Parking device and parking system

Abstract

The present disclosure relates to a parking apparatus and a parking system. The parking apparatus is adapted to move a vehicle into or out of a parking space by a transport vehicle that enters a space below the vehicle. The parking apparatus is provided with a restriction member that is movable between a restriction position and a permission position, wherein the restriction position is a position that restricts the transport vehicle from entering the parking space for moving the vehicle into or out of the parking space, and the permission position is a position that permits the transport vehicle to enter the parking space for moving the vehicle into or out of the parking space.

Description

Technical Field

[0001] This disclosure relates to parking equipment and parking systems. Background Technology

[0002] A lifting transport trolley is well known for picking up vehicles by entering the space beneath them (see, for example, Japanese Patent Application Publication No. 2019-078099). In Japanese Patent Application Publication No. 2019-078099, firstly, the trolley frame of the lifting transport trolley enters the space beneath the vehicle. Next, a pair of arms are moved relative to the individual tires of the vehicle, from the trolley frame towards the underside of the tires, on the front and rear sides of the tires. Next, the trolley frame is lifted, thereby lifting the tires by the arms, and thus lifting the vehicle. The lifting transport trolley then moves to transport the vehicle.

[0003] It is believed that using the lifting conveyor trolley described in Japanese Patent Application Publication No. 2019-078099 would facilitate the easy transport of parked vehicles. However, the risk of vehicle theft may increase as a result. In particular, in automated valet parking systems where vehicles are moved into and out of parking spaces using the conveyor trolley, the parking facility is essentially unoccupied, potentially further increasing the risk of theft. Alternatively, the conveyor trolley may transport vehicles that should not be transported. That is, vehicles may be unintentionally transported within the parking facility. Summary of the Invention

[0004] According to this disclosure, the following components are provided.

[0005] Composition 1

[0006] A parking device is provided for moving a vehicle into or out of a parking space by a transport vehicle that enters the space below the vehicle to receive the vehicle. The parking device includes a limiting member movable between a restricted position and a permissible position. The restricted position limits the transport vehicle's entry into the parking space for moving the vehicle into or out of the parking space, while the permissible position allows the transport vehicle to enter the parking space for moving the vehicle into or out of the parking space.

[0007] Composition 2

[0008] In the parking equipment described in configuration 1, the limiting member may be located in the limiting position when a vehicle is parked in the parking space, and in the permissible position when the vehicle is moved into the parking space by the transport vehicle and when the vehicle is moved out of the parking space.

[0009] Composition 3

[0010] In the parking equipment described in 1 or 2, the limiting member may be located in the limiting position when no vehicle is parked in the parking space.

[0011] Composition 4

[0012] In any of the parking devices comprising 1 to 3, the limiting member may be located around one or both ends of the parking space in the longitudinal direction.

[0013] Composition 5

[0014] In any of the following configurations of the parking device, the limiting member may protrude from the road surface at the limiting position and retract to the road surface at the permissible position.

[0015] Composition 6

[0016] In any of the following configurations of the parking device, the limiting member may include a plurality of limiting members disposed offset from each other in the longitudinal direction of the parking space.

[0017] Composition 7

[0018] In any of the following configurations of the parking device, the limiting member may be located near the vehicle parked in the parking space at the limiting position and away from the vehicle parked in the parking space at the permissible position.

[0019] Composition 8

[0020] In any of the following configurations of a parking device, the limiting member may also allow the vehicle to move into or out of the parking space by its own power at the limiting position.

[0021] Composition 9

[0022] In any of the parking devices comprising 1 to 8, the transport vehicle may also be an autonomous vehicle.

[0023] Composition 10

[0024] A parking system is provided for moving a vehicle into or out of a parking space by a transport vehicle that enters the space below the vehicle to pick it up. The parking system comprises: a limiting member movable between a limiting position and a permissible position, the limiting position restricting the transport vehicle from entering or leaving the parking space, and the permissible position allowing the transport vehicle to enter or leave the parking space; and a management server controlling the limiting member to be located at the limiting position when a vehicle is parked in the parking space, and at the permissible position when the vehicle is moved into or out of the parking space by the transport vehicle.

[0025] It can limit the unintentional transport of vehicles. Attached Figure Description

[0026] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0027] Figure 1 This is a schematic overall view of the parking device according to an embodiment of the present disclosure.

[0028] Figure 2 This is a schematic diagram of a transport vehicle according to an embodiment of the present disclosure.

[0029] Figure 3 This is a schematic diagram of a management server according to an embodiment of this disclosure.

[0030] Figure 4A This is a side view of a transport vehicle according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the lowered position and the arm in the retracted position.

[0031] Figure 4B This is a top view of a transport vehicle according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the lowered position and the arm in the retracted position.

[0032] Figure 5A This is a side view of a transport vehicle according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the raised position and the arm in the extended position.

[0033] Figure 5B This is a top view of a transport vehicle according to an embodiment of the present disclosure, and is a schematic diagram showing the trolley in the raised position and the arm in the extended position.

[0034] Figure 6A This is a top view of a parking space according to an embodiment of the present disclosure, and is a diagram showing the state in which the limiting member is in an permissible position.

[0035] Figure 6B This is a side view of a parking space according to an embodiment of the present disclosure, showing the state in which the limiting member is in an permissible position.

[0036] Figure 6C Along the parking space of an embodiment of this disclosure Figure 6A The front view observed by arrow C is a diagram showing the state in which the restrictor is in the permissible position.

[0037] Figure 7A Is with Figure 6A The same top view is a diagram showing the state of the limiting component in the limiting position.

[0038] Figure 7B Is with Figure 6B The same side view is a diagram showing the state of the limiting member in the limiting position.

[0039] Figure 7C Is with Figure 6C The same front view is a diagram showing the state of the limiting component in the limiting position.

[0040] Figure 8 This is a flowchart illustrating the limiting component control routine in an embodiment of this disclosure.

[0041] Figure 9 This is a top view of another embodiment of the parking space.

[0042] Figure 10 This is a top view of another embodiment of the parking space.

[0043] Figure 11 This is a top view of another embodiment of the parking space. Detailed Implementation

[0044] Figure 1 A parking device 1 according to an embodiment of the present disclosure is shown in schematic form. (Refer to...) Figure 1 The parking device 1 of the embodiments of this disclosure includes, for example, a parking area 3 surrounded by a fence 2. The parking area 3 includes at least one parking space 4, at least one passageway 5 connected to the parking space 4, and a vehicle waiting area 6.

[0045] Each parking space 4 is defined by lines 4a painted on the road surface as an area for approximately one vehicle to park. The delivery vehicle waiting area 6 is an area for at least one delivery vehicle or delivery robot 7 to wait. The delivery vehicle 7 transports the vehicle V within the parking area 3 using automated driving.

[0046] Parking area 3 is connected to the exterior of parking equipment 1, for example, by a road R, via at least one pick-up / drop-off point 8. Figure 1In the example shown, there are two pick-up and drop-off points 8. Pick-up and drop-off points 8 include an inner door 8i on the side of the parking area 3 and an outer door 8o on the side of the road R.

[0047] A management facility 10 is provided on the outside of the parking equipment 1, and a management server 9 is provided inside the management facility 10.

[0048] The parking device 1 of the embodiments of this disclosure is suitable for providing automated valet parking services. (Refer to...) Figure 1 A simplified description of the automated valet parking service is as follows. In this embodiment, when vehicle V approaches pick-up / drop-off location 8 from road R, the outer door 8o of pick-up / drop-off location 8 is opened, and vehicle V enters and stops through the outer door 8o. After alighting from vehicle V and exiting pick-up / drop-off location 8, the passenger or user sends an entry instruction, for example, via a user's portable terminal. Upon receiving this entry instruction via management server 9, the outer door 8o is closed and the inner door 8i is opened according to the instructions from management server 9. Next, according to the instructions from management server 9, delivery vehicle 7 moves vehicle V into parking space 4 determined by management server 9. In one example, delivery vehicle 7 first moves to pick up vehicle V from pick-up / drop-off location 8. Next, delivery vehicle 7 moves within passageway 5, delivering vehicle V to parking space 4 determined by management server 9 and dropping off vehicle V. Thus, vehicle V is moved into parking space 4 and stored in parking equipment 1.

[0049] On the other hand, when it is time for vehicle V to be removed from parking equipment 1, the user sends a removal instruction via a portable terminal. Upon receiving this removal instruction via management server 9, delivery vehicle 7 removes vehicle V from parking space 4 according to the instructions from management server 9. In one example, delivery vehicle 7 moves to the corresponding parking space 4 and picks up vehicle V. Next, delivery vehicle 7 moves within passageway 5, delivering vehicle V to the boarding / alighting area 8 where the inner door 8i is open and placing vehicle V down. Next, according to the instructions from management server 9, the inner door 8i is closed, and the outer door 8o is opened. Then, when the user enters vehicle V and vehicle V exits from boarding / alighting area 8 onto road R, the outer door 8o is closed. Thus, vehicle V is removed from parking space 4 and removed from parking equipment 1. It should be noted that after placing vehicle V in parking space 4 or boarding / alighting area 8, delivery vehicle 7 returns to delivery vehicle waiting area 6 or proceeds to another parking space 4 or boarding / alighting area 8 to pick up other vehicles V.

[0050] In other embodiments where vehicle V is an autonomous vehicle, vehicle V receives an entry instruction from management server 9 and drives autonomously to parking space 4 determined by management server 9. When it receives an exit instruction from management server 9, vehicle V drives autonomously from parking space 4 to drop-off / pick-up area 8.

[0051] like Figure 2 As schematically illustrated, the transport vehicle 7 of this disclosure embodiment includes one or more processors 71, one or more memories 72, storage devices 73, and input / output interfaces (IFs) 74, which are connected by a bidirectional bus to enable communication between them. The memories 72 include volatile or non-volatile memory. Various programs are stored in the memories 72, which are executed by the processor 71. The storage devices 73 store map data (e.g., the configuration of parking spaces 4), calculation models, etc., of the parking area 3. Communication devices 75, input / output devices 76, one or more sensors 77, a GPS (Global Positioning System) receiver 78, an automatic driving device 79, and a vehicle control device 80 are communicatively connected to the input / output IFs 74.

[0052] The communication device 75 is connected to a communication network such as the Internet in a communicative manner. Input / output devices 76 include, for example, a keyboard, mouse, media reader / writer, and in-vehicle display. Sensors 77 include cameras for autonomous driving, LiDAR (light detection and ranging) devices, etc. A GPS receiver 78 receives signals from GPS satellites, thereby detecting information representing the absolute position (e.g., longitude and latitude) of the transport vehicle 7. The autonomous driving device 79 includes actuators that respectively perform driving, steering, and braking of the transport vehicle 7. The trolley control device 80 will be described later.

[0053] On the other hand, such as Figure 3As schematically illustrated, the management server 9 of this disclosure embodiment includes one or more processors 91, one or more memories 92, storage devices 93, and input / output interfaces (IFs) 94, which are connected by a bidirectional bus to enable communication between them. The memories 92 include volatile or non-volatile memory. Various programs are stored in the memories 92, which are executed by the processor 91. The storage devices 93 store map data (e.g., the configuration of parking spaces 4), calculation models, etc., of the parking area 3. Communication devices 95, input / output devices 96, and restraint component control devices 97 are communicatively connected to the input / output IFs 94. The communication devices 95 are communicatively connected to a communication network such as the Internet. The input / output devices 96 include, for example, a keyboard, a mouse, and a media reader / writer. The restraint component control device 97 is communicatively connected to the actuator 43 described later.

[0054] Figure 4A , Figure 4B as well as Figure 5A , Figure 5B The transport vehicle 7 of an embodiment of this disclosure is shown schematically. (Refer to...) Figure 4A , Figure 4B as well as Figure 5A , Figure 5B The transport vehicle 7 comprises a drive unit 7a and a trolley 7b, which are arranged and interconnected along its longitudinal direction. The drive unit 7a is a battery electric vehicle (BEV) equipped with the aforementioned automatic driving device 79. The trolley 7b can move vertically between a lower descending position and a higher ascending position via the aforementioned trolley control device 80. Figure 4A and Figure 4B In the middle, trolley 7b is in the descending position. On the other hand, in Figure 5A and Figure 5B In the configuration, trolley 7b is in the raised position. Furthermore, trolley 7b has a pair of trolley sections 7ba and 7bb arranged neatly along its longitudinal direction. These trolley sections 7ba and 7bb can move relative to each other along their longitudinal direction via the aforementioned trolley control device 80. On each side of each trolley section 7ba and 7bb, a pair of arms 7c and 7c are separated in the longitudinal direction and attached to the trolley section 7ba and 7bb. The arms 7c and 7c can move around pins 7d and 7d between a retracted position and an extended position via the aforementioned trolley control device 80. The retracted position is along the trolley sections 7ba and 7bb and extends in the longitudinal direction, while the extended position is away from the trolley sections 7ba and 7bb and extends in a direction orthogonal to the longitudinal direction. Figure 4A and Figure 4B In the middle, arms 7c and 7c are in the retracted position. On the other hand, in Figure 5A and Figure 5B In the middle, arms 7c and 7c are in the extended position.

[0055] When the conveyor vehicle 7 is to convey vehicle V, the conveyor vehicle 7 moves to vehicle V with the trolley 7b in the lowered position and the arms 7c and 7c in the retracted position. Next, as... Figure 4A , Figure 4B As shown, the transport vehicle 7 is moved by the trolley 7b entering the lower space LS formed between the vehicle V and the road surface RS. In one example, the trolley 7b enters the lower space LS from one end along its longitudinal dimension. At this time, the position of the trolley 7b relative to the vehicle V and the longitudinal relative position of the trolley parts 7ba and 7bb are controlled by the arms 7c, 7c facing their respective tires W. Next, the arms 7c, 7c are moved to the extended position. As a result, the arms 7c, 7c are positioned below the tires W on their front and rear sides, respectively. Next, the trolley 7b is moved to the raised position. As a result, as... Figure 5A , Figure 5B As shown, vehicle V is picked up by transport vehicle 7. Transport vehicle 7 moves while carrying vehicle V, thereby transporting vehicle V.

[0056] Next, when the transport vehicle 7 reaches the target position, the trolley 7b is moved to the lowered position. Next, the arms 7c are moved to the retracted position. Next, the transport vehicle 7 is moved so that the trolley 7b exits from the space below LS. Thus, the vehicle V is lowered from the transport vehicle 7.

[0057] It should be noted that the transport vehicle 7 or trolley 7b may sometimes enter the lower space LS from the front side of the vehicle V, and sometimes from the rear side of the vehicle V.

[0058] Figure 6A , Figure 6B , Figure 6C as well as Figure 7A , Figure 7B , Figure 7C Parking space 4, according to an embodiment of this disclosure, is shown in schematic form. (Refer to...) Figure 6A , Figure 6B , Figure 6C as well as Figure 7A , Figure 7B , Figure 7C Parking space 4 is divided into a rectangular shape by three lines 4a, and one end of parking space 4 is connected to passageway 5 in the long dimension direction.

[0059] A cuboid-shaped restraining member 41 is provided, for example, on the periphery of one end of the parking space 4 in the longitudinal direction, i.e., the area 4F closest to the passageway 5. Conversely, two parking blocks 42, 42 are provided, for example, on the periphery of the other end of the parking space 4 in the longitudinal direction, i.e., the inner area 4R furthest from the passageway 5. The restraining member 41 can move vertically between a restrained position protruding from the road surface RS and an allowable position retracted to the road surface RS via an actuator 43. Figure 6A , Figure 6B , Figure 6C In the middle, the limiting member 41 is in the permissible position. In contrast, in... Figure 7A , Figure 7B , Figure 7C In the middle, the limiting component 41 is in the limiting position.

[0060] When the vehicle V is to be moved into the parking space 4 by the transport vehicle 7, the restraining member 41 is positioned in the permissible position. As a result, the transport vehicle 7 can enter the parking space 4 and lower the vehicle V.

[0061] Next, when the vehicle V is moved into parking space 4, that is, when the transport vehicle 7 removes the vehicle V from parking space 4 after placing it down, the limiting member 41 is positioned in the limiting position. As a result, the transport vehicle 7 is restricted from entering parking space 4, and the trolley 7b of the transport vehicle 7 is restricted from entering the space LS below the vehicle V. Therefore, unintentional transport of the vehicle V within parking space 4 by the transport vehicle 7 is prevented.

[0062] Moreover, such as Figure 7A , Figure 7C As shown, the width of the limiting member 41 in the embodiment of this disclosure is shorter than the distance between the left and right tires of the vehicle V. Therefore, when the limiting member 41 is in the limiting position, the vehicle V is allowed to enter or exit the parking space 4 by its own power.

[0063] Next, when the vehicle V should be moved from the parking space 4 by the transport vehicle 7, the restraining member 41 is positioned in the permissible position. As a result, the transport vehicle 7 can enter the parking space 4 to pick up the vehicle V.

[0064] Next, when vehicle V has been removed from parking space 4, that is, when transport vehicle 7 has picked up vehicle V and exited parking space 4, the limiting member 41 is positioned in the limiting position. That is, the limiting member 41 is also positioned in the limiting position when no vehicle V is parked in parking space 4. As a result, the transport vehicle 7 is prevented from accidentally entering parking space 4. In this case, unintentional transport of vehicle V is also prevented. In other examples, the limiting member 41 is also held in the permissible position after vehicle V has been removed from parking space 4.

[0065] Figure 8 A restriction component control routine is shown in an embodiment of this disclosure. This routine is executed, for example, by processor 91 of server 9. (Refer to...) Figure 8 In step 100, it is determined whether vehicle V should be moved into parking space 4 or whether vehicle V should be moved out of parking space 4. If it is determined that vehicle V should be moved into parking space 4 or vehicle V should be moved out of parking space 4, the process proceeds to step 101, where the limiting member 41 is controlled in the permissible position. Next, in step 102, it is determined whether the moving of vehicle V into parking space 4 or the moving of vehicle V out of parking space 4 has been completed. If it is not determined that the moving of vehicle V into parking space 4 or the moving of vehicle V out of parking space 4 has been completed, the process returns to step 101. If it is determined that the moving of vehicle V into parking space 4 or the moving of vehicle V out of parking space 4 has been completed, the process proceeds to step 103, where the limiting member is controlled in the limiting position. On the other hand, if it is not determined in step 100 that the vehicle V should be moved into the parking space 4 or the vehicle V should be moved out of the parking space 4, the process jumps to step 103.

[0066] Figure 9 , Figure 10 , Figure 11 Other embodiments of parking space 4 are shown. Figure 9 In the example shown, a limiting member 41a is also provided in the inner region 4R of the parking space 4. Therefore, in this example, limiting members 41 and 41a are located around both ends of the parking space 4 in the longitudinal direction. This more reliably restricts the transport vehicle 7 from entering the parking space 4.

[0067] exist Figure 10 In the example shown, the limiting member 41 includes a plurality of limiting members 41, 41, 41 that are offset from each other along the longitudinal direction of the parking space 4. Figure 10 In the example shown, there are three limiting members 41, 41, 41. Thus, the position of the protruding limiting member 41 in the longitudinal direction is changed according to the length of the vehicle V in the longitudinal direction.

[0068] exist Figure 11 In the example shown, the limiting member 41 does not move in the vertical direction, but can move in the horizontal direction between the limiting position shown by the solid line and the permissible position shown by the dashed line.

Claims

1. A parking device suitable for moving a vehicle into or out of a parking space by means of a transport vehicle that enters the space below the vehicle to receive the vehicle. The parking device includes a limiting member that can move between a restricted position and an allowable position, wherein... The restricted position is a position that limits the movement of a transport vehicle into or out of the parking space. The permitted position is a position that allows the transport vehicle to enter or out of the parking space. The limiting member at the limiting position allows the vehicle to move into or out of the parking space by its own power.

2. The parking device according to claim 1, wherein, The limiting member is located in the limiting position when a vehicle is parked in the parking space, and in the permissible position when the vehicle is moved into the parking space by the transport vehicle and when the vehicle is moved out of the parking space.

3. The parking device according to claim 1 or 2, wherein, The limiting member is in the limiting position when no vehicle is parked in the parking space.

4. The parking device according to claim 1 or 2, wherein, The limiting member is located around one or both ends of the parking space along its length.

5. The parking device according to claim 1 or 2, wherein, The limiting member protrudes from the road surface at the limiting position and retracts to the road surface at the permissible position.

6. The parking device according to claim 1 or 2, wherein, The limiting member comprises a plurality of limiting members that are offset from each other along the longitudinal direction of the parking space.

7. The parking device according to claim 1 or 2, wherein, The limiting member is close to the vehicle parked in the parking space at the limiting position and far away from the vehicle parked in the parking space at the permissible position.

8. The parking device according to claim 1 or 2, wherein, The transport vehicle is an autonomous vehicle.

9. A parking system suitable for moving a vehicle into or out of a parking space by means of a transport vehicle that enters the space beneath the vehicle to receive the vehicle. The parking system has the following features: The limiting member can move between a limited position and an allowable position, wherein, The restricted position is a position that restricts the transport vehicle from entering the parking space in order to move the vehicle into or out of the parking space, while the permitted position is a position that allows the transport vehicle to enter the parking space in order to move the vehicle into or out of the parking space. as well as The management server controls the limiting member in such a manner that it is located in the restricted position when a vehicle is parked in the parking space, and in the permissible position when the vehicle is moved into the parking space by the transport vehicle and when the vehicle is moved out of the parking space. The limiting member at the limiting position allows the vehicle to move into or out of the parking space by its own power.

Images