicle and the second sensor to detect the rear end when the car wash machine main body is caused to wash the vehicle while moving the car wash machine main body relatively from the rear side to the front side of the vehicle after the first sensor detects the front end, The car wash machine of claim 4, wherein the self-propelled determination unit determines that the vehicle is stopped if a second distance, which is the distance the car wash machine body moves from the time the brush contacts the rear end to the time the second sensor detects the rear end, is less than a third upper limit value and greater than a third lower limit value, and determines that the vehicle is self-propelled if the second distance is longer than the third upper limit value or less than the third lower limit value.

6. the first sensor is located forward of the brush in the front-rear direction of the car wash machine body, the first portion is located at a rear end of the vehicle; The car wash machine according to claim 1 , wherein the control unit causes the car wash machine body to wash the vehicle while moving the car wash machine body relatively from a rear side to a front side of the vehicle.

7. A method for controlling a car wash machine including a car wash machine body that washes a vehicle by moving relative to the vehicle in a forward / backward direction, The car wash machine main body includes a brush for washing the vehicle and a first sensor for detecting the vehicle, a washing step of washing the vehicle while moving the car wash machine body relative to the vehicle in either a forward or backward direction, The washing step includes: a contact step of contacting the brush with a first portion of the vehicle; a detecting step of causing the first sensor to detect the first portion; A method for controlling a car wash machine, comprising: a self-propelled determination process for determining that the vehicle is stopped if a first distance, which is the distance the car wash machine body has moved from the time the brush contacts the first part to the time the first sensor detects the first part, is less than a first upper limit value and greater than a first lower limit value; and determining that the vehicle is self-propelled if the first distance is longer than the first upper limit value or less than the first lower limit value.

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