Article storage and monitoring and controlling method

Abstract

To provide an article storage and a monitoring and controlling method, the article storage capable of easily detecting abnormality of a pallet movement mechanism which is difficult of access and capable of being used continuously without requiring a time for recovery.SOLUTION: An article storage 50 comprises multiple pallets 2 on which an article 1 is mounted, a pallet movement mechanism 20, a measurement device 22, and a drive controlling device 30. The pallet movement mechanism 20 supports and transports the pallet 2. The measurement device 22 is attached to the pallet movement mechanism 20 so as to be able to monitor the abnormality and detects state data D of the pallet movement mechanism 20. The drive controlling device 30 is located away from the pallet movement mechanism 20 to control driving of the pallet movement mechanism 20.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an article storage facility and a monitoring control method. [Background technology]

[0002] A mechanical parking device, such as a horizontal circulating parking device, is a device in which multiple drive cells that support and move pallets are arranged so that the pallets are adjacent to each other in a checkerboard pattern on a horizontal plane, and the pallets are moved lengthwise or widthwise at each position to circulate the vehicles entering and leaving the parking lot. Such an apparatus is disclosed, for example, in US Pat. No. 5,399,633.

[0003] On the other hand, a remote maintenance system that remotely monitors the operating state of a mechanical parking device and determines whether maintenance is necessary is disclosed in, for example, Patent Document 2. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-184800 A [Patent Document 2] Patent No. 3996492 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned horizontal circulation type parking device, in a parking space where many pallets are arranged adjacent to each other, at least one drive cell is an empty cell with no pallet, and a pallet on a drive cell adjacent to an empty cell can be moved horizontally (laterally or vertically) onto the empty cell. This horizontal movement moves the position of the empty cell to an adjacent position, and by repeating this, the pallets on each level can be freely moved horizontally (laterally or vertically).

[0006] In horizontally recirculating parking systems, the drive cells that support the pallets and move them horizontally (laterally or vertically) have a complex structure, which can lead to malfunctions. Meanwhile, in a parking space, multiple pallets are placed adjacent to each other on top of multiple drive cells, and the space under the pallets where the drive cells are located is so narrow and low that people cannot enter and move around in it. Therefore, people cannot access the drive cells except for the empty cells, which has made it difficult to detect abnormalities in the drive cells early and to identify the abnormal parts.

[0007] In elevator-type parking systems, the drive unit that horizontally moves the pallet provided on the lifting and transporting device and the roller unit provided on the pallet also have complex structures, and there is a possibility of abnormalities occurring. On the other hand, in the case of pallet support in a parking space, when multiple pallets are placed next to each other and a vehicle is parked in the parking space, the space located in the drive unit and pallet support unit under the pallets is so narrow and low that people cannot enter and move around. There is also a risk of people falling. Therefore, people cannot easily access the drive unit and pallet support unit, and it has been difficult to detect abnormalities in the drive unit or pallet support unit early or to identify the abnormal part.

[0008] In addition, in the "Remote Maintenance System for Parking Equipment" of Patent Document 2, the operating time of the electric motor and the operation of the sensors are remotely monitored, but these monitoring alone are not able to detect abnormalities occurring in the drive unit (abnormal noises, vibrations, scratches, cracks, wear, etc. in components).

[0009] Furthermore, even if an abnormality occurred, the parking equipment would be in an unusable state until a maintenance worker arrived and repaired the abnormality on site.

[0010] The present invention has been devised to solve the above-mentioned problems. That is, the object of the present invention is to provide an article storage facility and a monitoring control method that can easily detect an abnormality in a pallet moving mechanism that is difficult to access and can be used continuously without requiring time for recovery. [Means for solving the problem]

[0011] According to the present invention, a plurality of pallets for carrying items; A pallet moving mechanism that supports and transports the pallet; a measuring device attached to the pallet moving mechanism so as to be capable of monitoring the pallet moving mechanism for abnormalities and detecting status data of the pallet moving mechanism; A drive control device that is located away from the pallet moving mechanism and controls the drive of the pallet moving mechanism, An article storage facility is provided, wherein the drive control device has an abnormality detection device that detects an abnormality in the pallet moving mechanism from the status data.

[0012] According to the present invention, the above-mentioned item storage cabinet is used, Detecting the status data of the drive unit of the pallet by the measuring device; There is provided a monitoring and control method in which the abnormality detection device detects an abnormality in the drive unit from the status data. Effect of the Invention

[0013] According to the above-mentioned configuration of the present invention, a measuring device attached to the pallet movement mechanism detects the status data of the pallet movement mechanism. Also, an abnormality detection device of a drive control device located away from the pallet movement mechanism detects abnormalities of the pallet movement mechanism from the status data. Therefore, abnormalities of the pallet movement mechanism which are difficult to access can be easily detected, and the device can be operated without stopping. [Brief description of the drawings]

[0014] [Figure 1] 1A and 1B are a side view and a plan view showing an example of a conventional horizontal circulation type parking device. [Diagram 2] FIG. 2 is an explanatory diagram of the operation of the horizontal circulation type parking device. [Diagram 3] FIG. 2 is a bottom view showing a specific example of a pallet. [Figure 4] FIG. [Diagram 5] 1 is an overall configuration diagram of a mechanical parking device according to the present invention. [Figure 6] 1 is an overall flow diagram of a monitoring and control method according to the present invention; [Figure 7] FIG. 1 is a cross-sectional view showing an example of an elevator-type parking device. [Figure 8] A cross-sectional view showing the EV charging unit and horizontal support unit of an elevator-type parking device. [Figure 9] This is a plan view showing an example of multiple elevator-type parking devices being viewed as one elevator-type parking device. [Figure 10] This is an example of a parking device equipped with multiple entrance and exit gates. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] (First embodiment) FIG. 1 is a side view (A) and a plan view (B) showing an example of a conventional horizontal circulation type parking system 100. The horizontally circulating parking device 100 is a device in which a number of drive cells 4 that support and move pallets 2 are arranged so that the pallets 2 are adjacent to each other in a checkerboard pattern on a horizontal plane, and the pallets 2 are moved lengthwise or widthwise at each position to circulate the vehicles 1 entering and leaving the device. The vehicle 1 is, for example, a passenger car. The vehicle 1 may be a small car, a medium-sized car, a large car, a high-roof car, or the like.

[0016] 1(A) and (B), the horizontal circulation type parking device 100 is an underground type with two storage areas, an upper and lower, underground. Also, a lift 3 is provided that moves vertically between the entrance and exit area on the ground and the upper and lower levels underground, lifting and lowering the pallet 2 between them. In this example, each of the upper and lower two storage areas has a vehicle storage space for 11 vehicles in the range other than the position where the lift 3 raises and lowers the pallet 2.

[0017] In this figure, each vehicle storage space is provided with a drive unit 4 (hereinafter, drive cell 4) that moves a pallet 2 carrying a vehicle 1 in its width and length directions. In this example, the lift 3 is also provided with a drive cell 4.

[0018] The drive cell 4 is configured to be capable of both "lateral feeding", which moves the pallet 2 carrying the vehicle 1 in its width direction, and "longitudinal feeding", which moves the pallet 2 in its length direction.

[0019] 1, in this example, one drive cell 4 is provided for each of the two upper and lower stages, which has a vehicle storage space for 11 vehicles. Each drive cell 4 has a frame 9 (see FIG. 4) that corresponds to the size of the pallet 2 in a plan view. In each of the two upper and lower stages, a plurality of frames 9 are arranged at a fixed interval from each other and are supported horizontally at their four corners. In each stage, at least one driving cell 4 does not have a pallet 2 placed on it, and the other driving cells 4 have a pallet 2 placed on them. A driving cell 4 without a pallet 2 placed on it will be referred to as an "empty cell" below.

[0020] With the above-mentioned configuration of the horizontal circulation type parking device 100, at least one drive cell 4 in each row is vacant, so that the pallet 2 on the drive cell 4 adjacent to the vacant cell can be moved horizontally (laterally or vertically) onto the vacant cell. This horizontal movement moves the position of the vacant cell to an adjacent position. Therefore, by repeating this process, the multiple pallets 2 on each stage can be freely moved horizontally (transversely or vertically).

[0021] FIG. 2 is an explanatory diagram of the operation of the horizontal circulation type parking device 100 described above. In this figure, reference numeral 5 denotes a lift position. Note that in this figure, the arrangement of the drive cells 4 is different from that in FIG.

[0022] FIG. 2 shows the operation of vehicle 1 (vehicle a in the figure) indicated by the symbol a moving horizontally to lift position 5 in the order of (A), (B), (C), and (D), and then being transported by lift 3 to the loading / unloading area on the ground. As shown in this figure, the horizontal movement of the pallets 2 in the horizontal circulation parking device 100 is computer-controlled to determine the shortest entry and exit route, and efficiently move the vehicles 1 horizontally one after another like a puzzle, thereby realizing the shortest waiting time for entry and exit.

[0023] 3 is a bottom view showing a specific example of the pallet 2. This figure shows the bottom surface of the pallet 2. The pallet 2 is set to a size such that the entire vehicle 1 (for example, a passenger car) can be placed thereon without any part of the vehicle 1 protruding outside the pallet 2 in a plan view. In addition, in the horizontal circulation type parking device 100, when the parking lot is not full, there are pallets 2 (empty pallets) on which no vehicle 1 is placed.

[0024] 3, the pallet 2 has a pair of width direction rails 6a, a pair of length direction rails 6b, and a plurality of switching rails 6c on its underside. Hereinafter, unless necessary, the width direction rails 6a, the length direction rails 6b, and the switching rails 6c will be simply referred to as "support rails 6".

[0025] The pair of width direction rails 6a extend horizontally at a fixed interval in the width direction of the pallet 2. In the following, "horizontal" means that the pallet 2 is horizontal when in use. The pair of longitudinal rails 6b extend horizontally at a fixed interval in the longitudinal direction of the pallet 2. The interval between the pair of widthwise rails 6a and the interval between the pair of longitudinal rails 6b are set so as to support the pallet 2 horizontally.

[0026] Multiple (four in this example) switching rails 6c are provided at intersections 7 (four in this example) between the widthwise rails 6a and the lengthwise rails 6b, and are configured to be rotatable between the widthwise and lengthwise directions. The switching rail 6c rotates about a vertical axis, and is not provided with a rotation drive mechanism, but can be freely rotated by an external force.

[0027] The lower surfaces of the width direction rail 6a and the length direction rail 6b are flush with each other and form a horizontal surface, and the widths of the width direction rail 6a and the length direction rail 6b are set to be the same. The width direction rail 6a and the length direction rail 6b are separated at an intersection 7, and the end faces of each are spaced a certain distance from the turning center of the switching rail 6c. In addition, the outer ends of the width direction rail 6a and the length direction rail 6b extend to the vicinity of the outer edge of the pallet 2.

[0028] The switching rail 6c is a single rail having the same width as the width direction rail 6a and the length direction rail 6b. The lower surface of the switching rail 6c is a horizontal surface having the same height as the width direction rail 6a and the length direction rail 6b. The length of the switching rail 6c is set so that the width direction rail 6a and the length direction rail 6b, which are separated at the intersection 7, are connected via the switching rail 6c.

[0029] With the configuration of the pallet 2 described above, the switching rail 6c can be rotated horizontally and the divided width-direction rail 6a can be connected via the switching rail 6c to form a pair of rails extending across the entire width of the pallet 2 using the width-direction rail 6a and the switching rail 6c.

[0030] Similarly, by rotating the switching rail 6c horizontally and connecting the divided longitudinal rail 6b via the switching rail 6c, a pair of rails extending along the entire length of the pallet 2 can be formed by the longitudinal rail 6b and the switching rail 6c.

[0031] As described above, the pallet 2 is designed to carry the vehicle 1 thereon, but it does not have a drive device (power source) to move it itself, and instead moves horizontally passively due to the drive cell 4 located below.

[0032] FIG. 4 is a plan view of the drive cell 4. In this figure, the drive cell 4 comprises a frame 9 and a pallet drive device 10 mounted on the frame.

[0033] The frame 9 is a frame for the drive cell 4 which moves the pallet 2 carrying the vehicle 1 in its width and length directions. In Figure 4, multiple frames 9 are arranged at regular intervals from one another and are supported horizontally at their four corners. In this case, vertically extending pillars (not shown) are provided on the outside of the four corners of the frames 9, and the pallets 2 can pass between the pillars by moving horizontally in the width and length directions.

[0034] The pallet drive device 10 has a pair of drive units 12 , a pair of driven units 14 , and a turning mechanism 16 . A pair of drive units 12 and a pair of driven units 14 are provided at the rotation center positions of the four switching rails 6c of the above-mentioned pallet 2, and are attached so as to be freely rotatable around the rotation center of the switching rail 6c. In this example, a pair of drive units 12 and a pair of driven units 14 are disposed at diagonal positions among the four rotation centers of the switching rail 6c.

[0035] The turning mechanism 16 has a plurality of interlocking rods 17a which sequentially connect a pair of drive units 12 and a pair of driven units 14, and a turning drive unit 17b which moves the interlocking rods 17a horizontally. With this configuration, the pair of drive units 12 and the pair of driven units 14 can be rotated horizontally in synchronization with each other via the interlocking rod 17a by the swivel drive unit 17b, so that the drive direction of the drive units 12 and the guide direction of the driven units 14 can be switched between the width direction and the length direction.

[0036] The drive unit 12 has a drive wheel 12a that supports and drives the pallet 2, and a plurality of guide rollers 12b that rotate horizontally together with the drive wheel 12a to guide the horizontal movement of the pallet 2. The drive wheel 12a is driven to rotate about a horizontal axis. The drive wheel 12a has a disk shape, the upper surface of which supports the lower surface of the support rail 6 of the pallet 2, and drives the pallet 2 in the horizontal direction by its rotation.

[0037] The driven unit 14 is obtained by replacing the drive wheel 12a of the drive unit 12 with a driven wheel 14a and omitting the drive motor 13. The rest of the configuration is the same as that of the drive unit 12.

[0038] With the above-mentioned configuration, the drive direction of the drive unit 12 and the guide direction of the driven unit 14 can be switched in a linked manner in the width direction and the length direction by the interlocking rod 17a. In addition, when the support rails 6 form a pair of rails in the width direction or length direction, a pair of drive units 12 are respectively positioned on the pair of rails, support the pallet 2 via the pair of rails, and can drive the pallet 2 horizontally in the width direction or length direction. Furthermore, in this case, a pair of follower units 14 are also positioned on the pair of rails, respectively, to support the pallet 2 via the pair of rails and to guide the pallet 2 in the width direction or length direction. Therefore, the above-mentioned pallet driving device 10 can switch between lateral feeding, in which the pallet 2 carrying the vehicle 1 is moved in its width direction, and longitudinal feeding, in which the pallet 2 is moved in its length direction.

[0039] The above-described configurations of the pallet 2, the drive cell 4, and the pallet drive device 10 are merely examples, and the present invention is not limited to these, and other configurations may be used.

[0040] In FIG. 4, an article storage facility 50 of the present invention includes a measuring device 22 that is attached to a pallet moving mechanism 20 so as to be able to monitor the mechanism for abnormalities and that detects status data of the pallet moving mechanism. In this example, the article storage facility 50 is a mechanical parking device 50. Also, the pallet moving mechanism 20 is a drive unit 4 for the pallet 2 (a drive cell 4 in this example).

[0041] That is, in this example, the mechanical parking device 50 of the invention comprises a measuring device 22 attached to the frame 9 of the driving cell 4 . It is preferable that the driving cells 4 to which the measuring device 22 is attached are all of the driving cells 4 that constitute the mechanical parking device 50, but they may be only a part of them. It is also preferable to attach a measuring device 22 to the drive cell 4 installed in the lift 3 .

[0042] The measuring device 22 detects the status data D of the driving cell 4 . In this example, the condition data D includes sound pressure data D1, vibration data D2, contact pressure data D3 with the pallet 2, the amount of loosening D4 of the fixing bolts of the pallet driving device 10, and the amount of wear D5 of the driving wheels 12a and driven wheels 14a when the pallet 2 moves horizontally. The status data D may be a part of these, or may include other data.

[0043] In this example, the measuring device 22 includes a sound level meter 22a that detects sound pressure data D1, a vibration meter 22b that detects vibration data D2, a surface pressure meter 22c that detects contact pressure data D3, and a laser displacement sensor 22d that detects the amount of loosening D4 and the amount of wear D5. The measuring device 22 may be a part of these devices, or may include other devices.

[0044] The sound level meter 22a and the vibration meter 22b are fixed, for example, to the upper surface of the frame 9 or between the frame 9, and detect sound pressure data D1 and vibration data D2, respectively.

[0045] The surface pressure gauge 22c is, for example, a strain gauge attached to the frame 9 supporting the driving wheel 12a or the driven wheel 14a, and detects contact pressure data D3 from strain occurring in the frame 9. The laser displacement sensor 22d is fixed to, for example, a part of the frame 9, and detects the position of the fixing bolt to detect the amount of loosening D4 of the fixing bolt. The laser displacement sensor 22d also monitors the outer diameter of the driving wheel 12a or the driven wheel 14a to detect the amount of wear D5 of the driving wheel 12a or the driven wheel 14a. The laser displacement sensor 22d may detect displacements at other locations.

[0046] In FIG. 4, the article storage facility 50 of the present invention further includes an imaging device 24 that is attached to the pallet moving mechanism 20 so as to be able to monitor the mechanism for abnormalities, and that captures image data of the pallet moving mechanism 20.

[0047] That is, in this example, the mechanical parking device 50 of the present invention is equipped with an imaging device 24 that is attached to the frame 9 of the driving cell 4 and captures image data P of the driving cell 4. In this example, the imaging device 24 is a plurality of cameras that are fixed to a part of the frame 9 and capture images of the pallet drive device 10 (for example, the drive unit 12 or the driven unit 14). The imaging device 24 may capture image data P of other locations.

[0048] FIG. 5 is an overall configuration diagram of a mechanical parking device 50 according to the present invention. As shown in this figure, the mechanical parking device 50 includes a drive control device 30 in addition to the pallet 2 and drive cell 4 described above. The drive control device 30 is located away from the pallet moving mechanism 20 and controls the drive of the pallet moving mechanism 20. The drive control device 30 is, for example, a computer (PC) and controls the multiple drive cells 4. The drive control device 30 is part of a parking lot management device that controls the components of the mechanical parking device 50, and is located separately from the multiple drive cells 4.

[0049] In FIG. 5, a drive control device 30 includes an abnormality detection device 32 and a path planning device 36 . The abnormality detection device 32 has an image processing device 34 that compares multiple image data P of drive cells 4 in the same state and detects abnormalities from the differences between them, and detects abnormalities in the drive cells 4 from the above-mentioned state data D or image data P. The term "same state" means a state in which a part of the drive cell 4 (for example, the slewing drive unit 17b) is in the same operational position when the position is changed.

[0050] The path planning device 36 creates a new route (a new route) that bypasses the driving cell 4 in which the abnormality has been detected.

[0051] With the above-mentioned configuration, the measuring devices 22 attached to the multiple drive cells 4 can detect the state data D of the drive cells 4 when the pallet 2 moves horizontally. In parallel, the imaging device 24 can capture image data P of the drive cells 4 when the pallet 2 moves horizontally. Furthermore, the detected status data D and image data P are transmitted to the drive control device 30 in real time, and from the received status data D and image data P, abnormalities and abnormal locations in the drive cell 4, which are difficult to access, can be easily detected.

[0052] As described above, the measurement device 22 is attached to the frames 9 of the multiple drive cells 4. Unlike the pallets 2, the frames 9 are fixed to the installation location of the mechanical parking device 50, so that the detected status data D and image data P can be transmitted in real time to the drive control device 30 connected by wire or wirelessly. In addition, the drive control device 30 stores the status data D and image data P, and can identify a drive cell 4 that is experiencing an abnormality (abnormal noise, vibration, or sudden change in surface pressure) based on the change in sound pressure based on the sound pressure data D1, vibration based on the vibration data D2, or surface pressure based on the contact pressure data D3. Furthermore, by using the image processing device 34 to analyze the image data P of the drive cell 4 in which an abnormality has been identified, it is possible to easily detect the abnormal location (scratches, cracks, wear, etc. of members).

[0053] FIG. 6 is an overall flow diagram of the monitoring and control method according to the present invention. In this figure, the monitoring and control method of the present invention is made up of steps (processes) S1 to S7. The monitoring and control method of the present invention uses the above-mentioned mechanical parking device 50, and in step S1, detects the status data D of each of the driving cells 4 by the multiple measuring devices 22 attached to the multiple driving cells 4, respectively. In step S2, image data P of each of the driving cells 4 is detected by the imaging devices 24 attached to the driving cells 4, respectively.

[0054] The detection of the status data D and the image data P in steps S1 and S2 is preferably performed in real time for a plurality of driving cells 4. The detected status data D and image data P are input to the drive control device 30 via a wired or wireless connection, preferably in real time.

[0055] In step S3, the abnormality detection device 32 detects an abnormality in the driving cell 4 from the state data D and image data P. In step S3, the magnitude of the status data D is compared with each threshold value, and if the threshold value is exceeded, an abnormality is detected. Also, by image processing, multiple image data P of driving cells 4 in the same state are compared, and abnormal locations are detected from the differences. If no abnormality is detected, the process returns to step S1, and detection of the status data D continues.

[0056] (Example of abnormality detection) For example, the amount of loosening D4 of the fixing bolt of the drive cell 4 is detected by the laser displacement sensor 22d, the magnitude of the amount of loosening D4 is compared with a threshold value, and if the threshold value is exceeded, an abnormality is detected. In addition, the wear amount D5 of the driving wheel 12a or the driven wheel 14a of the driving cell 4 is detected by the laser displacement sensor 22d, and the wear amount D5 is compared with a threshold value, and an abnormality is detected if the threshold value is exceeded. The wear amount D5 may be obtained by monitoring the outer diameter of the driving wheel 12a or the driven wheel 14a. The laser displacement sensor 22d may detect the displacement of a portion other than the driving wheel 12a or the driven wheel 14a to detect an abnormality. Furthermore, image processing may be used to compare multiple image data P of the drive cells 4 in the same state, and abnormalities in each part of the drive cells 4 may be detected from the differences between the image data P.

[0057] If an abnormality is detected in step S3, steps S4 to S7 are performed depending on the nature of the abnormality. Steps S4 to S7 are performed only when they are applicable. Also, they do not have to be performed in the order shown in the figure.

[0058] In step S4, the use of the driving cell 4 in which the abnormality has been detected is discontinued. In other words, if an abnormality is detected, the use of the drive cell 4 in that location is automatically suspended. This makes it possible to prevent accidents such as further wear of the abnormal location or derailment of the pallet 2 from the drive cell 4.

[0059] In step S5, a new route is created that bypasses the driving cell 4 in which an abnormality has been detected. That is, a new route that goes around the abnormal part is determined by the route planning device 36. This allows the vehicle 1 to continue entering and leaving the parking device without stopping the entire parking device, and prevents the parking device from being unavailable until the inspection worker arrives.

[0060] (Configured as a pass-through only pallet support 18) In step S6, the operating mode during use of the drive cell 4 in which the abnormality has been detected is changed. For example, when determining a new route excluding the abnormal part, if it is determined that it is not desirable to detour around the abnormal part, the abnormal part is set as a route that passes through in low speed mode rather than as a detour route. This allows vehicle 1 to continue entering and leaving the parking lot, preventing a significant deterioration in smooth operation of the parking system or a gridlock, and preventing the parking system from becoming unusable until the inspection worker arrives.

[0061] The mechanical parking device 50 can set a part of the driving cell 4 (i.e., the pallet support portion 18) as an EV charging point for charging an EV vehicle (for example, an electric car). If an EV charging point is installed and the drive cell 4 in which an abnormality is detected is the only one that is an EV charging point, it is preferable to automatically reassign it as a pallet support section 18 in which neither EV charging nor parking can be performed.

[0062] (Configured as pallet support part 18 that cannot be used for EV charging) In step S7, if the driving cell 4 in which the abnormality was detected is an EV charging point, a new route is created so that charging at the EV charging point is stopped and charging is performed at another EV charging point. For example, if the pallet support 18 in which the abnormality was detected is only an EV charging point, it will be automatically reassigned as a pallet support 18 that cannot perform EV charging, i.e., reconfigured as a normal pallet support 18 rather than an EV charging point. This will prevent situations where EVs are unable to charge, allowing them to charge at another EV charging location, and will prevent EVs from being unable to charge until inspection workers arrive.

[0063] The route change when an abnormality is detected in step S3 is not limited to the above example, and the route may be changed as follows.

[0064] When a route that bypasses the abnormal part is determined as a new route excluding the abnormal part, if an operation is in progress, the detour route is re-planned in the middle of the operation.

[0065] By making the defective part a pallet 2 (empty pallet) on which no vehicle 1 is placed, the number of empty pallets in the puzzle operation may decrease, which may reduce smoothness. In that case, it is possible to configure the system so that smoothness is not impaired by temporarily placing an empty pallet in the defective part. In this case, in order to prevent vehicle 1 from being unable to leave the warehouse, the temporary placement of the actual pallet on which vehicle 1 is placed is excluded.

[0066] When the drive cell 4 of the defective part is a part that switches the direction of horizontal transport, it is also possible to control the horizontal transport direction switching device so that it is limited to one linear movement only (vertical feed or horizontal feed) without operating only the horizontal transport direction switching device.

[0067] If the malfunction is minor, it may be configured so that only empty pallets not carrying vehicles 1 can pass, and filled pallets carrying vehicles 1 cannot pass.

[0068] The number of times the horizontal conveyance is operated may be monitored, and when a preset threshold value is exceeded for a horizontal conveyance section with a high number of operations, the weighting of the path plan may be changed so that a horizontal conveyance section with a low number of operations is used.

[0069] Furthermore, the vibration data D2 may be measured when the drive motor of the drive wheel 12a rotates, and a minute deviation in the vibration data D2 may be measured to predict a failure condition in advance.

[0070] When creating a new route that bypasses a driving cell in which an abnormality has been detected, the arrangement state of pallet 2 after performing the pallet 2 movement procedure a predetermined number of times may be derived as an initial value, and the new route may be created using the derived initial value.

[0071] According to the embodiment of the present invention described above, the mechanical parking device 50 comprises a measuring device 22 attached to the frame 9 of the driving cell 4 and a driving control device 30 that controls the operation of the driving cell 4.

[0072] The measuring device 22 is attached to the frame 9 of the drive cell 4. Unlike the pallet 2, the frame 9 is fixed to the installation location of the mechanical parking device 50, so that the detected status data D and image data P can be transmitted in real time to the drive control device 30 connected by wire or wirelessly.

[0073] The drive control device 30 also has an abnormality detection device 32 that detects abnormalities in the drive cells 4 from the status data D. Since the drive control device 30 stores the status data D and image data P, it is possible to identify a drive cell 4 having an abnormality (abnormal sound, vibration, or sudden change in surface pressure) from changes in sound pressure based on the sound pressure data D1, vibration based on the vibration data D2, or surface pressure based on the contact pressure data D3.

[0074] Therefore, by detecting the status data D of the driving cell 4 using the measuring device 22 and detecting an abnormality in the driving cell 4 from the detected status data D, it is possible to easily detect an abnormality in the driving cell 4 which is difficult to access.

[0075] In addition, image data P of the drive cell 4 is detected by the imaging device 24 attached to the drive cell 4, and multiple image data P of drive cells 4 in the same state are compared by image processing, and abnormal locations can be detected from the differences.

[0076] Furthermore, for example, by creating a new route that bypasses the drive cell 4 in which an abnormality has been detected, the vehicle 1 can continue to enter and exit the parking device without stopping the entire parking device, preventing the parking device from being unavailable until the inspection worker arrives.

[0077] Second embodiment FIG. 7 is a cross-sectional view showing an example of an elevator-type parking device disclosed in Japanese Patent No. 7229048 (Reference 1). The article storage facility 50 of the present invention comprises a plurality of pallets 2 on which articles 1 are placed, and a pallet moving mechanism 20 that supports and transports the pallets 2. In this example, the article storage facility 50 is an elevator-type parking device 110. The article 1 is a vehicle. The pallet moving mechanism 20 is a horizontal support portion 41 for the pallet 2. This elevator-type parking device 110 is an elevator-type parking device in which the direction in which a vehicle enters and exits on the entrance and exit floor is different from the direction in which the vehicle is stored on the horizontal support part.

[0078] In FIG. 7, an elevator-type parking device 110 of the present invention includes a lifting and conveying device 40 and a lifting and rotating device 42. The lifting and conveying device 40 lifts and lowers the pallet 2 in the storage direction in the elevator shaft 43 . The lifting and rotating device 42 is provided on the loading / unloading floor, and lifts the pallet 2 on the lifting and conveying device located on the loading / unloading floor above the loading / unloading height h and rotates it horizontally.

[0079] The entrance / exit floor is provided at the lowest level of the elevator parking device 110, and an elevator shaft 43 extends upward from the entrance / exit floor. A plurality of horizontal support parts 41 are provided along the elevator shaft 43.

[0080] The lifting and rotating device 20 is provided under the loading and unloading floor, and passes through the center (centre) of the lifting and conveying device 40 to lift the pallet 2 and rotate it horizontally.

[0081] The lifting and conveying device 40 has its longitudinal direction facing the storage direction, and with the pallet 2 placed on support rollers provided at both longitudinal ends, moves up and down along the elevator path between the loading / unloading floor and the horizontal support part 41. The lifting and conveying device 40 is suspended by wire ropes connected to its four corners. The lifting and conveying device 40 moves up and down as the lifting drive device winds up and down the wire rope.

[0082] The horizontal drive unit (not shown) has a rotating arm that rotates horizontally around a vertical axis of rotation, and a rotating drive device that drives the rotating arm horizontally around the axis of rotation. An engagement roller that extends upward is attached to the tip of the rotating arm.

[0083] The lifting and conveying device 40 has a plurality of support rollers positioned at intervals on both ends in the longitudinal direction thereof. A pallet (not shown) is guided horizontally by the support rollers and has engagement grooves that engage with the engagement rollers. With the above-described configuration, by rotating the rotating arm, the pallet 2 can be guided by the support rollers and moved laterally between the horizontal support portion 41 and the pallet 2 .

[0084] FIG. 8 is a cross-sectional view showing an EV charging unit 44 and a horizontal support unit 41 of an elevator-type parking device 110 disclosed in JP 2012-188894 A (Reference 2). The mechanical parking device 50 of the present invention comprises a measuring device 22 attached to the frame of the horizontal support part 41. The horizontal support portion 41 on which the measuring device 22 is attached is preferably the entire horizontal support portion that constitutes the mechanical parking device 50, but may be only a part of it. It is also preferable to attach the measuring device 22 to a drive unit installed in the lifting and rotating device 42 .

[0085] The measuring device 22 detects state data D of the horizontal support portion 41 . The measuring devices 22 in this example are a charging monitor 22e and a horizontal support monitor 22f. The charge monitor 22e monitors the voltage and current during charging, and the horizontal support monitor 22f monitors the amount of wear on the rollers of the pallet. The rest of the configuration is the same as that of the horizontal circulation type parking device.

[0086] Third embodiment FIG. 9 is a plan view showing an example of a case in which a plurality of elevator-type parking devices disclosed in Japanese Patent No. 4611903 (hereinafter, Reference 3) are regarded as one elevator-type parking device.

[0087] The method of entering and exiting by reservation in Reference 3 is a method in which an ID number such as a vehicle number or room number for each user according to the number of all pallets is input and stored in a control panel that collectively manages all pallets that can accommodate multiple mechanical parking devices as one parking lot, and when a reservation for entering is made using a remote control into which an ID number for each user has been input and the reservation is confirmed, the entry reservation display is made to display the entry reservation and the entry guide light in front of the reserved parking device is turned on at the same time as the reservation operation of the mechanical parking device that can be entered begins, and the driver enters the parking device whose entry guide light is turned on in accordance with the entry reservation display on the entry reservation display, and enters the parking device after the entry / exit door of the mechanical parking device reserved for entry opens, and when a reservation for leaving is made using the remote control and the reservation is confirmed, the exit reservation display is made to display at the same time as the reservation operation of the mechanical parking device from which the driver will leave begins, and the driver waits in front of the designated parking device in accordance with the display on the exit reservation display, and after the entry / exit door of the mechanical parking device reserved for exit opens, the driver enters, gets in, and leaves the parking device.

[0088] In addition, the reservation-based entry and exit device of Reference 3 is a device that treats multiple mechanical parking devices for implementing the above-mentioned entry and exit method as one parking lot, and is equipped with entry and exit remote control receiving panels that receive signals from a remote control into which an ID number such as the user's vehicle number or room number has been input, and entry and exit reservation display devices corresponding to each mechanical parking device are installed in the required positions, respectively, and is equipped with an operation panel having entry and exit door close buttons located near the entry and exit doors of each mechanical parking device, and is further equipped with a control panel in which the ID numbers of users of each mechanical parking device are input in advance and assigned to all pallets that each mechanical parking device can accommodate, for centralized management, and which is configured to compare the user's ID numbers input from the entry and exit remote control receiving panels, and if there is a match, issue a reservation operation command to the machine and a display command to the entry reservation display and exit reservation display.

[0089] In FIG. 9, a measuring device 22 is provided which is attached to a lifting and conveying device (not shown). The horizontal support portion to which the measuring device 22 is attached is preferably all of the horizontal support portions that constitute the mechanical parking device 50, but may be only a part of them. It is also preferable to attach the measuring device 22 to the drive unit installed on the lift itself.

[0090] Also, the vibration data D2 may be measured during rotation of the lift drive motor, and a minute deviation in the vibration data D2 may be measured to predict a failure condition in advance.

[0091] In this embodiment, for example, a new route is created to bypass the parking device in which an abnormality has been detected, and the user is notified of this before entering the parking device. This allows vehicle 1 to continue entering the parking device without stopping the entire parking device, and prevents the parking device from becoming unusable until the inspection worker arrives.

[0092] FIG. 10 shows an example of a parking device 50 having multiple entrance / exit gates 45. In this embodiment, for example, if an abnormality occurs in a lifting and conveying device 40 corresponding to one of the loading / unloading entrances 45, the use of the lifting and conveying device 40 where the abnormality was detected is temporarily suspended, a new detour route is created, and the user is notified of the loading / unloading entrance corresponding to the other lifting and conveying device 40, and loading / unloading is performed. This allows vehicles 1 to continue entering and leaving the parking device without stopping the entire parking device, preventing the parking device from being unavailable until the inspection worker arrives.

[0093] The present invention is not limited to the above-mentioned embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above-mentioned example, the drive control device 30 is installed inside the mechanical parking device 50, but a part of it may be constructed as a remote monitoring system at a location away from the mechanical parking device 50.

[0094] Furthermore, in the elevator system as well, parking at the location where the abnormality occurred may be temporarily prohibited, or an EV charging location may be set in an alternative location. In addition, in the case of a parking device having multiple entrances and exits, the route plan may be configured in a manner that guides the user to use other entrances and exits. Furthermore, in the case of a parking system such as that described in Patent No. 4611903, if an abnormality occurs in the lifting device of the entrance door of unit No. 1 or the pallet lifting and transporting device, guidance may be provided to units No. 2 and No. 3. [Explanation of symbols]

[0095] D status data, D1 sound pressure data, D2 vibration data, D3 contact pressure data, D4 looseness amount, D5 wear amount, P image data, 1 vehicle (item), 2 pallet, 3 lift, 4 drive unit (drive cell), 6 support rail, 6a width direction rail, 6b length direction rail, 6c switching rail, 9 frame, 10 pallet drive device, 12 drive unit, 14 driven unit, 16 turning mechanism, 17a interlocking rod, 17b turning drive unit, 18 pallet support part, 20 pallet movement mechanism, 22 measuring device, 22a sound level meter, 22b vibration meter, 22c surface pressure meter, 22d laser displacement sensor, 22e charging monitoring device, 22f horizontal support part monitoring device, 24 imaging device, 30 drive control device, 32 abnormality detection device, 36 path planning device, 40 lifting and conveying device, 41 Horizontal support section, 42 lifting and rotating device, 43 elevator, 44 EV charging section, 45 entrance / exit, 50 goods storage (mechanical parking device), 100 horizontal circulation parking device, 110 elevator parking device

Claims

1. A plurality of pallets for carrying items; A pallet moving mechanism that supports and transports the pallet; a measuring device attached to the pallet moving mechanism so as to be capable of monitoring the pallet moving mechanism for abnormalities and detecting status data of the pallet moving mechanism; A drive control device that is located away from the pallet moving mechanism and controls the drive of the pallet moving mechanism, The drive control device of this item storage facility has an abnormality detection device that detects abnormalities in the pallet moving mechanism from the status data.

2. the article is a vehicle; The article storage facility is a mechanical parking device, The article storage facility according to claim 1 , wherein the pallet moving mechanism is a drive unit for the pallet.

3. 2. The article storage facility according to claim 1, further comprising an imaging device attached to the pallet moving mechanism so as to be capable of monitoring the pallet moving mechanism for abnormalities, and configured to capture image data of the pallet moving mechanism.

4. the article is a vehicle; The article storage facility is a mechanical parking device, The article storage facility according to claim 3 , wherein the pallet moving mechanism is a drive unit for the pallet.

5. 5. The article storage facility according to claim 3, wherein the abnormality detection device comprises an image processing device which compares a plurality of image data of the drive parts of the pallets in the same state and detects the abnormality from the difference between the image data.

6. The article storage facility according to claim 1 , wherein the drive control device has a route planning device that creates a new route that bypasses the drive unit of the pallet in which the abnormality has been detected.

7. The state data is sound pressure data, vibration data, contact pressure data with the pallet, the amount of loosening of a fixing bolt of a drive part of the pallet, or the amount of wear of a drive wheel or a driven wheel when the pallet is moving horizontally, The item storage facility described in any one of claims 1 to 4, wherein the measuring device is a sound level meter that detects the sound pressure data, a vibrometer that detects the vibration data, a surface pressure meter that detects the contact pressure data, or a laser displacement sensor that detects the amount of loosening and the amount of wear.

8. Using the article storage unit according to any one of claims 1 to 4, Detecting the status data of the drive unit of the pallet by the measuring device; A monitoring and control method, comprising: detecting an abnormality in the drive unit from the status data by the abnormality detection device.

9. 9. The monitoring and control method according to claim 8, further comprising the steps of: comparing the magnitude of said status data with respective threshold values; and detecting said abnormality when said status data exceeds said threshold values.

10. A laser displacement sensor detects the amount of loosening of a fixing bolt of the drive unit; 9. The monitoring and control method according to claim 8, further comprising the steps of: comparing the magnitude of the amount of slack with a threshold value; and detecting the abnormality when the amount of slack exceeds the threshold value.

11. Detecting the amount of wear of the driving wheels or the driven wheels of the drive unit by a laser displacement sensor; 9. The method of claim 8, further comprising the steps of: comparing the amount of wear with a threshold value; and detecting the abnormality when the amount of wear exceeds the threshold value.

12. Using the article storage unit according to claim 3 or 4, Detecting the status data of the drive unit of the pallet by the measuring device; a monitoring and control method for detecting an abnormality in the drive unit from the status data by the abnormality detection device, Detecting image data of the driving unit by an imaging device attached to the driving unit; A monitoring and control method comprising: comparing a plurality of image data of the same state by image processing; and detecting the abnormality from the difference therebetween.

13. The monitoring and control method according to claim 8 , further comprising the step of: ceasing use of the drive unit in which the abnormality has been detected.

14. The monitoring and control method according to claim 8 , further comprising the step of creating a new route that bypasses the drive unit in which the abnormality has been detected.

15. The monitoring and control method according to claim 8 , further comprising changing an operation mode when the drive unit in which the abnormality has been detected is in use.

16. The monitoring and control method according to claim 8, wherein, when the pallet moving mechanism in which the abnormality is detected is an EV charging point, a new route is created so that charging at the EV charging point is stopped and charging is performed at another EV charging point.

17. The monitoring and control method described in claim 8, wherein, when the drive unit in which the abnormality is detected is a lifting and transporting device, parking in the parking device having the lifting and transporting device is stopped and a new route is created so that parking is performed in another parking device.

18. 9. The monitoring and control method according to claim 8, further comprising the step of: when the drive unit in which the abnormality is detected is a lifting and transporting device, creating a new route so that lifting and transporting operation by the lifting and transporting device is stopped and lifting and transporting operation is performed by another lifting and transporting device.

19. 9. The monitoring and control method according to claim 8, further comprising the steps of: when the drive unit in which the abnormality is detected is a lifting and transporting device, stopping lifting and transporting operation by the lifting and transporting device, and creating a new route to perform lifting and transporting operation by another lifting and transporting device; and notifying a user of this.

Images