Car wash machine

Abstract

To increase the processing speed of the car wash machine when guiding vehicles. [Solution] The control unit (7) of the car wash machine (2) includes a key point detection unit (72) that detects a first key point and a second key point of the vehicle to be washed in each image captured by the first imaging device (9L) and the second imaging device (9R), and a notification unit (80) that guides the vehicle traveling in the travel area so that the difference between the values ​​of the left and right first distance data and the difference between the left and right second distance data are close to zero, based on first distance data between the first key point and a predetermined pair of virtual first reference lines, and second distance data between the second key point and the first reference line, calculated in each image captured by the first imaging device (9L) and the second imaging device (9R).

Description

Technical Field

[0001] The present disclosure relates to a car wash machine.

Background Art

[0002] Patent Document 1 describes a car wash device that detects the positional deviation of a vehicle protruding from the proper stop range based on an image captured by a camera. In the car wash device of Patent Document 1, the contour extraction means extracts the contour of an object existing within a specific coordinate range in the image captured by the camera. The object identification means identifies the contour of a guide that functions as a position indicator when the vehicle to be washed approaches the proper stop range from among the contours extracted by the contour extraction means. The protrusion determination means determines the left - right deviation (i.e., the protrusion from the proper stop range) of a vehicle that stops or moves between the rails based on whether the object identification means can identify the contour of the guide.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the car wash device of Patent Document 1, when guiding a vehicle, it is necessary to perform a process of identifying the contour of the guide. Therefore, it is considered that the processing speed of the car wash device may be slow due to the large amount of information.

[0005] One aspect of the present disclosure aims to increase the processing speed of a car wash machine during vehicle guidance.

Means for Solving the Problems

[0006] To solve the above problems, a car wash machine according to one aspect of the present disclosure comprises: a car wash machine body that travels in the forward and backward direction relative to a vehicle to be washed that is stopped at a stopping position; a first imaging unit that images the right side of the vehicle as it travels through a travel area up to the stopping position; a second imaging unit that images the left side of the vehicle as it travels through the travel area; and a control unit, wherein the control unit, in each image captured by the first imaging unit and the second imaging unit, includes a first key point of the vehicle and a unit located further back than the first key point of the vehicle. The system includes a key point detection unit that detects a second key point of the vehicle, and a guidance unit that guides the vehicle traveling in the driving area based on first distance data calculated in the images captured by the first imaging unit and the second imaging unit, between the first key point and a predetermined pair of virtual first reference lines extending in the front-rear direction, and second distance data between the second key point and the first reference lines, such that the difference between the values ​​of the left and right first distance data and the difference between the left and right second distance data are close to zero. [Effects of the Invention]

[0007] According to one aspect of this disclosure, the processing speed of the car wash machine during vehicle guidance can be increased. [Brief explanation of the drawing]

[0008] [Figure 1] This diagram shows a schematic side view of the car wash machine body and remote panel, and a schematic front view of the car wash machine body, according to this embodiment. [Figure 2] This is a schematic diagram showing the main components of the car wash machine and a vehicle parked at the car wash position, as viewed from above. [Figure 3] This is a block diagram showing the main components of a car wash machine. [Figure 4] This figure shows exemplary images captured by the first and second imaging devices. [Figure 5] This figure shows exemplary images captured by the first and second imaging devices. [Figure 6] This flowchart shows an example of processing performed by the control unit. [Modes for carrying out the invention]

[0009] [Embodiment 1] A car wash machine according to one embodiment of this disclosure will be described in detail below.

[0010] <Overview of the car wash machine> This embodiment describes an exemplary car wash machine 2 that performs a car wash process to clean a vehicle. Figure 1 is a schematic diagram showing a schematic side view 2S of the car wash machine body 4 and remote panel 6, and a schematic front view 4F of the car wash machine body 4, which are included in the car wash machine 2 according to this embodiment. Figure 2 is a schematic diagram of the main parts of the car wash machine 2 and a vehicle X parked at the car wash position, which is the stopping position during car washing, as viewed from above. Figure 3 is a block diagram showing the main parts configuration of the car wash machine 2. Figures 4 and 5 are diagrams showing exemplary images IA and IB captured by the first imaging device 9L and the second imaging device 9R. For convenience of explanation, in the description of the car wash machine 2, the forward / backward direction, the up / down direction and the left / right direction are defined as indicated by the arrows in Figure 1, etc. The forward direction is the direction in which the vehicle X, which is the vehicle to be washed, is parked at the stopping position relative to the car wash machine body 4 which is located in the standby position.

[0011] As shown in Figure 1, the car wash machine 2 includes a car wash machine body 4 that travels in the forward and backward direction of the vehicle X, which is parked at a stopping position. 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 body 4. In the schematic side view 2S, the outline of the remote panel 6 is shown with a dotted line to indicate that the remote panel 6 is located further back from the vehicle X in the view of the paper.

[0012] As shown in the general front view 4F, the car wash machine body 4 comprises, for example, two frames 8 and a ceiling portion 10 connecting the upper ends of the two frames 8. The car wash machine body 4 has a structure that allows a vehicle X to pass through a space 4S enclosed by the frames 8 and the ceiling portion 10 along the vehicle X's entry direction DA, as shown in the general side view 2S. In this specification, the entry direction DA is the direction from the front 4A to the rear 4B of the car wash machine body 4, i.e., the front-to-rear direction. In this embodiment, the front 4A is, for example, the surface on which the operation panel 42, which will be described later, is provided.

[0013] As shown in Figure 2, an entry guide G is formed within the car wash area where the car wash machine body 4 is installed. The entry guide G is formed on the ground within the car wash area and functions as a reference to indicate where and in which direction a vehicle X to be washed by the car wash machine body 4 should stop. In other words, the entry guide G serves as a guide for at least one of the direction or position of entry of the vehicle X to the car wash machine body 4. The entry guide G extends in the front-rear direction. The entry guide G includes, for example, a right-side entry guide GR positioned to the right of the ideal stopping position of the vehicle X, and a left-side entry guide GL positioned to the left. Figure 2 also shows the travel area Y1, which will be described later.

[0014] As shown in Figure 1, the car wash machine 2 may also be equipped with a first display device 45 that provides various instructions and / or displays to the driver. The first display device 45 may include, for example, a first display panel 45A installed on the car wash machine body 4 and a second display panel 45B installed behind the car wash machine body 4 and in a position visible to the driver of the vehicle X being washed. Alternatively, the car wash machine 2 may be equipped with either the first display panel 45A or the second display panel 45B. For example, the first display panel 45A may be installed on a movable part of the car wash machine body 4, such as the front of the top air blower nozzle 38. The car wash machine 2 may also be equipped with an audio output device 60 (see Figure 3) that outputs sound.

[0015] <Car wash machine body> The car wash machine main body 4 travels in the front-rear direction with respect to the vehicle X. More specifically, the car wash machine main body 4 has wheels 12 at the lower parts of the respective frames 8, and by rotationally driving the wheels 12 by a drive unit (not shown), it relatively moves in the front-rear direction with respect to the vehicle X along the rail R arranged on the ground G. The rail R extends in the front-rear direction. The traveling direction of the car wash machine main body 4 is the front-rear direction. The car wash machine main body 4 performs cleaning on the vehicle X in the space 4S while relatively moving with respect to the vehicle X.

[0016] As one of the cleaning parts, the car wash machine main body 4 is provided with a plurality of brushes that slide on the vehicle X and perform brushing. For example, the brushes included in the car wash machine main body 4 include a top brush 14, a side brush 16, and a rocker brush 18 that are each rotated by a rotation motor (not shown). The top brush 14 slides along the upper surface of the vehicle X and cleans the upper surface of the vehicle X. The side brush 16 and the rocker brush 18 clean both side surfaces of the vehicle X.

[0017] On the side part of the car wash machine main body 4, a tank storage part 20 for storing a plurality of liquid storage tanks (not shown) containing various liquid agents such as detergents or waxes is arranged. Above the tank storage part 20, a distribution pipe part 22 for distributing water containing city water or the liquid agent from each liquid storage tank is provided. From the distribution pipe part 22, a plurality of nozzles described in detail below are respectively led out via solenoid valves (not shown).

[0018] The plurality of nozzles include a first nozzle that injects a liquid containing city water or a cleaning liquid onto the vehicle X to clean the vehicle X, and a second nozzle that injects a coating agent containing a water repellent coating agent or wax onto the vehicle X to form a coating film on the surface of the vehicle X.

[0019] The first nozzle includes a first purified water nozzle 24, a second purified water nozzle 26, a first detergent nozzle 28, and a second detergent nozzle 30. The first purified water nozzle 24 and the second purified water nozzle 26 are respectively arranged on the front surface 4A side and the rear surface 4B side of each frame 8 of the car washing machine main body 4, and spray water containing municipal water onto the vehicle X. The first detergent nozzle 28 and the second detergent nozzle 30 are respectively arranged on the front surface 4A side and the rear surface 4B side of each frame 8, and spray a cleaning liquid containing shampoo or the like onto the vehicle X.

[0020] The second nozzle includes a water repellent coating nozzle 32 and a wax nozzle 34. The water repellent coating nozzle 32 and the wax nozzle 34 are arranged on the rear surface 4B of the car washing machine main body 4. The water repellent coating nozzle 32 sprays a liquid agent of a water repellent coating agent onto the vehicle X. The wax nozzle 34 sprays wax onto the vehicle X.

[0021] In addition, a blower 36 for generating an air flow to dry the vehicle X is provided in the car washing machine main body 4. 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 washing 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 washing machine main body 4 and blows air toward the side surface of the vehicle X. The car washing machine main body 4 dries the washed vehicle X by the air blowing of the top air blowing nozzle 38 and the side air blowing nozzle 40.

[0022] As shown in Figure 2, the car wash machine body 4 is equipped with a first imaging device 9L and a second imaging device 9R that image an area including at least a part of the driving area Y1. The first imaging device 9L is an example of the first imaging unit according to this disclosure, and the second imaging device 9R is an example of the second imaging unit according to this disclosure. Here, the driving area Y1 is the area in which a vehicle X travels from a specific position to a stopping position. The specific position may be, for example, the position of an entrance gate that permits entry to the car wash, or the position in front of the remote panel 6 that accepts the car wash and where the vehicle X stops. The driving area Y1 is located in front of the car wash machine body 4 in the standby position and is the area located between the right-side entry guide GR and the left-side entry guide GL in the left-right direction. After accepting the car wash, the driver drives the vehicle X within the driving area Y1 and stops the vehicle X at the designated stopping position.

[0023] The first imaging device 9L is located on the upper left side of the car wash machine body 4. The second imaging device 9R is located on the upper right side of the car wash machine body 4. Here, reference numeral 400 in Figure 4 indicates image IA captured by the first imaging device 9L, and reference numeral 401 in Figure 4 indicates image IB captured by the second imaging device 9R. Images IA and IB shown in Figure 4 are images of a vehicle X traveling in the travel area Y1. As shown by reference numeral 400 in Figure 4, the first imaging device 9L captures the right side of the vehicle X traveling in the travel area Y1, and as shown by reference numeral 401 in Figure 4, the second imaging device 9R captures the left side of the vehicle X traveling in the travel area Y1. That is, the first imaging device 9L captures the travel area Y1 from the left rear, i.e., captures the right side of the vehicle X from the front side of the vehicle X traveling in the travel area Y1. Furthermore, the second imaging device 9R captures images of the travel area Y1 from the right rear, that is, it captures the left side of vehicle X from the front side as vehicle X travels through the travel area Y1.

[0024] It is more preferable that the imaging area of ​​each imaging device 9L, 9R includes at least one of the rails R and the entry guide G arranged on the ground. The mounting position and mounting angle of both imaging devices 9L and 9R on the car wash machine body 4 can be adjusted so that the portion of the vehicle X that is in contact with the ground is imaged.

[0025] Images IA and IB captured by the first imaging device 9L and the second imaging device 9R may be moving images or still images. Furthermore, moving images captured by the first imaging device 9L and the second imaging device 9R may include images composed of still images taken in succession at predetermined intervals.

[0026] In Figures 1 and 2, for the sake of simplicity, the illustrations of the various devices for washing the vehicle X provided by the car wash machine body 4, as described above, may be omitted. Furthermore, the devices provided by the car wash machine body 4 shown in Figure 1 are merely examples, and the car wash machine body 4 may also be equipped with devices for washing the vehicle X, including conventionally known configurations, and devices to assist in said washing, on the frame 8 or ceiling 10, in addition to the devices described above.

[0027] An operation panel 42 is located on the front of one frame 8 of the car wash machine body 4. The operation panel 42 is equipped with operation buttons (not shown) for setting car wash conditions. For example, a driver who has gotten out of vehicle X, or another technician, may operate the operation buttons to set car wash conditions, etc.

[0028] <Control unit and remote panel> The car wash machine 2 includes a car wash machine body 4 and a control unit 7 that controls each part of the car wash machine 2. For example, the control unit 7 controls the washing of the vehicle X by the car wash machine body 4 by controlling the movement of the car wash machine body 4 along the rail R and the operation of each part of the cleaning unit. As shown in Figure 3, the control unit 7 includes an information processing unit 70 and a notification unit 80. The information processing unit 70 will be described later.

[0029] The control unit 7 may be located on the car wash machine body 4, as shown in Figure 1, or it may be located outside the car wash machine body 4. The control unit 7 may transmit and receive information between the car wash machine body 4 or the remote panel 6 (described later) using a communication device (not shown) or the like, and control the car wash machine body 4. The control unit 7 is composed of a processor such as a CPU, and each control is realized by executing a control program stored in memory on the processor. The control unit 7 is, for example, a controller that controls the car wash machine 2.

[0030] The remote panel 6 is located, for example, on the front side of the car wash machine body 4 and is positioned roughly in line with the direction of movement of the car wash machine body 4. Furthermore, as shown in Figure 1, the front of the remote panel 6 is positioned to face the side of the vehicle X before it is washed by the car wash machine body 4, in other words, before it enters the interior of the car wash machine body 4.

[0031] As shown in Figure 1, the remote panel 6 comprises a housing 46 and support columns 48 erected on the ground G to support the housing 46. The remote panel 6 may also include a second display device 46A, such as a touch panel, provided on the housing 46. The remote panel 6 may acquire at least a portion of the car wash conditions for the vehicle X by the car wash machine body 4 by tapping a button displayed on the second display device 46A (see Figure 3) or by pressing a button (not shown) provided on the housing 46. The control unit 7 may control the car wash machine body 4 and wash the vehicle X based on at least a portion of the car wash conditions acquired by the remote panel 6.

[0032] (Information Processing Department) The control unit 7 of this embodiment includes an information processing unit 70. As the information processing unit 70, for example, an ASIC (Application Specific Integrated Circuit) such as a CPU (Central Processing Unit), GPU (Graphic Processing Unit), microprocessor, digital signal processor, microcontroller, or TPU (Tensor Processing Unit), or a combination thereof can be used.

[0033] The information processing unit 70 includes a key point detection unit 72. The information processing unit 70 may further include at least one of the following: an image acquisition unit 71, a storage unit 73, a no-go line definition unit 74, a calculation unit 75, a determination unit 76, and an operation control unit 77. The information processing unit 70 may use the learned model M1 stored in the storage unit 73 to execute various steps included in the processing by the control unit 7, which will be described later.

[0034] The image acquisition unit 71 acquires images IA and IB from the first imaging device 9L and the second imaging device 9R, respectively. The image acquisition unit 71 acquires images IA and IB, which are captured by the first imaging device 9L and the second imaging device 9R, respectively, and which include at least a portion of the travel area Y1.

[0035] The keypoint detection unit 72 detects a first keypoint FP of vehicle X and a second keypoint RP of vehicle X located behind the first keypoint FP in the images IA and IB, respectively, captured by the first imaging device 9L and the second imaging device 9R. The first keypoint FP and the second keypoint RP are characteristic points of vehicle X and are indices used to calculate the distance between them and the no-crossing line BL.

[0036] The first keypoint FP detected in image IA captured by the first imaging device 9L and the first keypoint FP detected in image IB captured by the second imaging device 9R may be feature points located symmetrically on both sides of the vehicle X. Similarly, the second keypoint RP detected in image IA captured by the first imaging device 9L and the second keypoint RP detected in image IB captured by the second imaging device 9R may be feature points located symmetrically on both sides of the vehicle X. That is, the vehicle centerline, which is the center of the vehicle X in the vehicle width direction, may be located at the intermediate position between the first keypoint FP located on the right side of the vehicle X and the first keypoint FP located on the left side, and at the intermediate position between the second keypoint RP located on the right side of the vehicle X and the second keypoint RP located on the left side. Furthermore, it is preferable that the first keypoint FP and the second keypoint RP are feature points on the lower side of the vehicle X.

[0037] The keypoint detection unit 72 uses a trained model M1 constructed by machine learning to detect the first keypoint FP and the second keypoint RP (see Figure 4) in each image IA and IB. In this disclosure, machine learning refers to the general process of automatically constructing a detection algorithm based on data. Deep learning is a typical example of machine learning, but machine learning in this disclosure is not limited to deep learning. For example, machine learning in this disclosure may be supervised learning other than deep learning, unsupervised learning, or reinforcement learning.

[0038] Furthermore, in this disclosure, "trained model" refers to a general detection algorithm constructed using machine learning. A typical example of a trained model is a CNN (Convolutional Neural Network). While a network is one example, the trained models in this disclosure are not limited to those built using a CNN.

[0039] For example, the trained model M1 relating to this disclosure can be generated by supervised learning using training data that associates image data representing an image including a vehicle, captured by an imaging device, with labels indicating the first key point FP and second key point RP of the vehicle in the image. The trained model M1 is a model that takes an image including a vehicle to be washed, captured by an imaging device, as input, and outputs information indicating the first key point FP and second key point RP of the vehicle body in the image. The training data used to generate the trained model M1 may include a label indicating that what is captured by the imaging device is a "car".

[0040] In this embodiment, the first key point FP detected by the key point detection unit 72 is a characteristic point of the front tire of vehicle X, and the second key point RP detected by the key point detection unit 72 is a characteristic point of the rear tire of vehicle X. More specifically, the key point detection unit 72 detects the rotation axis (center of rotation) of the front tire of vehicle X as the first key point FP, and the rotation axis (center of rotation) of the rear tire of vehicle X as the second key point RP. The key point detection unit 72 may also detect the contact point where the front tire of vehicle X contacts the ground as the first key point FP, or the contact point where the rear tire of vehicle X contacts the ground as the second key point RP.

[0041] Furthermore, the key points detected by the key point detection unit 72 are not limited to the characteristic points of the tires of the vehicle X. The key point detection unit 72 may also detect, as the first key point FP, characteristic points of the front part of the vehicle body (for example, the front corner FE shown in Figure 5) or the front lamps (including headlights, small lights and turn signals). The key point detection unit 72 may also detect, as the second key point RP, characteristic points of the rear part of the vehicle body (for example, the rear corner RE shown in Figure 5).

[0042] Furthermore, as shown in Figure 5, the keypoint detection unit 72 may also detect the front corner FE located at the front of the vehicle X and the rear corner RE located at the rear of the vehicle X in the images IA and IB, respectively, captured by the first imaging device 9L and the second imaging device 9R when the vehicle X is stopped at the stopping position. Here, reference numeral 500 in Figure 5 indicates the image IA captured by the first imaging device 9L, and reference numeral 501 in Figure 5 indicates the image IB captured by the second imaging device 9R. The images IA and IB shown in Figure 5 are images of the vehicle X when it is stopped at the stopping position.

[0043] The front corner FE is the part where the front of vehicle X connects to the side of vehicle X. The rear corner RE is the part where the rear of vehicle X connects to the side of vehicle X. In this embodiment, the key point detection unit 72 detects the lower end of the part where the front of vehicle X connects to the side of vehicle X as the front corner FE, and the lower end of the part where the rear of vehicle X connects to the side of vehicle X as the rear corner RE.

[0044] In this embodiment, the front corner FE and rear corner RE detected by the key point detection unit 72 when the vehicle X is stopped at the stopping position are not indicators used to calculate the distance between the key point and the no-crossing line BL, but rather indicators used to determine whether or not the vehicle X has crossed the no-crossing line BL.

[0045] As shown in Figure 3, the memory unit 73 stores various types of information. The memory unit 73 stores the trained model M1. For example, the memory unit 73 can be a random access memory, flash memory, or a hard disk drive.

[0046] The "No Crossing" line definition section 74 defines a virtual "No Crossing" line BL extending in the front-rear direction in each image IA and IB captured by the first imaging device 9L and the second imaging device 9R, respectively. That is, the "No Crossing" line definition section 74 defines a pair of "No Crossing" lines BL, each of which is located on the left and right sides of the vehicle X. The "No Crossing" line BL is an example of a first reference line and is also an example of a second reference line. The "No Crossing" line definition section 74 pre-defines the "No Crossing" line BL in each image IA and IB before accepting customers for car washing.

[0047] As shown in Figure 4, the "no overhang" line BL is a virtual line defined to prevent contact between the vehicle X and the car wash machine body 4 during car washing. The "no overhang" line BL is a reference line used to detect the positional deviation of the vehicle X relative to the center of the travel area Y1 in the left-right direction. The "no overhang" line BL is also a reference line used to determine whether or not a part of the vehicle X is overhanging the area in which the car wash machine body 4 travels during car washing.

[0048] In this embodiment, the no-crossing line BL may be defined based on the entry guide G. For example, the no-crossing line defining section 74 defines the no-crossing line BL based on the outer surface of the entry guide G facing the rail R side. Alternatively, the no-crossing line defining section 74 may define the no-crossing line BL based on the inner surface of the entry guide G facing the running area Y1 side. That is, the no-crossing line BL may be the boundary that marks the boundary between the inside and outside of the running area Y1 in the left-right direction. Alternatively, the no-crossing line defining section 74 may define the no-crossing line BL based on the rail R.

[0049] The no-crossing line specification section 74 may also be defined by the administrator of the car wash machine 2 setting the coordinates of the no-crossing line BL. Specifically, the administrator of the car wash machine 2 identifies the line prohibiting vehicle X from crossing in the respective images IA and IB captured by the first imaging device 9L and the second imaging device 9R, using the coordinates of each image IA and IB. In other words, the no-crossing line BL can be identified by the administrator of the car wash machine 2 specifying two or more coordinates in the images captured by each imaging device 9L and 9R. However, the no-crossing line BL is not limited to that identified by the administrator of the car wash machine 2. For example, the no-crossing line specification section 74 may use image recognition technology to recognize installations on the ground included in each of the images IA and IB, and define the no-crossing line BL based on the recognized installations. Examples of installations on the ground include entry guides G, rails R, markers, etc.

[0050] As shown in Figure 3, the calculation unit 75 calculates first distance data Af and Bf, which indicate the distance between the first key point FP and the no-go line BL, and second distance data Ar and Br, which indicate the distance between the second key point RP and the no-go line BL, for each image IA and IB. Specifically, the calculation unit 75 calculates first distance data Af, which indicates the distance between the first key point FP and the no-go line BL, and second distance data Ar, which indicates the distance between the second key point RP and the no-go line BL, for the image IA captured by the first imaging device 9L. The calculation unit 75 calculates first distance data Bf, which indicates the distance between the first key point FP and the no-go line BL, and second distance data Br, which indicates the distance between the second key point RP and the no-go line BL, for the image IB captured by the second imaging device 9R.

[0051] Each distance data calculated by the calculation unit 75 is the distance in the left-right direction, that is, the distance in the direction perpendicular to the reference line BL. Each distance data calculated by the calculation unit 75 is measured, for example, by performing pixel processing on each image IA, IB. In this case, the distance between two points can be measured in pixels.

[0052] In this embodiment, the calculation unit 75 calculates the positional deviation degree Cf for the first key point FP and the positional deviation degree Cr for the second key point RP based on the calculated first distance data Af, Bf and second distance data Ar, Br. The positional deviation degree Cf is an index that indicates which side of the driving region Y1 the front of the vehicle X is closer to, left or right, and represents the difference between the left and right values ​​of the first distance data Af, Bf. The positional deviation degree Cr is an index that indicates which side of the driving region Y1 the rear of the vehicle X is closer to, left or right, and represents the difference between the left and right values ​​of the second distance data Ar, Br. In this embodiment, the calculation unit 75 calculates the positional deviation degree Cf and the positional deviation degree Cr, respectively, based on the following equations 1 and 2. [Equation 1]...Positional deviation Cf = (First distance data Bf - First distance data Af) / (First distance data Bf + First distance data Af) [Equation 2]...Positional displacement Cr = (Second distance data Br - Second distance data Ar) / (Second distance data Br + Second distance data Ar)

[0053] The determination unit 76 determines whether or not the vehicle X has stopped at the stopping position. The determination unit 76 determines, based on the images IA and IB captured by the first imaging device 9L and the second imaging device 9R, respectively, whether or not at least one of the front corner FE and rear corner RE of the vehicle X, which is stopped at the stopping position as detected by the keypoint detection unit 72, exceeds the no-go line BL. When at least one of the front corner FE and rear corner RE exceeds the no-go line BL, a part of the vehicle X is located on the rail R side of the no-go line BL, that is, it is extending outside the running area Y1.

[0054] The operation control unit 77 controls the operation of the car wash machine 2. When the vehicle X is stopped at the stopping position, if at least one of the front corner FE and rear corner RE of the vehicle X, as detected by the key point detection unit 72, exceeds the no-go line BL, the operation control unit 77 controls the car wash machine body 4 not to move.

[0055] The notification unit 80 guides the vehicle X traveling in the driving area Y1 based on the first distance data Af, Bf between the first key point FP and the no-crossing line BL, and the second distance data Ar, Br between the second key point RP and the no-crossing line BL, calculated in the images IA, IB captured by the first imaging device 9L and the second imaging device 9R, respectively. The notification unit 80 guides the vehicle X traveling in the driving area Y1 so that the difference between the values ​​of the left and right first distance data Af, Bf and the difference between the left and right second distance data Ar, Br are close to 0 (zero). The notification unit 80 is an example of a guidance unit. The notification unit 80 notifies the driver of the vehicle X of at least one of the following: an instruction to correct the bias of the vehicle X in the driving area Y1, and an instruction to correct the tilt of the vehicle X. The bias of the vehicle X is the bias of the vehicle X in the left-right direction in the driving area Y1. The tilt of vehicle X is the tilt of vehicle X in the longitudinal direction relative to the longitudinal direction.

[0056] In this embodiment, the notification unit 80 guides the vehicle X so that the absolute values ​​of the positional deviation Cf and positional deviation Cr calculated by the calculation unit 75 are minimized. Based on the positional deviation Cf and positional deviation Cr, the notification unit 80 guides the vehicle X by displaying instructions to correct the bias and / or tilt of the vehicle X on at least one of the first display device 45 and the second display device 46A. Alternatively, the notification unit 80 may guide the vehicle X by outputting instructions to correct the bias and / or tilt of the vehicle X as audio output from the audio output device 60.

[0057] Furthermore, if the operation of the car wash machine 2 is stopped by the operation control unit 77, the notification unit 80 may notify the manager of the car wash machine 2 that the operation of the car wash machine 2 has stopped.

[0058] (Processing flow by the control unit) The following describes the flow of various processes performed by the control unit 7 of the car wash machine 2, using Figure 6 as an example. Figure 6 is a flowchart showing an example of processing performed by the control unit 7.

[0059] First, before the series of processes begin, the manager of the car wash machine 2 defines the no-go line BL. Specifically, the manager of the car wash machine 2 identifies the no-go line BL, which prohibits the vehicle X from going outside the driving area, using coordinates on each image IA,IB captured by the first imaging device 9L and the second imaging device 9R. For example, the manager identifies multiple coordinate points based on the entry guide G in each image IA,IB. The no-go line definition unit 74 defines the no-go line BL based on the multiple coordinate points identified by the manager.

[0060] The control unit 7 initiates the car wash as requested by the remote panel 6 and stops the vehicle X at the designated stop. When a request to stop the vehicle at a designated location is received, the following process begins.

[0061] As shown in Figure 6, in step S1, the image acquisition unit 71 starts acquiring image data from the first imaging device 9L and the second imaging device 9R, respectively. Image data acquisition by the image acquisition unit 71 may be performed intermittently multiple times while the vehicle X is traveling in the travel area Y1. The interval between image data acquisitions can be set arbitrarily, and the processing in steps S2 to S6 described below may be performed for each image data acquired.

[0062] In step S2, the keypoint detection unit 72 detects a first keypoint FP and a second keypoint RP in each image IA and IB. More specifically, in step S2, the keypoint detection unit 72 detects the rotation axis of the right front tire of vehicle X as the first keypoint FP and the rotation axis of the right rear tire of vehicle X as the second keypoint RP in image IA captured by the first imaging device 9L. In step S2, the keypoint detection unit 72 detects the rotation axis of the left front tire of vehicle X as the first keypoint FP and the rotation axis of the left rear tire of vehicle X as the second keypoint RP in image IB captured by the second imaging device 9R.

[0063] In step S3, the calculation unit 75 calculates first distance data Af and Bf, which indicate the distance between the first key point FP and the no-go line BL, and second distance data Ar and Br, which indicate the distance between the second key point RP and the no-go line BL, for each image IA and IB.

[0064] In step S4, the calculation unit 75 calculates the positional deviation Cf of the first key point FP and the positional deviation Cr of the second key point RP based on the first distance data Af, Bf and the second distance data Ar, Br calculated in step S3.

[0065] In step S5, the notification unit 80 guides the vehicle X. In step S5, the notification unit 80 guides the vehicle X so that the absolute values ​​of the positional deviation Cf and positional deviation Cr calculated in step S4 are minimized. In step S5, the notification unit 80 may display at least one of the following on at least one of the first display device 45 and the second display device 46A: an instruction to correct the bias of the vehicle X in the driving area Y1, and an instruction to correct the tilt of the vehicle X, or it may be output as an audio signal from the audio output device 60.

[0066] In step S6, the determination unit 76 determines whether or not vehicle X has stopped at the stopping position. If the determination unit 76 determines in step S6 that vehicle X has stopped at the stopping position (S6:YES), step S7 is executed. If the determination unit 76 determines in step S6 that vehicle X has not stopped at the stopping position (S6:NO), step S2 is executed again.

[0067] In step S7, the keypoint detection unit 72 detects the front corner FE and rear corner RE of the vehicle X in the images IA and IB, respectively, captured by the first imaging device 9L and the second imaging device 9R.

[0068] In step S8, the determination unit 76 determines whether at least one of the front corner FE and rear corner RE of the vehicle X detected in step S7 exceeds the no-crossing line BL in the respective images IA and IB captured by the first imaging device 9L and the second imaging device 9R. If the determination unit 76 determines in step S8 that at least one of the front corner FE and rear corner RE of the vehicle X does not exceed the no-crossing line BL (S8: NO), then step S9 is executed. If the determination unit 76 determines in step S8 that at least one of the front corner FE and rear corner RE of the vehicle X exceeds the no-crossing line BL (S8: YES), then step S10 is executed.

[0069] In step S9, the operation control unit 77 controls the operation of the car wash machine body 4 based on at least some of the car wash conditions acquired by the remote panel 6, and performs the washing of the vehicle X. After the execution of step S9 is completed, the series of processes shown in Figure 6 are terminated.

[0070] In step S10, the operation control unit 77 controls the car wash machine body 4 so that it does not move. More specifically, the operation control unit 77 controls a drive unit (not shown) that rotates the wheels 12 so that the car wash machine body 4 does not move.

[0071] In step S11, the notification unit 80 notifies the operator of the car wash machine 2 that the operation of the car wash machine 2 has stopped. In step S11, the notification unit 80 may display an indication that the operation of the car wash machine 2 has stopped on at least one of the first display device 45 and the second display device 46A, or it may output an audio message from the audio output device 60 indicating that the operation of the car wash machine 2 has stopped. After the execution of step 11 is completed, the series of processes shown in Figure 6 are terminated.

[0072] According to the car wash machine 2 described above, the first key point FP and the second key point RP detected on both the left and right sides of vehicle X are detected. In other words, only the two key points detected on each side of vehicle X are detected. Therefore, it is possible to reduce the amount of information required when guiding vehicle X within the driving area Y1. This allows the processing speed of the car wash machine 2 to be increased when guiding vehicle X. In addition, by minimizing the number of vehicle key points to be detected, false detections of key points become less likely. This improves the accuracy of guiding vehicle X.

[0073] Furthermore, the first key point FP and the second key point RP are each characteristic points of the tires of vehicle X. The tires of vehicle X are components that determine the direction of vehicle X's movement. Also, since the tires are mounted symmetrically on both sides of the vehicle X's centerline, even if vehicle X is imaged using separate imaging devices 9L and 9R, the first key point FP and the second key point RP detected by the first imaging device 9L and the corresponding first key point FP and second key point RP detected by the second imaging device 9R will not be misaligned in the direction of extension of the vehicle X's centerline (the longitudinal direction of vehicle X). Therefore, by using the first key point FP and the second key point RP as characteristic points of the tires of vehicle X, the guidance of vehicle X can be performed with greater accuracy.

[0074] Furthermore, when vehicle X is stopped at the stopping position, if at least one of the front corner FE and rear corner RE of vehicle X exceeds the no-overhang line BL, the operation control unit 77 controls the car wash machine body 4 not to move. Therefore, even if the first key point FP and / or the second key point do not exceed the no-overhang line BL, but the front or rear end of vehicle X exceeds the no-overhang line BL, the car wash machine body 4 will not move. This reduces the risk of collision between vehicle X and the car wash machine body 4 during car washing.

[0075] (Other aspects) In the embodiments described above, the first and second reference lines, which are the no-crossing lines BL, were defined, but the configuration is not limited to this. The first and second reference lines may be different reference lines. For example, the second reference line may be a reference line defined on the rail R side of the first reference line in the left-right direction.

[0076] Furthermore, although the above-described embodiment shows an example in which the car wash machine body 4 is equipped with a first imaging device 9L and a second imaging device 9R, the invention is not limited to this example. The first imaging device 9L and the second imaging device 9R may be installed independently of the car wash machine body 4, as long as they are in a position that can capture a desired imaging area. For example, the first imaging device 9L and the second imaging device 9R may be attached to each of a pair of support columns installed on both sides of the car wash machine body 4. The pair of support columns to which the first imaging device 9L and the second imaging device 9R are attached may be installed on the front side of the travel area Y1, that is, on the side of the remote panel 6. In this case, the first imaging device 9L may capture the travel area Y1 from the front left, that is, from the rear side of the vehicle X traveling in the travel area Y1, capturing the right side of the vehicle X. The second imaging device 9R may capture the travel area Y1 from the front right, that is, from the rear side of the vehicle X traveling in the travel area Y1, capturing the left side of the vehicle X. In this case, the key point detection unit 72 may also detect a characteristic point of the rear lamp (including taillights, brake lights, reverse lights, and rear fog lights) as the second key point RP.

[0077] This disclosure is not limited to the embodiments described above, 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 this disclosure. [Explanation of symbols]

[0078] 2 car wash machine 4 Car wash machine body 7 Control Unit 9L First Imaging Device (First Imaging Unit) 9R Second Imaging Device (Second Imaging Unit) 70 Information Processing 72 Keypoint detection unit 80. Information Department (Guidance Department) Y1 Driving Area

Claims

1. A car wash machine that travels in the forward and backward direction relative to a vehicle to be washed that is stopped at a designated stopping position, A first imaging unit captures the right side of the vehicle as it travels through the travel area up to the aforementioned stopping position, A second imaging unit that images the left side of the vehicle as it travels through the aforementioned travel area, A car wash machine comprising a control unit, The control unit, A key point detection unit detects a first key point of the vehicle and a second key point of the vehicle located further rear than the first key point in each image captured by the first imaging unit and the second imaging unit. The system includes a guidance unit that guides the vehicle traveling through the travel area such that the difference between the left and right first distance data values ​​and the difference between the left and right second distance data values ​​are close to zero, based on first distance data between the first key point and a predetermined pair of virtual first reference lines extending in the front-rear direction, calculated in each image captured by the first imaging unit and the second imaging unit, respectively. Car wash machine.

2. The first key point is a characteristic feature of the front tire of the vehicle, The second key point is a characteristic feature of the rear tire of the vehicle. The car wash machine according to claim 1.

3. The keypoint detection unit detects the front corner located at the front of the vehicle and the rear corner located at the rear of the vehicle in the respective images captured by the first imaging unit and the second imaging unit. The control unit, The system further includes an operation control unit that controls the vehicle to not move if, while the vehicle is stopped at the stop position, at least one of the detected front corner and rear corner exceeds a predetermined virtual second reference line extending in the front-rear direction. A car wash machine according to claim 1 or 2.

Images