Mechanical parking device, mechanical parking system, program, and loading / unloading method for mechanical parking device

Abstract

To provide a mechanical parking device improving usability for users of vehicles upon loading / unloading vehicles to a loading / unloading chamber.SOLUTION: A mechanical parking device of the present invention is a mechanical parking device having a loading / unloading chamber 10 where a vehicle C is loaded and unloaded. The mechanical parking device comprises: a carriage 30 on which the vehicle is placed; a rotation device 50 rotating the carriage in the loading / unloading chamber; and a controller 60 controlling rotational motion of the rotation device. The controller includes: a receiving section 61 receiving rotation information used for control of the rotation device; and a control section 62 controlling the rotation motion based on the rotation information received with the receiving section.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a mechanical parking device, a mechanical parking system, a program, and a method for entering and exiting a mechanical parking device. [Background technology]

[0002] Mechanical parking systems are used to park multiple vehicles in a limited space. Mechanical parking systems are installed underground in buildings such as apartment buildings, office buildings, and shopping centers, or installed above ground adjacent to the buildings.

[0003] 2. Description of the Related Art As an example of a mechanical parking system arranged underground, a horizontal circulation type parking system (hereinafter referred to as a "horizontal circulation type parking system") is known.

[0004] The horizontal circulation type parking device comprises a loading / unloading room, a loading / unloading door, an elevator shaft, a storage space, a pallet, a lift, and a turning device (turntable). The loading / unloading room is a space where vehicles are loaded and unloaded. The loading / unloading door opens and closes the entrance to the loading / unloading room. The elevator shaft is a vertical transport path for pallets that connects the loading / unloading room and the storage space. The storage space is an underground space that is divided into multiple storage floors, and each storage floor is divided into multiple storage sections that store vehicles and pallets. The pallet is a transport floor on which vehicles that have advanced into the loading / unloading room are placed (loaded). The pallet is transported vertically in the elevator shaft by the lift rising and falling, and is also transported horizontally in the underground storage space. The pallet is rectangular in plan view. In the storage space, the pallets are transported (vertical feed) in the longitudinal direction of the pallet (front-to-rear direction of the vehicle placed on the pallet) and transported (horizontal feed) in the lateral direction of the pallet (width direction of the vehicle placed on the pallet). The lift raises and lowers pallets on which vehicles are placed or pallets on which no vehicles are placed (hereinafter referred to as "empty pallets") in the hoistway. The turning device turns the pallet 90 degrees or 180 degrees in the loading / unloading room to allow vehicles to move forward into or out of the loading / unloading room, or to transport the pallet between the loading / unloading room and the storage space.

[0005] Among horizontal circulation type parking devices, there is a type in which, to increase convenience for vehicle users (e.g., drivers), when entering the parking lot, the vehicle is advanced into the inside of the parking lot from the entrance / exit door, and when leaving the parking lot, the vehicle is advanced out from inside the parking lot to the outside of the entrance / exit door (outside the parking lot) (see, for example, Patent Document 1). This makes it possible to advance the vehicle into the parking lot, making it easy for the vehicle to enter the parking lot. After parking the vehicle on the pallet, the vehicle user gets out of the vehicle and exits the parking lot.

[0006] Furthermore, when the vehicle leaves the loading / unloading room, the turning device rotates the pallet on which the vehicle is placed 180 degrees so that the vehicle transported from the storage space to the loading / unloading room can be moved forward and removed from the loading / unloading room. After the pallet on which the vehicle is placed has rotated, the vehicle user enters the loading / unloading room and gets into the vehicle. In this way, when there is an loading / unloading door in the forward direction of the vehicle, it becomes easy for the vehicle to leave the loading / unloading room. For the safety of the vehicle user, the turning device rotates the pallet before the vehicle user enters the loading / unloading room. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2012-52304 A

[0008] Here, in recent years, there are not only vehicles in which vehicle users board and alight from the left and right doors (hereinafter referred to as "left and right doors") (hereinafter referred to as "left and right boarding and alighting type"), but also vehicles in which vehicle users board and alight from the front door (hereinafter referred to as "front door") (hereinafter referred to as "front boarding and alighting type") or vehicles in which vehicle users board and alight from the rear door (hereinafter referred to as "rear door") (hereinafter referred to as "rear boarding and alighting type"). In front or rear boarding and alighting type vehicles, a space is required at the front or rear of the vehicle to open and close the door when opening and closing the door.

[0009] Generally, in a storage room where vehicles enter and exit forward, the space behind the vehicle placed on the pallet (in the direction of the storage room's storage door) is larger than the space in front of the vehicle (in the direction opposite the storage room's storage door). In this case, for example, in a front boarding and alighting type vehicle, the front of the vehicle faces the direction of the storage room's storage door when exiting the storage room. Therefore, vehicle users get off in a wide space, so it is easy to get off from the front door. On the other hand, when entering the storage room, the front of the vehicle faces the direction opposite the storage room's storage door. Therefore, vehicle users have to get off in a narrow space, so it is difficult for them to get off from the front door. In particular, the difficulty of getting on and off from the front door is noticeable for wheelchair users. For this reason, the convenience of vehicles with front boarding and alighting is low.

[0010] Similarly, for example, in a vehicle with rear boarding and alighting, when entering the vehicle, the rear of the vehicle faces the direction of the entrance / exit door. Therefore, it is easy for the vehicle user to alight from the rear door. On the other hand, when leaving the vehicle, the rear of the vehicle faces the opposite direction from the entrance / exit door. Therefore, the vehicle user must board in a narrow space, and it is difficult for the vehicle user to board from the rear door. In particular, the difficulty of boarding and alighting from the rear door is noticeable for wheelchair users. For this reason, the convenience of the vehicle user with a rear boarding and alighting type is low.

[0011] Furthermore, for example, in vehicles with left and right boarding and alighting doors, wheelchair users can easily board and alight from the left and right doors if the left and right doors are facing the entrance and exit doors. Summary of the Invention [Problem to be solved by the invention]

[0012] The present invention aims to provide a mechanical parking device, a mechanical parking system, a program, and a method for entering and exiting a mechanical parking device that can improve the convenience of vehicle users when entering and exiting a vehicle from a loading and unloading room. [Means for solving the problem]

[0013] The mechanical parking device of the present invention is a mechanical parking device having an entry / exit room where vehicles enter and exit, and comprises a carrier on which the vehicle is placed, a turning device that turns the carrier in the entry / exit room, and a control device that controls the turning operation of the turning device, wherein the control device is characterized in that it comprises a receiving unit that receives turning information used to control the turning device, and a control unit that controls the turning operation based on the turning information received by the receiving unit. Effect of the Invention

[0014] According to the present invention, convenience for vehicle users can be improved when vehicles enter and leave the loading / unloading room. [Brief description of the drawings]

[0015] [Figure 1] 1 is a functional block diagram showing an embodiment of a mechanical parking system according to the present invention. FIG. [Diagram 2] 2 is a functional block diagram of a mechanical parking device according to the present invention, which is provided in the mechanical parking system of FIG. 1. [Diagram 3] 3 is a schematic plan view of a portion of the configuration of the mechanical parking device of FIG. 2. [Figure 4] 3 is a functional block diagram of a control device provided in the mechanical parking device of FIG. 2. [Diagram 5] 2 is a functional block diagram of an operation terminal provided in the mechanical parking system of FIG. 1. [Figure 6] 6 is a schematic diagram showing an example of information displayed on a display unit provided in the operation terminal of FIG. 5 by executing a program according to the present invention. [Figure 7] 2 is a flowchart showing the operation of a vehicle entering and leaving a mechanical parking device according to the present invention, which is executed in the mechanical parking system of FIG. 1. [Figure 8] 8 is a flowchart of a warehousing process included in the flowchart of FIG. 7. [Figure 9] 8 is a flowchart of a shipping process included in the flowchart of FIG. 7. [Figure 10]1 is a schematic plan view showing an example of an embodiment illustrating the operation of parking a vehicle in a mechanical parking device according to the present invention; FIG. [Figure 11] 1 is a schematic plan view showing an example of an embodiment illustrating the operation of a vehicle leaving a mechanical parking device according to the present invention; FIG. [Figure 12] 11 is a schematic plan view showing another example of an embodiment showing the operation of parking a vehicle in a mechanical parking device according to the present invention. FIG. [Figure 13] 11 is a schematic plan view showing another example of an embodiment showing the operation of a vehicle leaving a mechanical parking device according to the present invention. FIG. [Figure 14] 11 is a schematic plan view showing yet another example of an embodiment illustrating the operation of parking a vehicle in a mechanical parking device according to the present invention. FIG. [Figure 15] 11 is a schematic plan view showing yet another example of an embodiment showing the operation of a vehicle leaving a mechanical parking device according to the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, the embodiments of the mechanical parking device, the mechanical parking system, the program, and the method of entering and leaving the mechanical parking device according to the present invention will be described with reference to the drawings. In each drawing, the same members and elements are given the same reference numerals, and duplicated explanations will be omitted.

[0017] ●Mechanical parking system● ●Configuration of mechanical parking system FIG. 1 is a functional block diagram showing an embodiment of a mechanical parking system according to the present invention (hereinafter referred to as "the system").

[0018] This system S comprises a mechanical parking device (hereinafter referred to as "this device") 1 according to the present invention, and an operation terminal T. In this system S, an operation signal instructing the operation of this device 1 (entering operation, leaving operation) is transmitted (output) from the operation terminal T to this device 1, and this device 1 operates based on the operation signal.

[0019] The "operation signal" is a signal that instructs the operation of the device 1, and is, for example, a signal including turning information and vehicle information, which will be described later. The "vehicle information" is information (for example, the license plate number of the vehicle C) about the vehicle C (see FIG. 3) stored in the device 1.

[0020] The device 1 stores a plurality of vehicles C. A specific configuration of the device 1 will be described later.

[0021] The operation terminal T transmits (outputs) an operation signal to the device 1. The operation terminal T is, for example, a portable terminal, a non-portable operation panel attached to the device 1, or a car navigation system mounted on a vehicle C that can communicate with the portable terminal via a wireless communication line such as Bluetooth (registered trademark). A specific configuration of the operation terminal T will be described later.

[0022] ●Mechanical parking system● ●Configuration of mechanical parking device FIG. 2 is a functional block diagram of the device 1. FIG. 3 is a schematic plan view of a portion of the configuration of the present device 1. As shown in FIG. For ease of explanation, Fig. 2 shows the operation terminal T with a dashed line. Fig. 3 shows a state in which a vehicle C is placed on a pallet 30, which will be described later, in a loading / unloading room 10, which will be described later. In Figs. 2 and 3, other parts of the configuration of the present device 1 are omitted for ease of explanation. In the following explanation of the present device 1, Fig. 1 will be referred to as appropriate.

[0023] The device 1 includes a storage space (not shown), an elevator (not shown), a loading / unloading room 10, a loading / unloading door 20, a pallet 30, an opening 40h, a rotating device 50, a control device 60, a detection sensor 70, and a vehicle sensor 80.

[0024] In the following description, the embodiment of the device 1 will be described by taking as an example a horizontal circulation type parking device that allows a vehicle C to enter and exit the parking lot forward. In the following description, when the vehicle C enters the loading / unloading room 10 (hereinafter referred to as "entering"), the front part of the vehicle C placed on the pallet 30 transported from the loading / unloading room 10 to the storage section (storage space) is assumed to be facing forward. In addition, when the vehicle C leaves the loading / unloading room 10 (hereinafter referred to as "leaving"), the pallet 30 transported from the storage section to the loading / unloading room 10 is rotated 180 degrees, and the front part of the vehicle C is assumed to be facing backward. In the following description, "a state in which the front part of the vehicle C placed on the pallet 30 is facing forward" is referred to as "initial state of entry", and "a state in which the front part of the vehicle C placed on the pallet 30 is facing backward" is referred to as "initial state of leaving".

[0025] Here, in this specification, the front, rear, left, right, top and bottom directions refer to the front, rear, left, right, top and bottom directions of the vehicle C entering the pallet 30 in the loading / unloading room 10. That is, for example, "forward" refers to the direction in which the vehicle C enters the pallet 30 in the loading / unloading room 10 (hereinafter referred to as the "entrance direction"), and "rear" refers to the direction in which the vehicle C exits the pallet 30 in the loading / unloading room 10 (hereinafter referred to as the "exit direction"). Details of the loading / unloading room 10, the pallet 30, and the storage unit will be described later.

[0026] The storage space is a space in which multiple vehicles C are stored. The storage space is an underground space that is divided into a number of storage floors, and each storage floor is divided into a number of storage sections. The storage section is an area in which the vehicles C and the pallets 30 are stored.

[0027] The elevator shaft is a transport path that connects the loading / unloading room 10 and the storage space and transports the pallets 30 in the vertical direction. A lift device rises and falls in the elevator shaft.

[0028] The lift device raises and lowers the pallet 30 by ascending and descending within the elevator shaft, thereby transporting (moving) the pallet 30 between the loading / unloading room 10 and the storage space.

[0029] The loading / unloading room 10 is a space where the vehicle C enters and leaves the loading / unloading room 10 through the loading / unloading door 20. The loading / unloading room 10 is installed, for example, on the ground above the storage space. That is, for example, the loading / unloading room 10 is on the ground floor. When entering the loading / unloading room 10, the vehicle C is advanced into the loading / unloading room 10 from the outside. When leaving the loading / unloading room 10, the vehicle C is advanced out of the loading / unloading room 10 from the inside to the outside.

[0030] The loading / unloading door 20 is a door that opens and closes the entrance to the loading / unloading room 10. The loading / unloading door 20 also functions as a door through which the vehicle C and a user of the vehicle C (e.g., a driver) enter and exit the loading / unloading room 10. That is, for example, a user of the vehicle C enters the inside of the loading / unloading room 10 through the loading / unloading door 20 to board the vehicle C placed on the pallet 30. Also, a user of the vehicle C disembarks from the vehicle C placed on the pallet 30 and exits to the outside of the loading / unloading room 10 through the loading / unloading door 20. The loading / unloading door 20 is an example of a door in the present invention.

[0031] In addition, vehicle users may enter and exit the loading / unloading room through a door other than the loading / unloading door. In this case, the device has a user entrance door that is used for vehicle users to enter and exit the loading / unloading room.

[0032] The pallet 30 is a transport floor on which the vehicle C is placed. The pallet 30 is transported vertically between the loading / unloading room 10 and the storage space in the elevator shaft, and is transported horizontally in the storage space to be stored in the storage section. The pallet 30 has a rectangular shape that is long in the front-rear direction in a plan view. The pallet 30 is an example of a carrier in the present invention.

[0033] The opening 40h is a rectangular hole that is long in the front-to-rear direction in a plan view and connects the loading / unloading room 10 and the elevator shaft. The opening 40h is located approximately in the center of the turning device 50 (turntable 52 described below). The pallet 30 is transported between the loading / unloading room 10 and the elevator shaft through the opening 40h. The opening area of ​​the opening 40h is slightly larger than the plan area of ​​the pallet 30. When the vehicle C is ready to enter (leave) the loading / unloading room 10, the pallet 30 is located in the opening 40h.

[0034] The turning device 50 turns the pallet 30 in the loading / unloading room 10 to change the orientation of the vehicle C placed on the pallet 30. The turning device 50 includes a drive device 51, a turntable 52, and a pallet support device (not shown). When the pallet 30 is placed in the opening 40h, the upper surface of the turntable 52 (turning device 50), together with the upper surface of the pallet 30 and the floor of the loading / unloading room 10, forms a substantially flat surface that is barrier-free.

[0035] The drive device 51 rotates the turntable 52 based on the rotation information from the control device 60. The drive device 51 is a drive motor that rotates the turntable 52. The turntable 52 rotates by the drive of the drive device 51, thereby indirectly rotating the pallet 30. That is, the rotation device 50 rotates the pallet 30. The turntable 52 is substantially disk-shaped and constitutes part of the floor of the loading / unloading room 10. The pallet support device supports the pallet 30 placed in the opening 40h. The drive device 51 drives based on the rotation information described later. By driving the drive device 51, the rotation device 50 rotates the pallet 30 supported by the pallet support device alone, or the pallet 30 on which the vehicle C is placed.

[0036] FIG. 4 is a functional block diagram of the control device 60. In the following description of the control device 60, reference will be made to FIGS. 2 and 3 as appropriate.

[0037] The control device 60 controls the overall operation of the device 1 (for example, the opening and closing operation of the entrance / exit door 20, the turning operation of the turning device 50, etc.). The control device 60 includes a receiving unit 61, a control unit 62, and a storage unit 63.

[0038] The receiving unit 61 receives turning information from an operation terminal T operated by a user of the vehicle C via a wireless communication line.

[0039] The control unit 62 controls the operation of the entire device 1 (for example, opening and closing of the loading / unloading door 20, the rotation operation of the rotation device 50, etc.). The control unit 62 is composed of a processor such as a microcomputer or a CPU (Central Processing Unit). The "rotation operation" is, for example, an operation of rotating the pallet 30 (turntable 52) 90 degrees or 180 degrees clockwise (right) or counterclockwise (left) in a plan view. In the following description, "+90 degree rotation" indicates a 90 degree clockwise rotation, and "+180 degree rotation" indicates a 180 degree clockwise rotation. Furthermore, "-90 degree rotation" indicates a 90 degree counterclockwise rotation, and "-180 degree rotation" indicates a 180 degree counterclockwise rotation. Specific operations of the control unit 62 will be described later.

[0040] The memory unit 63 stores information necessary for the turning operation of the turning device 50 (e.g., turning information, entry / exit door position information, vehicle information). The memory unit 63 is, for example, an information storage medium such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). "Turning information" is information used to control the turning device 50, such as door position information of the vehicle C and position information of the driver's seat of the vehicle C. "Entry / exit door position information" is information indicating the position where the entry / exit door 20 is located in the entry / exit room 10. "Door position information" is position information of the door used by the user of the vehicle C when getting on or off in the entry / exit room 10. That is, for example, the door position information is "left and right doors (right door, left door)" in the case of a vehicle in which users of vehicle C get on and off through the left and right doors (hereinafter referred to as "left and right doors") (hereinafter referred to as "left and right boarding and alighting type"), "front door" in the case of a vehicle in which users of vehicle C get on and off through the front door (hereinafter referred to as "front door") (hereinafter referred to as "front boarding and alighting type"), and "rear door" in the case of a vehicle in which users of vehicle C get on and off through the rear door (hereinafter referred to as "rear door") (hereinafter referred to as "rear boarding and alighting type"). The "left and right doors (right door, left door)", "front door", and "rear door" are each an example of an "boarding and alighting door" in vehicle C. "Driver's seat position information" is information indicating the position of the driver's seat in vehicle C (information indicating whether the steering wheel is right-hand or left-hand drive).

[0041] In the present invention, the information stored in the storage unit is not limited to the turning information, the entrance / exit position information, and the vehicle information. That is, for example, the information stored in the storage unit may be any one of the turning information, the entrance / exit position information, and the vehicle information, or other information or information including these information.

[0042] In addition, in the present invention, the turning information is not limited to the door position information and the driver's seat position information. That is, for example, the turning information may be either one of the door position information and the driver's seat position information, or other information, or information including these information.

[0043] The detection sensor 70 detects a foreign object inside the loading / unloading room 10. The "foreign object" is, for example, a person, an animal, a user's luggage, or any other person or object inside the loading / unloading room 10 other than the vehicle C placed on the pallet 30. In other words, the detection sensor 70 does not detect a person, an animal, luggage, or the like inside the vehicle C. That is, the detection sensor 70 detects a foreign object located inside the loading / unloading room 10 and outside the vehicle C placed on the pallet 30. The detection sensor 70 is, for example, a known three-dimensional range sensor using so-called 3D-LiDAR (Light Detection and Ranging) technology, or a millimeter wave sensor that detects a foreign object by irradiating millimeter waves. The detection sensor 70 is, for example, disposed on the floor or an inner wall (hereinafter referred to as the "inner wall") of the loading / unloading room 10.

[0044] In the present invention, the detection sensor may be a photoelectric sensor or another type of sensor such as a camera device composed of multiple cameras that capture images of the inside of the loading / unloading room.

[0045] The vehicle sensor 80 detects whether or not the vehicle C is parked at a predetermined position on the pallet 30. The "predetermined position" is an appropriate position on the upper surface of the pallet 30 where the vehicle C is placed. The vehicle sensor 80 is, for example, a known photoelectric sensor composed of a light projector (not shown) and a light receiver (not shown). The vehicle sensor 80 is disposed, for example, on the inner wall of the loading / unloading room 10.

[0046] In the present invention, the vehicle sensor may be a camera device composed of a plurality of cameras that photograph the inside of the loading / unloading room.

[0047] ●Operation terminal● ● Configuration of the operation terminal FIG. 5 is a functional block diagram of the operation terminal T. For ease of explanation, the device 1 is shown in the figure by dashed lines.

[0048] As described above, the operation terminal T may be a portable terminal, a non-portable operation panel attached to the device 1, a car navigation system mounted on the vehicle C and capable of communicating with the portable terminal via a wireless communication line, etc. The embodiment of the operation terminal T described below will be described taking as an example a case where the operation terminal T is a portable terminal.

[0049] The operation terminal T is a mobile terminal installed with a dedicated application program capable of communicating with the present device 1. The "mobile terminal" is, for example, a smartphone carried by the user of the vehicle C. A program according to the present invention (hereinafter referred to as "the program") runs on the operation terminal T, and the program cooperates with the hardware of the operation terminal to realize the present method described below. The program is, for example, an application program dedicated to the present system S. A specific description of the program will be given later.

[0050] The operation terminal T includes an input unit 100, a terminal control unit 110, a transmission unit 120, and a display unit .

[0051] The input unit 100 is a portion to which information is input by operation from a user of the operation terminal T (for example, a driver of the vehicle C, that is, a user). To the input unit 100, for example, turning information is input.

[0052] In the present invention, the user of the operation terminal is not limited to the driver, and may be, for example, a passenger who rides in the vehicle together with the driver.

[0053] The terminal control unit 110 controls the overall operation of the operating terminal T. The terminal control unit 110 is configured with, for example, a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and a semiconductor memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The terminal control unit 110 includes an acquisition unit 111.

[0054] The acquisition unit 111 acquires turning information inputted to the input unit 100 by the user of the operation terminal T.

[0055] The transmitting unit 120 transmits (outputs) to the device 1 an operation signal corresponding to the turning information acquired by the acquiring unit 111 .

[0056] The display unit 130 displays information required for a user of the operation terminal T to input to the input unit 100. The input unit 100 and the display unit 130 are, for example, a touch panel display of a smartphone.

[0057] In the present invention, the display unit may be a liquid crystal display that does not have a touch panel function, and the input unit may be, for example, a physical button such as an operation button.

[0058] ●Application Program● Next, an embodiment of the present program will be described. The present program is a program that runs on an operation terminal T that can communicate with the present device 1. As described above, the present program is an application program installed in the operation terminal T. The present program causes the operation terminal T to execute various information processes, such as an information display process for displaying information on the display unit 130, an information acquisition process for acquiring turning information input to the input unit 100, and an information transmission process for transmitting turning information to the present device 1.

[0059] FIG. 6 is a schematic diagram showing an example of information displayed on the display unit 130 as a result of the program being executed. The figure is a schematic diagram showing an example of information displayed on the display unit 130 by executing an application program of the operation terminal T. The figure also shows that, as examples of information displayed on the display unit 130, information (T1) related to a mechanical parking device for storing the vehicle C, information (T2) related to selection of entry / exit, information (T3) for identifying the vehicle C, door position information (T4), driver's seat position information (T5), and information (T6) related to turning / stopping turning of the pallet 30 are displayed.

[0060] The "information regarding mechanical parking devices (T1)" is, for example, information indicating the name of a mechanical parking device in which the user of the operation terminal T can enter and exit the vehicle C. In other words, the information regarding the mechanical parking device is, for example, information indicating the configuration of the entry / exit room 10 of a mechanical parking device (for example, this device 1) that is compatible with this program. The name of the mechanical parking device is selected by the user of the operation terminal T, thereby determining the mechanical parking device (in this embodiment, this device 1) that will communicate with the operation terminal T.

[0061] The "information (T2) relating to the selection of warehousing / return" is information indicating the operation to be executed by the device 1. The operation to be executed by the device 1 is, for example, a warehousing operation and a return operation.

[0062] "Information (T6) regarding rotation / stop of rotation of pallet 30" is information indicating the execution of rotation of pallet 30 placed in loading / unloading room 10 and the stop of rotation of said pallet 30. While the execution of rotation of pallet 30 is selected by the user of operation terminal T (while the "rotate" display is being operated by the user of operation terminal T through touch), the rotation device 50 of this device 1 rotates the pallet 30. While the execution of the selection of rotation of pallet 30 is not selected by the user of operation terminal T (while the "rotate" display is not being operated by the user of operation terminal T through touch), the rotation device 50 of this device 1 stops the rotation of pallet 30.

[0063] The information (T3) for identifying the vehicle C, the door position information (T4), and the driver's seat position information (T5) are information (hereinafter referred to as "pre-registered information") that is registered in advance by the user of the operation terminal T when the program is started for the first time, etc. By registering the pre-registered information in advance, the user of the operation terminal T does not have to input the same information each time the program is started. The pre-registered information is changeable (updatable) depending on reasons such as changes to the vehicle C. In other words, the pre-registered information is updateable. The changed (updated) pre-registered information is transmitted to the device 1 and stored in the memory unit 63.

[0064] In the present invention, the changed (updated) pre-registration information does not have to be stored in the storage unit (the original pre-registration information does not have to be overwritten). In other words, the original pre-registration information may remain in the storage unit.

[0065] In the present invention, the vehicle information, the door position information, and the driver's seat position information may be input each time the program is started, without being registered in advance.

[0066] By having the operation terminal T execute this program, the operation terminal T acquires various pieces of information and transmits the acquired various pieces of information to the device 1. In other words, by having the user of the operation terminal T execute this program, the operation terminal T functions as the acquisition unit 111 in the present invention and also functions as the transmission unit 120 in the present invention.

[0067] ●Vehicle entry and exit operations● Next, the operation of the vehicle C entering and leaving the apparatus 1, which is executed by the system S, will be described.

[0068] FIG. 7 is a flowchart showing the entrance and exit operation of the vehicle C to and from the device 1, which is executed by the system S.

[0069] First, the user of the vehicle C operates the operation terminal T to cause the operation terminal T to execute this program. As a result, the operation terminal T generates an operation signal based on the operation of the user of the vehicle C (i.e., the user of the operation terminal T) and transmits it to the receiving unit 61 (control device 60) of the present device 1. At this time, the control device 60 (controller 62) determines whether the operation signal from the operation terminal T has been received by the receiving unit 61 (S1). At this time, information regarding the user of the operation terminal T (e.g., ID information for identifying the user, etc.) is also transmitted to the present device 1.

[0070] When the control device 60 (control unit 62) determines that an operation signal has been received by the receiving unit 61 ("Y" in S1), the control device 60 (control unit 62) determines whether the operation signal is an entry signal or an exit signal (S2).

[0071] When the operation signal is an entry signal ("enter" in S2), the device 1 executes entry processing (S3). On the other hand, when the operation signal is an exit signal ("exit" in S2), the device 1 executes exit processing (S4).

[0072] On the other hand, when the control device 60 (control unit 62) determines that the operation signal has not been received ("N" in S1), the entry / exit process of the device 1 returns to process S1.

[0073] Vehicle entry operation FIG. 8 is a flowchart of the storage process (S3).

[0074] The "warehousing process (S3)" is a process for storing the vehicle C in the device 1. In the warehousing process (S3) described below, the vehicle C is assumed to be outside the storage / retrieval room 10 of the device 1 and to have arrived in front of the storage / retrieval door 20.

[0075] First, the control device 60 (control unit 62) opens the entrance / exit door 20 based on an operation signal (entry signal) from the operation terminal T (S301). At this time, to ensure safety, passengers other than the driver of the vehicle C get off the vehicle C before the entrance / exit door 20 opens or before the vehicle C enters the entrance / exit room 10. In other words, the driver (user) of the vehicle C is in the vehicle C.

[0076] Next, the driver of the vehicle C causes the vehicle C to enter the loading / unloading room 10 by forward entry. At this time, the control device 60 (control unit 62) determines whether the vehicle C has been stopped at a predetermined position on the pallet 30 based on the detection result of the vehicle sensor 80 (S302).

[0077] When it is determined that the vehicle C is not parked at the predetermined position ("N" in S302), the entrance process (S3) returns to process S302.

[0078] On the other hand, when it is determined that vehicle C is parked at a predetermined position ("Y" in S302), the control device 60 (control unit 62) determines whether or not there is a foreign object inside the loading / unloading room 10 based on the detection result of the detection sensor 70 (S303).

[0079] When it is determined that there is no foreign object inside the loading / unloading room 10 (when the detection sensor 70 does not detect a foreign object) ("Y" in S303), the control device 60 (control unit 62) determines whether or not the pre-registration information of the user (customer) is stored in the memory unit 63, for example, based on the ID information (S304). On the other hand, when it is determined that there is a foreign object inside the loading / unloading room 10 (when the detection sensor 70 detects a foreign object) ("N" in S303), the loading process (S3) returns to process S303.

[0080] When the pre-registration information of the user is stored in the storage unit 63 ("Y" in S304), the control device 60 (control unit 62) determines whether or not to cause the turning device 50 to perform a turning operation based on the pre-registration information (S305). On the other hand, when the pre-registration information of the user is not stored in the storage unit 63 ("N" in S304), the control device 60 (control unit 62) displays a screen for inputting information (turning information) on the operation terminal T of the user riding in the vehicle C, and causes the user to input the turning information (S306). At this time, the turning information is transmitted to the control device 60. Next, the entrance process (S3) returns to process S305, and the control device 60 (control unit 62) determines whether or not to cause the turning device 50 to perform a turning operation based on the turning information (S305).

[0081] When the control device 60 (control unit 62) determines that the turning device 50 should be turned ("Y" in S305), the control device 60 (control unit 62) controls the turning operation of the turning device 50 based on the pre-registration information or the turning information to turn the pallet 30 (S307). Here, when the user of the vehicle C selects turning the pallet 30 (while the display of "Turn" is being touched by the user of the operation terminal T), the control device 60 (control unit 62) controls the turning operation of the turning device 50 to turn the pallet 30. As a result, the boarding door of the vehicle C placed on the pallet 30 is directed in a desired direction (for example, a direction registered in the pre-registration information: in this embodiment, rearward (the direction of the entrance / exit door 20)) (the orientation of the vehicle C changes from the initial state of entering the pallet).

[0082] Here, when the swivel device 50 is swiveling the pallet 30, the control device 60 (control unit 62) stops and resumes the swivel operation of the swivel device 50 based on the detection result of the vehicle sensor 80 or the detection sensor 70. That is, for example, when the detection sensor 70 detects a foreign object, the control device 60 (control unit 62) stops the swivel operation of the swivel device 50 while the detection sensor 70 is detecting the foreign object, and resumes the swivel operation of the swivel device 50 when the detection sensor 70 no longer detects the foreign object.

[0083] On the other hand, when the control device 60 (control unit 62) determines not to rotate the rotating device 50 ("N" in S305), it controls the rotating operation of the rotating device 50 and does not rotate the pallet 30. That is, the orientation of the vehicle C remains in the initial storage state.

[0084] Next, the user (driver) of vehicle C gets off vehicle C and exits outside the loading / unloading room 10. At this time, the control device 60 (control unit 62) judges whether there is an abnormality inside the loading / unloading room 10 (displacement of vehicle C, presence of foreign object) based on the detection results of the detection sensor 70 and the vehicle sensor 80 (S308). If the detection sensor 70 and the vehicle sensor 80 do not detect an abnormality ("Y" in S308), the control device 60 (control unit 62) judges that there is no abnormality inside the loading / unloading room 10 (the inside of the loading / unloading room 10 is safe), and closes the loading / unloading door 20 (S309). On the other hand, when the detection sensor 70 and the vehicle sensor 80 detect an abnormality ("N" in S308), the control device 60 (control unit 62) will not close the entrance / exit door 20 until the detection sensor 70 and the vehicle sensor 80 no longer detect an abnormality (i.e., the entrance process (S3) returns to process S308).

[0085] Next, the control device 60 (control unit 62) judges whether the orientation of the vehicle C placed on the pallet 30 is in the initial storage state (S310). When the orientation of the vehicle C placed on the pallet 30 is not in the initial storage state ("N" in S310), the control device 60 (control unit 62) controls the rotation operation of the turning device 50 to rotate the turning device 50 and rotate the pallet 30 so that the orientation of the vehicle C becomes the initial storage state (S311). On the other hand, when the orientation of the vehicle C placed on the pallet 30 is in the initial storage state ("Y" in S310), the control device 60 (control unit 62) does not rotate the turning device 50. That is, the control device 60 (control unit 62) controls the rotation operation of the turning device 50 to not rotate the turning device 50. Thereafter, the pallet 30 on which the vehicle C is placed is stored in the storage space (S312).

[0086] Vehicle exit operation FIG. 9 is a flowchart of the shipping process S4.

[0087] The "outgoing process S4" is a process for causing the vehicle C to leave the device 1. In the outgoing process (S4) described below, it is assumed that the user of the vehicle C to be departed is outside the entrance / exit room 10 of the device 1 and has arrived in front of the entrance / exit door 20.

[0088] First, the control device 60 (control unit 62) transports (calls) the pallet 30 on which the vehicle C stored in the storage space is placed to the loading / unloading room 10 based on an operation signal (unloading signal) from the operation terminal T (S401).

[0089] When the pallet 30 on which the vehicle C is placed is transported to the loading / unloading room 10, the front of the vehicle C faces forward. In this embodiment, the initial unloading state is a state in which the front of the vehicle C placed on the pallet 30 faces backward. Therefore, the control device 60 (control unit 62) controls the turning operation of the turning device 50 to turn the turning device 50 (S402). As a result, the orientation of the vehicle C placed on the pallet 30 becomes the initial unloading state.

[0090] Next, the control device 60 (control unit 62) judges whether or not the pre-registration information of the user is stored in the storage unit 63 based on, for example, the ID information (S403). When the pre-registration information of the user is stored in the storage unit 63 ("Y" in S403), the control device 60 (control unit 62) judges whether or not to perform a rotation operation of the swivel device 50 based on the pre-registration information (S404). On the other hand, when the pre-registration information of the user is not stored in the storage unit 63 ("N" in S403), the control device 60 (control unit 62) displays a screen for inputting information (rotation information) on the operation terminal T of the user, and has the user input the rotation information (S405). At this time, the rotation information is transmitted from the operation terminal T to the control device 60. Next, the unloading process (S4) returns to process S404, and the control device 60 (control unit 62) judges whether or not to perform a rotation operation of the swivel device 50 based on the rotation information (S404).

[0091] When the control device 60 (control unit 62) determines that the turning device 50 should be turned ("Y" in S404), it controls the turning operation of the turning device 50 based on the pre-registration information or the turning information to turn the pallet 30 (S406). At this time, the boarding door of the vehicle C placed on the pallet 30 is directed in the desired direction (for example, the direction registered in the pre-registration information: in this embodiment, rearward (the direction of the entrance / exit door 20)) (changing from the initial leaving state). On the other hand, when the control device 60 (control unit 62) determines that the turning device 50 should not be turned ("N" in S404), it controls the turning operation of the turning device 50 to not turn the pallet 30. That is, the orientation of the vehicle C remains in the initial leaving state.

[0092] Next, in a state where the user of the vehicle C is outside the entrance / exit room 10, the control device 60 (control unit 62) opens the entrance / exit door 20 (S407).

[0093] Here, the user of the vehicle C checks the position of the boarding / alighting door of the vehicle C placed on the pallet 30, and considers whether or not a rotation operation of the rotation device 50 is necessary to board the vehicle C. When the user of the vehicle C determines that a rotation operation of the rotation device 50 is necessary to board the vehicle C (for example, when the position of the boarding / alighting door of the vehicle C is not in the desired position), the user of the vehicle C operates the operation terminal T to select "Rotation of the pallet 30" displayed on the display unit 130 (touch operation of the "Rotation" display). At this time, the rotation information is transmitted to the control device 60 by operating the operation terminal T. On the other hand, when the user of the vehicle C determines that a rotation operation of the rotation device 50 is not necessary to board the vehicle C, the user does not operate the operation terminal T (does not touch operation of the "Rotation" display).

[0094] Next, the control device 60 (control unit 62) determines whether or not there is an abnormality inside the loading / unloading room 10 based on the detection results of the detection sensor 70 and the vehicle sensor 80 (S408). When it is determined that there is an abnormality ("N" in S408), the unloading process (S4) returns to process S408.

[0095] On the other hand, when it is determined that there is no abnormality inside the loading / unloading room 10 ("Y" in S408), the control device 60 (control unit 62) determines whether or not the turning information from the operation terminal T is received by the receiving unit 61 (S409). When the turning information is received by the receiving unit 61 ("Y" in S409), the control device 60 (control unit 62) controls the turning operation of the turning device 50 based on the turning information to turn the pallet 30 (S410). That is, for example, when the turning of the pallet 30 is selected by the user of the vehicle C (while the display of "Turn" is being touched by the user of the operation terminal T), the control device 60 (control unit 62) turns the pallet 30. On the other hand, when the turning information is not received by the receiving unit 61 ("N" in S409), the control device 60 (control unit 62) controls the turning operation of the turning device 50 to not turn the pallet 30 (S411). As a result, the boarding and alighting door of the vehicle C placed on the pallet 30 is faced in the desired direction (for example, the direction registered in the pre-registration information: in this embodiment, the rear (entry / exit door 20)) (changing from the initial exit state).

[0096] Here, when the swivel device 50 is swiveling the pallet 30, the control device 60 (control unit 62) stops and resumes the swivel operation of the swivel device 50 based on the detection result of the vehicle sensor 80 or the detection sensor 70. That is, for example, when the detection sensor 70 detects a foreign object, the control device 60 (control unit 62) stops the swivel operation of the swivel device 50 while the detection sensor 70 is detecting the foreign object, and resumes the swivel operation of the swivel device 50 when the detection sensor 70 no longer detects the foreign object.

[0097] Next, the user (driver) of vehicle C enters the loading / unloading room 10 and gets into vehicle C.

[0098] Next, the control device 60 (control unit 62) judges whether or not the turning information from the operation terminal T is received by the receiving unit 61 (S412). When the turning information is received by the receiving unit 61 ("Y" in S412), the control device (control unit 62) controls the turning operation of the turning device 50 based on the turning information to turn the pallet 30 (S413). Here, the turning information from the operation terminal T is transmitted from the operation terminal T to the control device 60 when the user operates the operation terminal T to turn the pallet 30. Then, when the front part of the vehicle C is not facing backward (toward the entrance / exit door 20), the user operates the operation terminal T so that the front part of the vehicle C is facing backward. That is, for example, when the user of the vehicle C selects turning the pallet 30 (while the display of "turn" is being touched by the user of the operation terminal T), the control device 60 (control unit 62) turns the pallet 30 (S413).

[0099] Here, when the swivel device 50 is swiveling the pallet 30, the control device 60 (control unit 62) stops and resumes the swivel operation of the swivel device 50 based on the detection result of the vehicle sensor 80 or the detection sensor 70. That is, for example, when the detection sensor 70 detects a foreign object, the control device 60 (control unit 62) stops the swivel operation of the swivel device 50 while the detection sensor 70 is detecting the foreign object, and resumes the swivel operation of the swivel device 50 when the detection sensor 70 no longer detects the foreign object.

[0100] On the other hand, when the front of the vehicle C is facing backward, the user does not operate the operation terminal T. That is, the turning information is not transmitted to the control device 60 and is not received by the receiving unit 61. When the turning information is not received by the receiving unit 61 ("N" in S412), the control device 60 (control unit 62) controls the turning operation of the turning device 50 to not turn the pallet 30 (S414). As a result, the front of the vehicle C is turned backward (toward the entrance / exit door 20). After that, the user causes the vehicle C to exit from the inside of the entrance / exit room 10 to the outside by forward exit. Next, the control device 60 (control unit 62) closes the entrance / exit door 20 (S415).

[0101] In this way, in the entry / exit operation of the vehicle C, the control device 60 (control unit 62) controls the turning operation (whether or not to turn, the direction of turning, the amount of turning (angle), etc.) based on the information (turning information, pre-registered information) input by the user using the operation terminal T (S307, S311, S406, S410, S413). That is, in this device 1, the turning operation of the turning device 50 is controlled by the control device 60 (control unit 62). For this reason, for example, even when the user is outside the entry / exit room 10 or inside the vehicle C placed on the pallet 30, the control device 60 (control unit 62) controls the turning operation based on the turning information received from the operation terminal T. In this configuration, the user can determine the turning operation based on the information input by the user. Therefore, the convenience of the user is improved.

[0102] Furthermore, in the entry / exit operation of vehicle C, the control device 60 (control unit 62) controls the turning operation (whether or not turning can be performed, stopping, restarting, etc.) based on the detection results of the detection sensor 70 and the vehicle sensor 80 (S307, S406, S410, S413). That is, for example, when there is an abnormality inside the entry / exit room 10 (displacement of vehicle C, entry of a person, etc.), the control device 60 (control unit 62) restricts / stops the turning of the turning device 50. As a result, the safety of the present device 1 is enhanced.

[0103] In addition, in the entry / exit operation of the vehicle C, the control device 60 (control unit 62) controls the turning operation so that the pallet 30 on which the vehicle C is placed faces the direction determined by the turning information (S307, S311, S406, S410, S413). In addition, when the vehicle C enters / exits the warehouse, the control device 60 (control unit 62) controls the turning operation based on the orientation of the vehicle C placed on the pallet 30 with respect to the entry / exit door 20 inside the entry / exit room 10 (S307, S406, S410, S413). In this way, the device 1 controls the turning operation of the turning device 50 and the orientation of the pallet 30 so that the orientation of the front of the vehicle C faces the direction determined by the turning information. As a result, the user of the vehicle C can determine the turning operation according to the orientation of the front of the vehicle C and the boarding / exiting position based on the information input by the user. Therefore, the convenience of the user is improved.

[0104] Furthermore, in the entrance operation of the vehicle C, the control device 60 (control unit 62) controls the turning operation based on the turning information so that the door used by the user of the vehicle C to get off approaches the entrance / exit door 20 before the user of the vehicle C gets off after the vehicle C entered the entrance / exit room 10 is placed on the pallet 30 (S305). In addition, in the exit operation of the vehicle C, the control device 60 (control unit 62) controls the turning operation based on the turning information so that the door used by the user of the vehicle C to get on the vehicle C approaches the entrance / exit door 20 when the pallet 30 on which the vehicle C is placed is transported to the entrance / exit room 10 (S406). In this way, the present device 1 controls the turning operation of the turning device 50 by the control unit 62 in response to the user getting on and off. As a result, the user of the vehicle C can get on and off the vehicle C smoothly. Therefore, the convenience of the user is improved.

[0105] Furthermore, during the entry / exit operation of the vehicle C, the control device 60 (control unit 62) automatically controls the rotation operation based on the pre-registered information (rotation information) so that the entrance / exit door 20 faces in a direction that makes it easy for the user to get on and off (S307, S406). In this configuration, the rotation information for each user is input in advance. Therefore, when the user gets on and off during the entry / exit operation, the user can get on and off smoothly without operating the operation terminal T. This further improves the convenience for the user.

[0106] Furthermore, the entrance / exit operation of the vehicle C with respect to the device 1 (entry / exit method) includes a reception process (step) in which the device 1 receives turning information from the operation terminal T, and a turning control process (step) in which the device 1 controls the turning operation of the turning device 50 based on the turning information received from the operation terminal T. Therefore, the device 1 controls the turning operation of the turning device 50 by the control device 60 (control unit 62) in the reception process and the turning control process. As a result, the user can determine the turning operation according to the direction of the front of the vehicle C and the boarding / exiting positions based on the information input by the user. Therefore, convenience for the user is improved.

[0107] Example: Hereinafter, embodiments of the device 1 will be described with reference to Figs. 10 to 15. The following embodiments are examples of operations when entering and leaving a parking lot when the doors through which a user of vehicle C gets on and off are the "left and right doors," the "front door," and the "rear door." In the following description, Figs. 8 and 9 will also be referred to as appropriate. The following description will focus on the turning operation.

[0108] Example (1) "Left and right doors" In this embodiment, of the left and right doors, the door through which a user of vehicle C gets on and off (boarding and alighting door) is assumed to be the "right door."

[0109] ●Receiving operation (1) Figure 10 is a schematic plan view showing an example of an embodiment showing the entry operation of vehicle C into the device 1, in which (a) shows the orientation of vehicle C when vehicle C enters the loading / unloading room 10, (b) shows the orientation of vehicle C when a user disembarks from vehicle C, and (c) shows the orientation of vehicle C when vehicle C is stored in the storage space.

[0110] As described above, the vehicle C is forwarded into the loading / unloading room 10 (entered into the loading / unloading room 10) (S302). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial loading state (the front of the vehicle C faces forward).

[0111] After the vehicle C is placed on the pallet 30 and before the user of the vehicle C gets off, the control device 60 (control unit 62) controls the turning operation of the turning device 50 based on the turning information to make the turning device 50 turn "+90 degrees" (S307). As a result, the boarding / alighting door (right door) is directed toward the entrance / exit door 20.

[0112] After the user of the vehicle C gets off through the boarding door (right door) and before the pallet 30 on which the vehicle C is placed is stored in the storage space, the control device 60 (control unit 62) controls the rotation operation of the rotation device 50 to rotate the rotation device 50 by -90 degrees (S311). As a result, the orientation of the vehicle C placed on the pallet 30 becomes the initial state for storage.

[0113] ● Exit operation (1) Figure 11 is a schematic plan view showing an example of an embodiment showing the retrieval operation of vehicle C from the device 1, in which (a) shows the orientation of vehicle C when it is transported from the storage space to the loading / unloading room 10, (b) shows the orientation of vehicle C when a user gets into vehicle C, and (c) shows the orientation of vehicle C when it is retrieving vehicle C from the loading / unloading room 10.

[0114] As described above, after the pallet 30 on which the vehicle C is placed is called and transported to the loading / unloading room 10, the control device 60 (control unit 62) controls the rotation operation of the turning device 50 to cause the turning device 50 to "rotate +180 degrees (or -180 degrees)" (S402). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial unloading state (the front of the vehicle C faces backward).

[0115] Before a user of vehicle C gets on through the boarding door (right door) (before the entrance / exit door 20 opens), the control device 60 (control unit 62) controls the turning operation of the turning device 50 based on the turning information to make the turning device 50 "turn -90 degrees" (S406). As a result, the boarding door (right door) is directed toward the entrance / exit door 20.

[0116] After the user of vehicle C gets on through the boarding door (right door) and before vehicle C is forwarded out of the loading / unloading room 10 (is unloaded from the loading / unloading room 10), the control device 60 (control unit 62) controls the turning operation of the turning device 50 to make the turning device 50 "turn +90 degrees" (S413). As a result, the orientation of vehicle C placed on the pallet 30 becomes the initial unloading state.

[0117] Example (2) "Front door" In this embodiment, among the doors of the vehicle C, the door through which the user of the vehicle C gets on and off (boarding and alighting door) is assumed to be the "front door".

[0118] ●Receiving operation (2) Figure 12 is a schematic plan view showing another example of an embodiment showing the entry operation of vehicle C into the device 1, in which (a) shows the orientation of vehicle C when vehicle C enters the loading / unloading room 10, (b) shows the orientation of vehicle C when a user disembarks from vehicle C, and (c) shows the orientation of vehicle C when vehicle C is stored in the storage space.

[0119] As described above, the vehicle C is forwarded into the loading / unloading room 10 (entered into the loading / unloading room 10) (S302). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial loading state.

[0120] After the vehicle C is placed on the pallet 30 and before the user of the vehicle C gets off, the control device 60 (control unit 62) controls the rotation operation of the rotation device 50 based on the rotation information to rotate the rotation device 50 by +180 degrees (or -180 degrees) (S308). As a result, the boarding / alighting door (front door) is directed toward the entrance / exit door 20.

[0121] After the user of the vehicle C gets off through the boarding door (front door) and before the pallet 30 on which the vehicle C is placed is stored in the storage space, the control device 60 (control unit 62) controls the rotation operation of the rotation device 50 to rotate the rotation device 50 by "rotating -180 degrees (or rotating +180 degrees)" (S312). As a result, the orientation of the vehicle C placed on the pallet 30 becomes the initial state for storage.

[0122] ● Exit operation (2) Figure 13 is a schematic plan view showing another example of an embodiment showing the operation of vehicle C leaving the device 1, in which (a) shows the direction of vehicle C when it is transported from the storage space to the loading / unloading room 10, (b) shows the direction of vehicle C when a user gets into vehicle C, and (c) shows the direction of vehicle C when it leaves the loading / unloading room 10.

[0123] As described above, after the pallet 30 on which the vehicle C is placed is called and transported to the loading / unloading room 10, the control device 60 (control unit 62) controls the turning operation of the turning device 50 to cause the turning device 50 to "turn +180 degrees (or -180 degrees)" (S402). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial unloading state.

[0124] Before a user of vehicle C gets on through the boarding door (front door) (before the entrance / exit door 20 opens), the control device 60 (control unit 62) controls the rotation operation of the rotation device 50 based on the rotation information so as not to rotate the rotation device 50 ("N" in S404). As a result, the orientation of the vehicle C placed on the pallet 30 is in the initial exit state, and the boarding door (front door) is directed toward the entrance / exit door 20.

[0125] After the user of vehicle C gets on through the boarding door (front door) and before vehicle C is forwarded out of the loading / unloading room 10 (unloaded from the loading / unloading room 10), the control device 60 (control unit 62) controls the rotation operation of the swivel device 50 to prevent the swivel device 50 from rotating (S414). As a result, the orientation of vehicle C placed on the pallet 30 is in the initial unloading state, and the boarding door (front door) is directed toward the loading / unloading door 20.

[0126] Example (3) "Rear door" In this embodiment, among the doors of the vehicle C, the door through which the user of the vehicle C gets on and off (boarding and alighting door) is assumed to be the "rear door".

[0127] ●Receiving operation (3) Figure 14 is a schematic plan view showing yet another example of an embodiment showing the entry operation of vehicle C into the device 1, in which (a) shows the orientation of vehicle C when vehicle C enters the loading / unloading room 10, (b) shows the orientation of vehicle C when a user disembarks from vehicle C, and (c) shows the orientation of vehicle C when vehicle C is stored in the storage space.

[0128] As described above, the vehicle C is forwarded into the loading / unloading room 10 (entered into the loading / unloading room 10) (S302). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial loading state.

[0129] After the vehicle C is placed on the pallet 30 and before the user of the vehicle C gets off, the control device 60 (control unit 62) controls the rotation operation of the rotation device 50 based on the rotation information so as not to rotate the rotation device 50 ("N" in S305). As a result, the orientation of the vehicle C placed on the pallet 30 is in the initial entry state, and the boarding door (rear door) is directed toward the entrance / exit door 20.

[0130] After the user of the vehicle C gets off through the boarding door (rear door) and before the pallet 30 on which the vehicle C is placed is stored in the storage space, the control device 60 (control unit 62) controls the rotation operation of the rotating device 50 to prevent the rotating device 50 from rotating ("Y" in S310). As a result, the orientation of the vehicle C placed on the pallet 30 is in the initial storage state, and the boarding door (rear door) is facing the entrance / exit door 20.

[0131] ● Exit operation (3) Figure 15 is a schematic plan view showing yet another example of an embodiment showing the retrieval operation of vehicle C from the device 1, in which (a) shows the orientation of vehicle C when it is transported from the storage space to the loading / unloading room 10, (b) shows the orientation of vehicle C when a user gets into vehicle C, and (c) shows the orientation of vehicle C when it is retrieving vehicle C from the loading / unloading room 10.

[0132] As described above, after the pallet 30 on which the vehicle C is placed is called and transported to the loading / unloading room 10, the control device 60 (control unit 62) controls the turning operation of the turning device 50 to cause the turning device 50 to "turn +180 degrees (or -180 degrees)" (S402). At this time, the orientation of the vehicle C placed on the pallet 30 is in the initial unloading state.

[0133] Before the user of the vehicle C gets on (before the entrance / exit door 20 opens), the control device 60 (control unit 62) controls the turning operation of the turning device 50 based on the turning information to make the turning device 50 turn +180 degrees (or turn -180 degrees) (S404). As a result, the boarding / alighting door (rear door) is directed toward the entrance / exit door 20.

[0134] After the user of vehicle C gets on through the boarding door (rear door) and before vehicle C is forwarded out of the loading / unloading room 10 (exits from the loading / unloading room 10), the control device 60 (control unit 62) controls the turning operation of the turning device 50 to make the turning device 50 "turn +180 degrees (or turn -180 degrees)" (S413). As a result, the orientation of vehicle C placed on the pallet 30 becomes the initial unloading state.

[0135] ●Summary● According to the embodiment described above, the present device 1 includes the pallet 30, the turning device 50 that turns the pallet 30 in the loading / unloading room 10, and the control device 60 that controls the turning operation of the turning device 50. The control device 60 includes a receiving unit 61 and a control unit 62. The receiving unit 61 receives turning information used to control the turning device 50. The control device 60 (control unit 62) controls the turning operation (whether or not to turn, the turning direction, the amount of turning (angle), etc.) based on the turning information received by the receiving unit 61 during the loading / unloading operation of the vehicle C. That is, in the present device 1, the turning operation of the turning device 50 is controlled by the control unit 62. For this reason, for example, the control device 60 (control unit 62) controls the turning operation based on the turning information received from the operation terminal T when the user is outside the loading / unloading room 10 or even when the user is inside the vehicle C placed on the pallet 30. In this configuration, the user can determine the turning operation based on the information input by the user, thereby improving the convenience for the user.

[0136] According to the embodiment described above, the system S includes the above-mentioned device 1 and an operation terminal T that transmits an operation signal to the device 1 to instruct the device 1 to operate. The control device 60 (control unit 62) controls the turning operation (whether or not to turn, the direction of turning, the amount of turning (angle), etc.) based on information (turning information, pre-registered information) input by the user using the operation terminal T. That is, in the device 1, the turning operation of the turning device 50 is controlled by the control unit 62. For this reason, for example, the control device 60 (control unit 62) controls the turning operation based on the turning information received from the operation terminal T even when the user is outside the loading / unloading room 10 or inside the vehicle C placed on the pallet 30. In this configuration, the user can determine the turning operation based on the information input by the user. Therefore, the system S also improves the convenience of the user.

[0137] According to the embodiment described above, the device 1 has a detection sensor 70 that detects a foreign object inside the loading / unloading room 10. The control device 60 (control unit 62) controls the turning operation (whether or not turning can be performed, stopping, restarting, etc.) based on the detection results of the detection sensor 70 and the vehicle sensor 80. The control device 60 (control unit 62) controls the turning operation based on the detection result of the detection sensor 70. That is, for example, when a user of the vehicle C is outside the loading / unloading room 10 or when the user is inside the vehicle C placed on the pallet 30, the control device 60 (control unit 62) controls the turning operation based on the turning information received from the operation terminal T. That is, when there is an abnormality inside the loading / unloading room 10 (such as a positional deviation of the vehicle C or an intrusion of a person), the control device 60 (control unit 62) restricts / stops the turning of the turning device 50. As a result, the safety of the device 1 is improved.

[0138] Further, according to the embodiment described above, the control device 60 (control unit 62) controls the turning operation so that the pallet 30 on which the vehicle C is placed faces the direction determined by the turning information during the entry and exit operation of the vehicle C. Furthermore, the control device 60 (control unit 62) controls the turning operation based on the orientation of the vehicle C placed on the pallet 30 with respect to the entry and exit door 20 inside the entry and exit room 10 when the vehicle C enters and leaves the warehouse. In this way, the present device 1 controls the turning operation of the turning device 50 and controls the orientation of the pallet 30 so that the orientation of the front of the vehicle C faces the direction determined by the turning information. As a result, the user of the vehicle C can determine the turning operation according to the orientation of the front of the vehicle C and the boarding and disembarking position based on the information input by the user. Therefore, the convenience of the user is improved.

[0139] Furthermore, according to the embodiment described above, the control device 60 (control unit 62) controls the turning operation so that the boarding door approaches the entrance / exit door 20 based on the turning information, after the vehicle C entered the entrance / exit room 10 is placed on the pallet 30 and before the user of the vehicle C gets off, in the entrance / exit operation of the vehicle C. Also, the control device 60 (control unit 62) controls the turning operation so that the boarding door approaches the entrance / exit door 20 based on the turning information, after the pallet 30 on which the vehicle C is placed is transported to the entrance / exit room 10 and before the user of the vehicle C gets on. In this way, the present device 1 controls the turning operation of the turning device 50 by the control unit 62 in response to the user getting on and off. As a result, the user of the vehicle C can get on and off the vehicle C smoothly. Therefore, the convenience of the user is improved.

[0140] Furthermore, according to the embodiment described above, the program is executed on the operation terminal T to cause the operation terminal T to acquire various pieces of information and to transmit the acquired various pieces of information from the operation terminal T to the device 1. In other words, the program is executed on the operation terminal T to cause the operation terminal T to function as the acquisition unit 111 and the transmission unit 120. As a result, the control device 60 (control unit 62) controls the above-mentioned turning operation based on the operation signal from the operation terminal T. Therefore, by using the program, the user can cause the operation terminal T owned by the user to function as the acquisition unit 111 and the transmission unit 120. Therefore, the convenience of the user of the vehicle C is improved.

[0141] In the above-described embodiment, the mechanical parking device is a horizontal circulation type parking device that uses a common entrance / exit door for forward entry and exit. Alternatively, in the present invention, the mechanical parking device may be a mechanical parking device having a configuration in which the doors used for entry and exit are not common. Furthermore, the mechanical parking device is not limited to a horizontal circulation type parking device, and may be various mechanical parking devices such as a vertical circulation type, a box circulation type, and an elevator type. Furthermore, in the present invention, the carrier is not limited to a pallet, and may be a comb-shaped lift cage.

[0142] In the embodiment described above, when a vehicle is brought into storage, the vehicle is stored with the front of the vehicle facing forward (the orientation of the vehicle placed on the pallet is the initial orientation for bringing in) when the pallet on which the vehicle is placed is stored in the storage space. Alternatively, in the present invention, the vehicle may be stored with the front of the vehicle facing backward (the entrance / exit door) (the orientation of the vehicle placed on the pallet is the initial orientation for leaving) before the pallet on which the vehicle is placed is stored in the storage space.

[0143] Furthermore, in the embodiment described above, the configuration of the loading / unloading chamber (the positional relationship between the turning device, the opening, and the pallet) is not limited to this embodiment. That is, for example, in the present invention, the configuration of the loading / unloading chamber may be a so-called well-known "built-in turning device (turntable)" configuration in which the pallet is turned inside the loading / unloading chamber.

[0144] Furthermore, in the above-described embodiment, the operation terminal is not limited to a smartphone. That is, for example, in the present invention, the operation terminal may be an information processing device such as a tablet or a PC (Personal Computer), or a remote controller. Also, in the present invention, the operation terminal may be a non-portable operation panel installed in a mechanical parking device. In this case, the program is installed in the operation panel. Furthermore, in the present invention, the operation terminal may be a car navigation system mounted in a vehicle that can communicate with a mobile terminal (e.g., a smartphone) via a wireless communication line. In this case, the program is installed in the car navigation system and operates.

[0145] Furthermore, in the above-described embodiment, the "rotation operation" is not limited to the operation of "rotating +90 degrees", "rotating -90 degrees", "rotating +180 degrees", and "rotating -180 degrees". In other words, for example, the rotation operation may rotate the pallet to any angle. [Explanation of symbols]

[0146] 1. Mechanical parking system 10. Storage room 20. Storage door 30 Pallets (carriers) 40h opening 50 Swivel 51 Drive unit 52 Turntable 60 Control device 61 Receiving section 62 Control section 63 Storage section 64 Reception determination unit 65 Instruction judgment section 70 Detection Sensor 80 Vehicle Sensors 100 Input section 110 Terminal control unit 111 Acquisition Department 120 Transmitter 130 Display section S Mechanical Parking System T Operation terminal

Claims

1. A mechanical parking device having an entrance / exit room where a vehicle is stored and retrieved, a carrier on which the vehicle is placed, a turning device that turns the carrier in the entrance / exit room, a control device that controls the turning operation of the turning device, and comprising: The control device includes: a receiving unit that receives turning information used for controlling the turning device, a control unit that controls the turning operation based on the turning information received by the receiving unit, and is provided with: A mechanical parking device.

2. The control unit controls the turning operation so that the carrier on which the vehicle is placed is directed in the direction determined by the turning information. The mechanical parking device according to Claim 1.

3. The receiving unit receives the turning information from an operation terminal operated by a user of the vehicle, The control device includes: a storage unit that stores the turning information, and is provided with: The control unit controls the turning operation based on the turning information. The mechanical parking device according to Claim 2.

4. a door that opens and closes the entrance / exit of the entrance / exit room, and comprising: The control unit controls the turning operation based on the orientation of the vehicle placed on the carrier with respect to the door inside the entrance / exit room at least when the vehicle is stored or when the vehicle is retrieved. The mechanical parking device according to Claim 1.

5. After the vehicle stored in the warehousing and unwarehousing room is placed on the transporter, before the user of the vehicle gets off the vehicle, the control unit controls the turning operation based on the turning information so as to bring closer to the door the door used by the user of the vehicle to get off the vehicle. The mechanical parking device according to claim 4.

6. When the transporter on which the vehicle is placed is transported to the warehousing and unwarehousing room, the control unit controls the turning operation based on the turning information so as to bring closer to the door the door used by the user of the vehicle to board the vehicle. The mechanical parking device according to claim 4.

7. The turning information is door position information of the door used by the user of the vehicle to board or get off the vehicle in the warehousing and unwarehousing room and includes The mechanical parking device according to claim 1.

8. The control unit controls the presence or absence of the turning operation based on the turning information. The mechanical parking device according to claim 1.

9. a detection sensor for detecting foreign objects inside the warehousing and unwarehousing room and has The control unit controls the turning operation based on the detection result of the detection sensor. The mechanical parking device according to claim 8.

10. A mechanical parking device having a warehousing and unwarehousing room where vehicle warehousing and unwarehousing are performed, an operation terminal that transmits an operation signal for instructing the operation of the mechanical parking device to the mechanical parking device, and has The mechanical parking device a transporter on which the vehicle is placed, a turning device that turns the transporter in the warehousing and unwarehousing room, a control device that controls the turning operation of the turning device, and includes The control device includes a receiving unit that receives turning information used for controlling the turning device from the operation terminal, and a control unit that controls the turning based on the turning information received by the receiving unit. It is provided with a mechanical parking system.

11. The operation terminal is a portable terminal that can be carried, and when the user of the vehicle is outside the entrance / exit room or inside the vehicle placed on the transporter, the control unit controls the turning operation based on the turning information received from the operation terminal. The mechanical parking system according to claim 10.

12. The operation terminal is an operation panel attached to the mechanical parking device, and when the user of the vehicle is outside the entrance / exit room, the control unit controls the turning operation based on the turning information received from the operation terminal. The mechanical parking system according to claim 10.

13. The turning information includes door position information that designates the direction in which the door used when the user of the vehicle gets on or off is directed in the entrance / exit room. It includes The mechanical parking system according to claim 10.

14. A program that operates on an operation terminal capable of communicating with a mechanical parking device, where the mechanical parking device includes a transporter on which a vehicle is placed, a turning device that turns the transporter, and a control device that controls the turning operation of the turning device, and is provided with the operation terminal An acquisition unit that acquires, as turning information, information input by a user of the vehicle and used for controlling the turning device; A transmission unit that transmits the acquired turning information to the mechanical parking device; Causing it to function; A program characterized by the above.

15. A carrier on which a vehicle is placed; A turning device that turns the carrier; A control device that controls the turning operation of the turning device; A method for entering and exiting a mechanical parking device executed by a mechanical parking device including: The mechanical parking device includes: A receiving step of receiving turning information used for controlling the turning device; A step of controlling the turning operation based on the received turning information; Comprising; A method for entering and exiting a mechanical parking device.

16. The turning information is Pre-registered information registered by a user of the vehicle operating the operation terminal, Including, The mechanical parking device according to claim 3.

17. The pre-registered information is Updatable based on the pre-registered information newly registered by a user of the vehicle operating the operation terminal, The mechanical parking device according to claim 16.

18. The turning information is Updatable based on the turning information newly input by a user of the vehicle operating the operation terminal, The mechanical parking device according to claim 3.

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