Mechanical parking system, and safety confirmation method and safety confirmation program therefor

Abstract

To implement safety confirmation inside and outside a getting-on / off room while suppressing cost increase.SOLUTION: A mechanical parking system comprises: a getting on / off room 7 where at least either putting-in or taking-out of a vehicle 2 is done; a pallet that can be placed inside the getting-on / off room for transporting the vehicle 2; a laser range scanner sensor 30A, which is arranged in an area on the left side of the pallet and behind the rear end part of the pallet, is capable of scanning a beam towards the inside and the outside of the getting-on / off room 7, and is able to detect objects based on reflected beams of the beam; and a laser range scanner sensor 30B, which is arranged in an area on the right side of the pallet and behind the rear end part of the pallet, is capable of scanning a beam towards the inside and the outside of the getting-on / off room 7, and detects objects based on reflected beams of the beam.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a mechanical parking device, a safety confirmation method thereof, and a safety confirmation program.

Background Art

[0002] In mechanical parking devices, various methods have been proposed to ensure safety. For example, Patent Document 1 discloses a mechanical parking device that diagonally arranges two measurement area sensors in the boarding and alighting room to confirm the absence of people in the boarding and alighting room. Further, Patent Document 1 discloses that an external detection sensor is installed outside the boarding and alighting room to detect a person or a vehicle in a predetermined monitoring area provided near the entrance and exit door. In this way, by confirming the safety not only inside the boarding and alighting room but also outside the boarding and alighting room, it becomes possible to enhance safety.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When installing an external detection sensor outside the boarding and alighting room as disclosed in Patent Document 1, it may be exposed to sunlight and rain, and it is necessary to use a relatively expensive sensor that can withstand these harsh environments, or to take measures to block sunlight and rain and then install the sensor. For this reason, there has been a problem that an increase in cost is inevitable.

[0005] In view of such circumstances, the present disclosure has been made, and an object thereof is to provide a mechanical parking device, a safety confirmation method thereof, and a safety confirmation program that can perform safety confirmation of the inside and outside of the boarding and alighting room while suppressing an increase in cost.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a mechanical parking device including an entrance / exit room for performing at least one of vehicle entry and exit, a carrier that can be arranged in the entrance / exit room and is for transporting a vehicle, and a left object detection sensor provided in a region on the left side of the carrier and behind the rear end of the carrier, capable of scanning a beam toward the inside and outside of the entrance / exit room, and capable of detecting an object based on a reflected beam of the beam; and a right object detection sensor provided in a region on the right side of the carrier and behind the rear end of the carrier, capable of scanning a beam toward the inside and outside of the entrance / exit room, and capable of detecting an object based on a reflected beam of the beam.

[0007] One aspect of the present disclosure is a safety confirmation method for a mechanical parking device including an entrance / exit room for performing at least one of vehicle entry and exit, an entrance / exit door provided at an entrance of the entrance / exit room, a carrier that can be arranged in the entrance / exit room and is for transporting a vehicle, a left object detection sensor provided in a region on the left side of the carrier and behind the rear end of the carrier, capable of scanning a beam toward the inside and outside of the entrance / exit room, and capable of detecting an object based on a reflected beam of the beam, and a right object detection sensor provided in a region on the right side of the carrier and behind the rear end of the carrier, capable of scanning a beam toward the inside and outside of the entrance / exit room, and capable of detecting an object based on a reflected beam of the beam. The method includes a monitoring area setting step in which a computer executes a step of setting a monitoring area of the left object detection sensor and the right object detection sensor. In the monitoring area setting step, in a state where the entrance / exit door is open, a monitoring area including the inside and outside of the entrance / exit room is set for at least one of the left object detection sensor and the right object detection sensor, and the left object detection sensor and the right object detection sensor detect an object based on the monitoring area.

[0008] One aspect of the present disclosure is a safety confirmation program for causing a computer to execute the safety confirmation method of the mechanical parking device.

Effects of the Invention

[0009] According to the present disclosure, it is possible to perform safety confirmation inside and outside the boarding and alighting room while suppressing an increase in cost.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] Hereinafter, the mechanical parking device according to each embodiment of the present disclosure will be described with reference to the drawings. In the embodiments described below, an elevator-type tower-type mechanical parking device is exemplified as the mechanical parking device of the present disclosure, but the present disclosure is not limited to this example. The mechanical parking device of the present disclosure may be a vertical circulation type, a plane reciprocating type, a horizontal circulation type, a two-multi-stage type, or the like. Further, it may be a fork-type mechanical parking device.

[0012] Figure 1 is a longitudinal sectional view of a mechanical parking device 1 according to an embodiment of the present disclosure. As shown in Figure 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating a plurality of vehicles 2, and includes a parking tower 5 provided with an entrance / exit (entrance and exit) 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is, for example, a landing 7 for loading and unloading the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor surface thereof. The turntable 8 has a configuration in which a swivel plate 10 and a swivel drive unit 11 are provided in a concave pit 9 formed on the floor surface of the landing 7. In addition, in the present embodiment, the case where both loading and unloading are performed in the landing 7 is shown, but it is not limited thereto. For example, the landing may be made different for loading and unloading, and a configuration including a landing dedicated for loading and a landing dedicated for unloading may be adopted. Further, in the present embodiment, one landing is shown, but a plurality of landings may be provided.

[0013] A vertical lifting passage 13 is formed at the center of the parking tower 5, and a lift 14 (elevator-like transporter) is provided in this so as to be able to move up and down. The lift 14 is suspended at its four corners by a plurality of wire ropes extending downward from a winch (not shown) provided, for example, at the upper part of the parking tower 5, and can move up and down in the lifting passage 13 when the winch is activated.

[0014] On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the lifting passage 13. These vehicle storage shelves 17 are provided in a multi-story manner vertically so as to sandwich the lifting passage 13, and each vehicle storage shelf 17 houses one pallet (carrier) 18 for loading a vehicle. Note that the columns and the like of the vehicle storage shelf 17 are not shown.

[0015] Delivery mechanisms (not shown) are provided on the floor surfaces of the lift 14 and the vehicle storage shelf 17 so that when the floor surfaces of both are at the same height, an empty pallet 18 or a pallet 18 loaded with the vehicle 2 can be smoothly transferred from the lift 14 to the vehicle storage shelf 17 or from the vehicle storage shelf 17 to the lift 14.

[0016] FIG. 2 is a schematic perspective view showing the boarding and alighting chamber 7, FIG. 3 is a schematic plan view showing an example of the installation positions of the ranging sensors 30A to 30C as object detection sensors arranged in the boarding and alighting chamber 7, and FIG. 4 is a schematic longitudinal sectional view of the pallet 18 arranged in the boarding and alighting chamber 7. Hereinafter, with reference to the vehicle 2 stored in the boarding and alighting chamber 7, the front-rear direction, left-right direction, and up-down direction will be defined and described. In other words, in the boarding and alighting chamber 7, the side closer to the loading / unloading opening 3 through which the vehicle enters and exits is defined as the rear, and the left and right when looking from the rear to the front are defined as the left-right direction.

[0017] As shown in FIGS. 2 to 4, inside the boarding and alighting chamber 7, there is a space for arranging the pallet 18 at the central part. The pallet 18 is substantially rectangular along the front-rear direction, and has curb portions 19 at the right and left ends and a middle-high portion 20 at the center (see FIG. 4). On the front wall of the entrance / exit door 4, there are provided a mirror (not shown) for the driver (user) to confirm the position of the vehicle 2 and an electro-optical parking position indicator light 25 for guiding "forward", "stop", and "reverse".

[0018] In the boarding and alighting chamber 7, four cameras 35A to 35D for photographing the internal situation are installed. In the present embodiment, the cameras 35A to 35D are, for example, video cameras, and are respectively attached to different wall surfaces (four surfaces) of the boarding and alighting chamber 7. For example, the camera 35A is arranged to photograph the front of the vehicle 2 parked in the boarding and alighting chamber 7, the camera 35B is arranged to photograph the rear of the vehicle 2, the camera 35C is arranged to photograph the left side surface of the vehicle 2, and the camera 35D is arranged to photograph the right side surface of the vehicle 2. Note that the number of cameras installed is not limited to the above, and at least one camera may be provided.

[0019] An object detection sensor 30 is provided in the boarding and alighting chamber 7. The object detection sensor has, for example, ranging sensors 30A to 30C. The ranging sensors 30A to 30C output a beam (exploration wave) having a property of reflecting when hitting a target object such as a laser beam or ultrasonic wave, and detect an object based on the angle information and distance information obtained by scanning (scanning) horizontally while receiving the reflected beam (reflected wave).

[0020] The ranging sensor (left object detection sensor) 30A is provided in a region on the left side of the pallet 18 disposed in the boarding and alighting compartment 7 and behind the rear end of the pallet 18, and can scan a beam toward the inside and outside of the boarding and alighting compartment 7, and can detect an object based on the reflected beam of the beam. The ranging sensor 30A mainly detects objects in the left region and the rear region of the pallet 18 in the boarding and alighting compartment, and the vestibule region outside the boarding and alighting compartment. The ranging sensor 30A is set, for example, in a height range of 95 mm or more and less than 130 mm from the floor surface of the boarding and alighting compartment 7.

[0021] The ranging sensor (right object detection sensor) 30B is provided in a region on the right side of the pallet 18 disposed in the boarding and alighting compartment 7 and behind the rear end of the pallet, and can scan a beam toward the inside and outside of the boarding and alighting compartment 7, and can detect an object based on the reflected beam of the beam. The ranging sensor 30B mainly detects objects in the right region and the rear region of the pallet 18 in the boarding and alighting compartment, and the vestibule region outside the boarding and alighting compartment. The ranging sensor 30B is set, for example, in a height range of 95 mm or more and less than 130 mm from the floor surface of the boarding and alighting compartment 7.

[0022] The ranging sensor 30C is provided, for example, in front of the center of the pallet 18 disposed in the boarding and alighting compartment 7, and emits a probing wave from the front to the rear of the boarding and alighting compartment. The ranging sensor 30C detects an object in the monitoring region C1 (see FIG. 4) set at a height position higher than the middle part 20 of the pallet 18 disposed in the boarding and alighting compartment 7 and lower than the upper surface of the curb part 19. The height position of the monitoring region of the ranging sensor 30C is set, for example, in a height range of 95 mm or more and less than 130 mm from the floor surface of the boarding and alighting compartment 7. The ranging sensor 30C mainly detects objects in the front region of the pallet 18 and in the monitoring region C1 (see FIG. 4) set between the pallet 18 and the curb part 19. Note that the monitoring regions by each of the ranging sensors 30A to 30C will be described later. Also, the detailed installation positions of the measurement range sensors 30A to 30C are not limited to the above example. For example, the measurement range sensors 30A and 30B may be appropriately installed at positions where the monitoring range described later can be monitored.

[0023] In addition, in the boarding and alighting compartment 7, as object detection sensors, in addition to the above-described measurement range sensors 30A to 30C, for example, a human presence sensor, a photoelectric sensor, or the like may be provided. In addition, in the boarding and alighting compartment 7, a parking position detection sensor (not shown) for detecting the parking position of the vehicle 2, an in-vehicle sensor (not shown) for detecting that the vehicle 2 is placed on the pallet 18, a vehicle width sensor for detecting whether the vehicle width of the vehicle 2 is appropriate, or the like may be provided. Also, these sensors may be configured to function as part of the object detection sensors.

[0024] The sensor signals of the measurement range sensors 30A to 30C and the various sensors are transmitted to a sensor control unit 57 (see FIG. 7) described later.

[0025] At the entrance / exit 3 of the boarding and alighting compartment, an entrance / exit detection sensor 32 for detecting that a person or a vehicle has entered or exited from the boarding and alighting compartment 7 is provided. The entrance / exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance / exit 3 and a pair of sensors 32B provided outside the entrance / exit 3. The sensors 32A and 32B are, for example, sensors of a type that receive a beam transmitted from a transmitting unit at a receiving unit. When this beam is blocked by the vehicle 2, a person, or the like, the sensor is turned on, and the sensor signal is transmitted to a sensor control unit 57 (see FIG. 7) described later.

[0026] The sensor control unit 57 determines that a person or a vehicle has exited from the boarding and alighting compartment 7, for example, when on-signals are input in the order from the sensor 32A to the sensor 32B. Also, the sensor control unit 57 determines that a person or a vehicle has entered the boarding and alighting compartment 7, for example, when on-signals are input in the order from the sensor 32B to the sensor 32A.

[0027] Note that the method for detecting the exit of a person or a vehicle from the boarding and alighting compartment 7 is not limited to the above example. For example, instead of the sensor 32A, a sensor for detecting a person in the rear region of the boarding and alighting compartment 7 may be used. Further, in FIG. 2, the sensors 32A and 32B are provided on the inner and outer sides of the boarding and alighting compartment 7 with the entrance and exit door 4 therebetween, but the present invention is not limited to this example. For example, both the sensors 32A and 32B may be provided inside the boarding and alighting compartment, or may be provided outside the boarding and alighting compartment.

[0028] Further, the sensor control unit 57 (see FIG. 7) can determine whether a person or a vehicle is entering or exiting based on the sensor signals from the entry / exit detection sensor 32. For example, in the case of a person entering or exiting, the on-signals are not output from the sensor 32A and the sensor 32B at the same time. On the other hand, in the case of the entry or exit of the vehicle 2, since the vehicle has a certain length, there is a temporal overlap between the on-signal of the sensor 32A and the on-signal of the sensor 32B. In this way, it is possible to determine whether a person is entering or exiting or the vehicle 2 is entering or exiting based on the temporal overlap between the on-signal of the sensor 32A and the on-signal of the sensor 32B.

[0029] In the present embodiment, the entry / exit detection sensor 32 having the above configuration is configured to be able to detect intrusion and exit, respectively, but the present invention is not limited to this example. For example, it may be sufficient to have a configuration capable of detecting at least the exit from the boarding and alighting compartment 7. As an example, the camera 35 may be mentioned.

[0030] Further, inside the boarding and alighting compartment 7, an internal operation panel (input means) 26 for receiving input information for closing the entrance and exit door 4 is provided. This internal operation panel 26 is mainly operated by a user (for example, a driver). As an example, the internal operation panel 26 is provided on the left side of the boarding and alighting compartment 7. Further, as an auxiliary means for confirming the absence of people in the region on the opposite side of the vehicle 2 from the position of the internal operation panel 26, a mirror 37 (see FIG. 3) is provided. The operator (for example, the driver) confirms the safety (absence of people) in the right side region of the boarding and alighting compartment 7 by checking the mirror 37, for example, and performs an input operation on the internal operation panel 26.

[0031] In addition, in this embodiment, the case where the internal operation panel 26 is provided on the left side of the boarding and alighting compartment 7 is illustrated, but it is not limited thereto. For example, the internal operation panel 26 may be provided on the right side of the boarding and alighting compartment 7, or may be provided on both sides respectively. By providing it on both sides, regardless of whether it is a right-hand drive vehicle or a left-hand drive vehicle, the user can operate the internal operation panel 26 closer to the driver's seat, and it is possible to improve convenience.

[0032] FIG. 5 is a diagram showing a configuration example of the internal operation panel 26. As shown in FIG. 5, the internal operation panel 26 includes an input unit 260 for the user to perform input operations. The input unit 260 is provided with, for example, an authentication information input unit for receiving the user's authentication information. In this embodiment, as an example of the authentication information input unit, an IC card reader 261 is provided, but it is not limited to this example. The authentication information input unit may be constituted by, for example, a numeric keypad, a biometric information reading unit for reading so-called biometric authentication information such as fingerprints, iris, vein information, face images, a wireless communication unit for receiving authentication information by wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.), and the like.

[0033] In addition, the input unit 260 may include a door closing button 263, an unmanned confirmation button 264, and the like. Further, the input unit 260 may include a touch panel 262. The display of the touch panel 262 is controlled by a control device 40 (see FIG. 7) described later, and the authentication information read by the IC card reader 261, the information input by operating the door closing button 263 and the unmanned confirmation button 264 by an operator or the like are output to the control device 40. Note that instead of the touch panel 262, a display having no input function may be provided.

[0034] Further, various input screens and guidance may be displayed on the touch panel 262, and the configuration may be such that various input information is input from the touch panel 262 according to the displayed guidance. In this case, the door closing button 263 and the unattended confirmation button 264 can be substituted by buttons displayed on the touch panel. Thus, the input method of various information is not limited to the above example, and known techniques may be appropriately adopted.

[0035] In addition, an informing unit (not shown) for notifying the user of information (guidance information for entry and exit, error occurrence information, etc.) by voice may be provided in the boarding and alighting chamber. Examples of the informing unit include a speaker, a warning light, and the like.

[0036] An external operation panel 22 for receiving input information for closing the entrance / exit door 4 is provided outside the boarding and alighting chamber 7. This external operation panel 22 is operated, for example, by users, administrators, maintenance personnel, etc.

[0037] FIG. 6 is a diagram showing a configuration example of the external operation panel 22. As shown in FIG. 6, the external operation panel 22 is housed, for example, in a metal housing 43 for protection from wind and rain and prevention of mischief, and this housing 43 is provided with a lockable lid 44. When the operator operates the external operation panel 22, the lock is unlocked, the lid 44 is opened, and access is made to the external operation panel 22.

[0038] The external operation panel 22 includes, for example, an authentication information input unit for receiving the user's authentication information. In the present embodiment, as an example of the authentication information input unit, an IC card reader 46 is provided, but it is not limited to this example. The authentication information input unit may be configured by, for example, a numeric keypad, a biometric information reading unit that reads so-called biometric authentication information such as fingerprint, iris, vein information, face image, etc., a wireless communication unit that receives authentication information by wireless communication (e.g., 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.).

[0039] In addition, the external operation panel 22 includes a touch panel 45, a speaker 47 for guiding the operator (e.g., user) on the operation method by voice, an emergency stop button 48 for immediately stopping the operation of the mechanical parking device 1, a microphone, and the like.

[0040] The touch panel 45 has both a display function and an input function. On the touch panel 45, for example, various guidance information for performing the inbound and outbound operations is displayed, and operation buttons and the like for causing the operator to perform the inbound and outbound operations are also displayed. The display of the touch panel 45 is controlled by a control device 40 (see FIG. 7) described later, and the information input when the touch panel 45 is operated by the operator or the like is output to the control device 40. Near the external operation panel 22, a monitor 28 (see FIGS. 2 and 3) for displaying real-time images captured by cameras 35A to 35D described later is installed. Furthermore, outside the boarding and alighting compartment 7, an inbound control lamp 21 having blue and red lamps is provided at the upper part of the entrance / exit door 4. A control device 40 for controlling the entire mechanical parking device 1 is installed inside or outside the boarding and alighting compartment 7.

[0041] FIG. 7 is a diagram showing a functional block diagram of the control system of the mechanical parking device 1 according to the present embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU and the like, a main memory that functions as a work area when each program is executed, a communication interface for connecting to a network, and the like. In addition, the control device 40 includes a comprehensive database 52 in which various data necessary for controlling the mechanical parking device 1 is stored. In the comprehensive database 52, various data required for operating the mechanical parking device 1, such as the in-vehicle status, pallet shape type, vehicle storage shelf shape type, identification information of persons permitted to use the mechanical parking device 1, contact information of users (e.g., registered email addresses, etc.), are stored. Persons permitted to use the mechanical parking device 1 include users, administrators, maintenance staff, and the like.

[0042] In addition, the control device 40 includes a storage unit 41 for storing necessary data as the incoming and outgoing processes described later are executed. For example, the storage unit 41 stores the user ID (first authentication information) that has successfully authenticated the user in the first user authentication process, the status of the error flag, information on various modes, and the like.

[0043] The auxiliary storage device of the control device 40 stores a control program for controlling each mechanism of the mechanical parking device 1 and the like. The CPU reads out various programs stored in the auxiliary storage device to the main memory and executes them, thereby realizing the functions of each part described later. Also, when executing the program, the CPU refers to and uses various data stored in the comprehensive database 52.

[0044] The above control program may be pre-stored in the auxiliary storage device during the manufacture of the control device 40, or may be downloaded and installed from a server or the like that distributes the control program and the like after construction or the like. It may also be installed via an external storage device. Thus, the installation method of various programs is not particularly limited. Examples of the external storage device include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like.

[0045] The control device 40 includes a main control unit 50. In addition to the above-described comprehensive database 52, an entrance / exit door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning drive control unit 62, and the like are connected to the main control unit 50. Also, an internal operation panel 26 and an external operation panel 22 are connected to the main control unit 50, and a two-way communication configuration is adopted.

[0046] The entrance / exit door control unit 55 receives an operation command from the main control unit 50, opens and closes the entrance / exit door 4, receives a position signal of the entrance / exit door 4 from the entrance / exit door sensor 67, and feeds back the information to the main control unit 50. The entrance / exit door sensor 67 may detect the fully open and fully closed states of the entrance / exit door 4 and output a sensor signal indicating the same to the entrance / exit door control unit 55.

[0047] The conveyor control unit 56 receives an operation command from the main control unit 50, executes the raising and lowering of the lift 14 and the loading and unloading operations of the pallet 18, receives a position signal of the lift 14 from the conveyor position sensor 68, and feeds back the information to the main control unit 50.

[0048] The sensor control unit 57 receives sensor signals from the object detection sensors 30 (measurement range sensors 30A to 30C) and outputs the information to the main control unit 50. Further, the sensor control unit 57 determines the entry and exit of a person or vehicle based on the sensor signals from the entry / exit detection sensors 32 (32A, 32B) and outputs the determination result to the main control unit 50.

[0049] The camera control unit 58 receives an operation command from the main control unit 50, causes the cameras 35 (35A to 35D) installed inside the boarding / lowering chamber 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period. Note that the image database 59 may be provided inside the comprehensive database 52 or on the cloud.

[0050] The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the vehicle weight of the vehicle mounted on the lift 14 using the vehicle measuring instrument 69, and feeds back the information to the main control unit 50 via the vehicle weight sensor 73. This vehicle weight information is used for the control of the lift 14 and the like.

[0051] The turning drive control unit 62 receives an operation command from the main control unit 50, operates the turning drive unit 11 (turntable 8), receives a turning position signal of the turntable 8 from the turntable position sensor 71, and feeds back the information to the main control unit 50.

[0052] The main control unit 50 operates the mechanical parking device 1 based on the feedback from each control unit 55, 56, 57, 58, 61, 62 and the input information from the internal operation panel 26 or the external operation panel 22. Also, the main control unit 50 executes a control program for the warehousing process and a control program for the shipping process based on various information exchanged with the internal operation panel 26 and the external operation panel 22. For example, as will be described later, the main control unit 50 includes a monitoring area setting unit 60 that sets a monitoring area, and this function is realized by executing a control program for the warehousing process and a control program for the shipping process. Note that, instead of being input to the main control unit 50 via the above-described sensor control unit 57, the sensor signals from the object detection sensor 30 and the entry / exit detection sensor 32 may be directly input to the main control unit 50. By doing so, it becomes possible to perform faster control according to the sensor signals.

[0053] 〔Warehousing process〕 Next, the warehousing process executed by the control device 40 during warehousing will be described with reference to the drawings. FIGS. 8 to 15 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

[0054] First, when performing warehousing, the user moves the vehicle 2 in front of the entry / exit port 3, gets out of the vehicle, and heads for the external operation panel 22. Then, using a dedicated key, the user unlocks the lock and opens the lid 44 of the housing 43. When the control device 40 detects that the lid 44 has been opened (SA1 in FIG. 8), it displays a first user authentication screen on the touch panel 45 of the external operation panel 22 (SA2).

[0055] When the user touches the IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs a first user authentication (first authentication) to determine whether the person attempting to enter the warehouse is a pre-registered user (SA4). Specifically, the control device 40 accesses the comprehensive database 52 to determine whether the input user ID is registered. As a result, if the first user authentication fails (SA5: NO), the control device 40 notifies the user of the authentication failure by displaying a message indicating authentication failure on the touch panel 45, and then displays the first user authentication screen (SA2).

[0056] On the other hand, if the first user authentication is successful (SA5: YES), that is, if the user ID is registered in the comprehensive database 52, the control device 40 sets the operation permission state to enable input operations from the touch panel 45 of the external operation panel 22 (SA6), stores the user ID for which the first user authentication was successful in the storage unit 41 (SA7), and displays an inbound startup confirmation screen on the touch panel 45 of the external operation panel 22 (SA8).

[0057] When the startup button is pressed on the inbound startup confirmation screen (SA9), the control device 40 sets the operation permission state to enable the operation of vehicle transfer mechanisms such as the lift 14 and mechanical mechanisms such as the entrance / exit door 4 (SA10), and calls an empty pallet from the vehicle storage shelf 17. At this time, an inbound waiting confirmation screen indicating the inbound waiting state may be displayed on the touch panel 45.

[0058] Next, when the empty pallet arrives at the boarding and alighting room 7, the control device 40 displays a door opening screen on the touch panel 45 indicating that the entrance / exit door 4 opens (SA11), and opens the entrance / exit door 4. When the entrance / exit door 4 is fully opened (SA12), the control device 40 sets the operation lock state to lock the operation of the mechanical mechanism (vehicle transfer means such as the lift 14 and the entrance / exit door 4) (SA13 in FIG. 9).

[0059] Subsequently, the control device 40 causes the touch panel 45 to display an inventory guidance screen that prompts the user to make an inventory (SA14), and further sets an operation lock state in which inputs from the touch panel 45 of the external operation panel 22 are not accepted (SA15). This makes it possible to prevent input from the touch panel 45 by a third party while the user is away from in front of the external operation panel 22.

[0060] The user who has confirmed the inventory guidance screen gets into the vehicle 2, moves the vehicle 2 into the boarding and alighting room, and places the vehicle 2 on the empty pallet transported into the boarding and alighting room. When it is detected by a sensor signal from a parking position detection sensor (not shown) that the vehicle is placed at the specified parking position of the empty pallet (SA16), the control device 40 announces to the user to get off and causes the touch panel of the internal operation panel 26 to display a second user authentication screen, prompting the user to input authentication information (SA17). Here, the control device 40 may, for example, notify guidance for prompting the input of authentication information by voice via a speaker, or when the vehicle is in a state where communication with an in-vehicle device mounted on the vehicle is possible, notify the in-vehicle device via the wireless communication unit.

[0061] Subsequently, the control device 40 determines whether or not an exit detection is performed by the entry / exit detection sensor 32 (SA18). As a result, if no exit detection is performed (SA18: NO), it is determined whether or not a user ID is input from the internal operation panel 26 (SA19). As a result, if the user ID is not input (SA19: NO), the process returns to step SA18. In this way, the determination processes of steps SA18 and SA19 are repeatedly performed until an exit detection is performed by the entry / exit detection sensor 32 or a user ID is input from the internal operation panel 26.

[0062] As a result, when the user inputs the user ID to the internal operation panel 26 (SA19: YES), the system shifts to the internal door closing mode in which the internal operation panel 26 performs the door closing operation (SA20). On the other hand, when the user ID is not input to the internal operation panel 26 and the entrance / exit detection sensor 32 detects the exit of a person (SA18: YES), the system shifts to the external door closing mode in which the external operation panel 22 performs the door closing operation (SA21).

[0063] Next, the internal door closing mode will be described with reference to FIG. 10. In the internal door closing mode, the control device 40 performs second user authentication using the user ID input from the internal operation panel 26 in step SA19 of FIG. 9 (SB1 in FIG. 10). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a pre-registered user ID. As a result, when the second user authentication fails (SB2: NO), the process returns to step SB1 and the second user authentication screen is displayed. At this time, it may also be possible to notify that the authentication has failed. On the other hand, when the second user authentication is successful (SB2: YES), subsequently, a collation process is performed to determine whether the user ID (first authentication information) input in the first user authentication and the user ID (second authentication information) input in the second user authentication are the same (SB3).

[0064] In the verification process, it is determined whether the person who opens the entrance / exit door 4 and the person who closes it are the same. Note that the determination of whether they are the same person is not limited to this example. For example, when the authentication information input in the first user authentication and the authentication information input in the second user authentication have a "predetermined correspondence relationship", it may be determined that they are the same person. For example, the authentication information associated with the user ID for which authentication was successful in the first user authentication is stored, and when the same authentication information is input in the second user authentication, it may be determined that they are the same person. The authentication information associated with the user ID includes, for example, a password temporarily issued when the first user authentication is successful, and authentication information (e.g., biometric authentication information) further input by the user after the first user authentication is successful. Thus, for the verification process, known technologies can be appropriately adopted.

[0065] If the verification process fails (SB4: NO), the process returns to step SB1 to display the second user authentication screen. Note that at this time, it may be notified that the verification has failed. On the other hand, if the verification process is successful (SB4: YES), the control device 40 sets the monitoring area (SB5). Specifically, for each measurement area sensor 30A to 30C, the monitoring area is set respectively.

[0066] FIG. 16 is a diagram showing the monitoring area of the measurement area sensor 30A as an example, FIG. 17 is a diagram showing the monitoring area of the measurement area sensor 30B as an example, and FIG. 18 is a diagram showing the monitoring area of the measurement area sensor 30C as an example. As shown in FIG. 16, for the measurement area sensor 30A, since the internal operation panel 26 is provided in the vicinity, in order not to erroneously detect the user operating it as a detection object, the monitoring area is not set. As a result, person detection by the measurement area sensor 30A is not performed. Also, as shown in FIG. 17, for the measurement area sensor 30B, the right area and the rear area in the boarding and alighting room 7 are set as the monitoring areas. Further, as shown in FIG. 18, for the measurement area sensor 30C, the front area in the boarding and alighting room 7 is set.

[0067] Subsequently, the control device 40 confirms the absence of people in the boarding and alighting compartment 7 based on the sensor signal from the object detection sensor 30 (SB6). Specifically, it determines whether an object (person, animal, object, etc.) is not detected in the monitoring area set in step SB5. As a result, if an object is detected in the boarding and alighting compartment 7 by the object detection sensor 30 (SB6: NO), it returns to step SB1 and displays the second user authentication screen. At this time, it may be possible to notify that an object has been detected in the boarding and alighting compartment. Furthermore, it may be possible to notify the information of the monitoring area where the object has been detected.

[0068] On the other hand, if no object is detected in the monitoring area (SB6: YES), the control device 40 sets the internal operation panel 26 to an operation permission state and gives guidance regarding confirmation of the absence of people, such as "Confirm that there is no one in the boarding and alighting compartment and press the no-person confirmation button." (SB7). The guidance may be displayed on the touch panel 262 (see FIG. 5), may be notified by voice, etc., or may be a combination of these. As a result, the user visually confirms the absence of people in the boarding and alighting compartment. At this time, for the area on the opposite side of the vehicle 2 across from the area where the internal operation panel 26 is installed (for example, the left side area) (for example, the right side area), the absence of people may be confirmed by indirect visual inspection using the mirror 37 (see FIG. 3), or the user may move to the opposite side area and visually confirm the absence of people.

[0069] When the absence of people in the boarding and alighting compartment is confirmed and the no-person confirmation button 264 is pressed (SB8), the control device 40 gives guidance for the door closing operation. For example, the control device 40 gives guidance such as "Press the door closing button and quickly exit the boarding and alighting compartment 7." As a result, when the door closing button 263 is pressed by the user (SB9), subsequently, the control device 40 determines whether an intrusion of a person into the boarding and alighting compartment 7 is detected by the entry / exit detection sensor 32 (SB10). As a result, if an intrusion of a person is detected (SB10: YES), it returns to step SB1 and performs the subsequent processing again.

[0070] On the one hand, when no intrusion by a person is detected (SB10: NO), it is determined whether a person has exited as detected by the entry / exit detection sensor 32 (SB11 in FIG. 11). That is, it is determined whether the user (for example, the driver) has exited from the boarding and alighting compartment 7. As a result, when no exit of a person is detected (SB11: NO), it enters a standby state until the exit of a person is detected. And when the exit of a person is detected (SB11: YES), a door closing process is performed (SB12), the user ID stored in the storage unit 41 is erased (SB13), and the process ends.

[0071] Next, the door closing process executed in step SB12 will be described with reference to FIG. 12. FIG. 12 is a flowchart showing an example of the processing procedure of the door closing process in the warehousing process. In the door closing process, the control device 40 sets a monitoring area (SC1). Specifically, for the measurement area sensor 30A, as shown in FIG. 19, the control device 40 sets the left area and the rear area inside the boarding and alighting compartment 7 and the vestibule area as the external area of the boarding and alighting compartment 7 as the monitoring area. Also, for the measurement area sensor 30B, as shown in FIG. 20, the control device 40 sets the right area and the rear area inside the boarding and alighting compartment 7 and the vestibule area as the external area of the boarding and alighting compartment 7 as the monitoring area. Also, for the measurement area sensor 30C, as shown in FIG. 18, the control device 40 sets the front area inside the boarding and alighting compartment 7.

[0072] Here, regarding the size of the monitoring area set in the vestibule, it can be appropriately set according to the operation within the range where safety is ensured. The length L in the distance direction of the monitoring area set in the vestibule, in other words, the external area of the boarding and alighting compartment 7, may be set to be equal to or greater than the rear overhang of the vehicle, for example, assuming that a vehicle is parked in the vestibule. Here, as the vehicle, for example, the vehicle with the longest vehicle length among the vehicles parked in the mechanical parking device 1 may be targeted.

[0073] Also, as another example, the length L in the distance direction of the monitoring area may be set in consideration of the average walking speed of a person and the time from when an object is detected by the object detection sensor 30 until the door stops or reverses. In this case, the length L is set to, for example, about 1.2 m or more.

[0074] Next, the control device 40 activates a timer (SC2). Subsequently, the control device 40 determines whether a predetermined period has elapsed since the timer was activated (SC3). If not (SC3: NO), it confirms the absence of people in the monitoring area based on the sensor signal from the object detection sensor 30 (SC4). Specifically, it determines whether an object is not detected in the monitoring area set in step SC1.

[0075] As a result, if the absence of people in the monitoring area is confirmed (SC4: YES), it is determined that the safety near the entrance / exit door in the boarding and alighting compartment and the vestibule is ensured, and the door closing is started. Specifically, the control device 40 resets the timer (SC5) and starts closing the door (SC6).

[0076] And until the entrance / exit door 4 is completely closed, the control device 40 continuously confirms the absence of people in the monitoring area based on the sensor signal from the object detection sensor 30 (SC7: YES). At this time, the control device 40 may notify, from a notification unit such as the speaker 47, guidance for prohibiting entry into the boarding and alighting compartment and guidance for prompting evacuation from the monitoring area.

[0077] When it is detected that no person is detected by the object detection sensor 30 and the entrance / exit door 4 is completely closed (SC8: YES), the control device 40 starts the storage process to store the vehicle 2 in the storage shelf, and transmits a message indicating the completion of door closing to the information distribution destination of the registered user in advance (SC9), and ends the door closing process.

[0078] On the other hand, when it is determined in step SC3 that a predetermined period has elapsed (SC3: YES), that is, when no person can be confirmed in the monitoring area even after the predetermined period has elapsed since the timer was started, the process proceeds to error processing (SC10). Also, when a person is detected by the object detection sensor 30 while the entrance / exit door 4 is closing and before it is completely closed (SC7: NO), the entrance / exit door 4 is reversed and opened (SC11), and the process proceeds to error processing (SC12).

[0079] Next, the error processing executed in steps SC10 and SC12 will be described with reference to FIG. 13. FIG. 13 is a flowchart showing an example of the processing procedure of the error processing. In the error processing, the control device 40 turns on the error flag (SD1) and issues an error notification to the user specified from the user ID stored in the storage unit 41 and various related persons (for example, parking lot managers, maintenance personnel) (SD2). In this way, when an error occurs, not only the user but also the administrator and the maintenance personnel can be notified of the fact, enabling a quick recovery operation.

[0080] Subsequently, the control device 40 invalidates the input operation from the internal operation panel 26 and switches to an external closing mode in which a closing operation is performed from the external operation panel 22 (SD3). That is, when an error occurs, the closing operation via the internal operation panel 26 is disabled, and the closing operation can be performed only from the external operation panel 22.

[0081] [External Closing Mode] Next, the external closing mode executed in step SA21 of FIG. 9 and step SD3 of FIG. 13 will be described with reference to FIGS. 14 to 15. FIGS. 14 to 15 are flowcharts showing an example of the processing procedure of the external closing mode. As described above, the external door closing mode is executed when the user who has entered the vehicle exits the boarding and alighting compartment 7 without performing a door closing operation in the boarding and alighting compartment (step SA21 in FIG. 9), or when an error occurs after performing a door closing operation from the internal operation panel 26 (step SD3 in FIG. 13). Also, when an error occurs, not only the user who operated the door opening but also the administrator and maintenance personnel will have the operation authority for the door closing operation.

[0082] In the external door closing mode, the control device 40 provides guidance on the input of authentication information to the touch panel 45 of the external operation panel 22. For example, a second user authentication screen is displayed on the touch panel 45 (SF1).

[0083] As a result, when the user etc. touches the IC card to the IC card reader 46 and the authentication information (second authentication information) is input (SF2), the control device 40 performs the second user authentication (SF3). This second user authentication is the same as the second authentication process in the internal door closing mode (SB1 in FIG. 10). As a result, when the second user authentication fails (SF4: NO), the process returns to step SF1 and the second user authentication screen is displayed again. At this time, it may be possible to notify that the authentication has failed.

[0084] On the other hand, when the second authentication process is successful (SF4: YES), the control device 40 determines whether the error flag is on (SF5). As a result, when the error flag is off (SF5: NO), a collation process is performed (SF6). That is, it is determined whether the user ID (first authentication information) input in the first user authentication and the user ID (second authentication information) input in the second user authentication are the same or have a predetermined relationship. As a result, when the collation process is successful (SF7: YES), the process proceeds to step SF9 (FIG. 15).

[0085] On the other hand, when the collation process is not successful (SF7: NO), the process returns to step SF1 and the second user authentication screen is displayed. At this time, it may be possible to notify that the collation has failed.

[0086] On the other hand, in step SF5, if the error flag is on (SF5: YES), it is determined (SF8) whether the operator is a person with operation authority, such as an administrator or a maintenance staff, based on the authentication information input in step SF2. As a result, if the operator does not have administrator authority (SF8: NO), the process returns to step SF1 to display the second user authentication screen. On the other hand, if the operator is a person with operation authority (SF8: YES), the process proceeds to step SF9 (FIG. 15).

[0087] In step SF9, the control device 40 sets a monitoring area. Specifically, as shown in FIG. 19 for the ranging sensor 30A, the control device 40 sets the left area and the rear area inside the boarding and alighting compartment 7 and the vestibule area outside the boarding and alighting compartment 7 as the monitoring area. Also, as shown in FIG. 20 for the ranging sensor 30B, the control device 40 sets the right area and the rear area inside the boarding and alighting compartment 7 and the vestibule area outside the boarding and alighting compartment 7 as the monitoring area. Further, as shown in FIG. 18 for the ranging sensor 30C, the control device 40 sets the front area inside the boarding and alighting compartment 7.

[0088] Subsequently, the control device 40 confirms that there is no person in the monitoring area based on the sensor signals of the object detection sensors 30 (such as the ranging sensors 30A to 30C) (SF10). Specifically, it is determined whether an object is not detected in the monitoring area set in step SF9. As a result, if an object is detected in the monitoring area by the object detection sensor 30 (SF10: NO), the process returns to step SF1 (FIG. 14) to display the second user authentication screen. At this time, it may be possible to notify that an object has been detected inside the boarding and alighting compartment. Further, it may be possible to notify the information of the monitoring area where the object has been detected.

[0089] On the one hand, when no person is confirmed in the monitoring area (SF10: YES), the control device 40 sets the external operation panel 22 to the operation permission state (SF11). Further, the control device 40 causes an unmanned confirmation button to be displayed on the touch panel 45 of the external operation panel 22, and gives guidance regarding unmanned confirmation such as "Please confirm that there is no person in the boarding and alighting room and press the unmanned confirmation button." At this time, real-time image information inside the boarding and alighting room 7 acquired by the cameras 35A to 35D may be displayed on the monitor 28 installed near the external operation panel 22, and the user may confirm the absence of people in the boarding and alighting room by checking the image displayed on the monitor 28. When the unmanned confirmation button is pressed by a user who has confirmed the absence of people in the boarding and alighting room (SF12), the control device 40 causes a door closing button to be displayed on the touch panel 45, and gives guidance regarding door closing such as "Please confirm that there is no person in the boarding and alighting room and press the door closing button."

[0090] Thereby, when the door closing button is pressed by the user (SF13), subsequently, the control device 40 determines whether or not the entry / exit detection sensor 32 has detected the entry of a person into the boarding and alighting room 7 (SF14). As a result, if the entry of a person is detected (SF14: YES), the process returns to step SF1 (FIG. 14), and the subsequent processing is performed again. On the other hand, if no entry of a person is detected (SF14: NO), door closing processing is performed (SF15: refer to FIG. 12), the user ID stored in the storage unit 41 is deleted (SF16), and the process ends.

[0091] 〔Shipping process〕 Next, the shipping process executed by the control device 40 according to the present embodiment will be described with reference to FIGS. 21 to 25. FIGS. 21 to 25 are flowcharts showing an example of the procedure of the shipping process executed by the control device 40.

[0092] The processes up to the opening of the door in the outbound process are the same as SA1 to SA12 in the above-described inbound process, except that pallet 18 on which vehicle 2 is placed is called to the boarding and alighting room 7 instead of an empty pallet, and an outbound start confirmation screen is displayed instead of the inbound start confirmation screen (see step SA8 in FIG. 8). Therefore, detailed description here is omitted. In step SA12, when the entrance / exit door 4 is fully opened, the control device 40 sets the operation to a driving lock state that locks the operation of the mechanical mechanism (vehicle transfer means such as lift 14 and entrance / exit door 4) (SG13 in FIG. 21).

[0093] Subsequently, the control device 40 causes the touch panel 45 to display an outbound guidance screen that prompts the user to perform an outbound operation (SG14), and further sets it to an operation lock state that does not accept input from the touch panel 45 of the external operation panel 22 (SG15). Thereby, it becomes possible to prevent input from the touch panel 45 by a third party while the user is away from in front of the external operation panel 22. The user who has confirmed the outbound guidance screen enters the boarding and alighting room 7.

[0094] Subsequently, the control device 40 causes the touch panel 262 of the internal operation panel 26 to display a second user authentication screen and prompts the user to input authentication information (SG16). Here, the control device 40 may notify guidance for prompting the input of authentication information by voice via, for example, a speaker.

[0095] Subsequently, the control device 40 determines whether or not exit detection has been performed by the entry / exit detection sensor 32 (SG17). As a result, when exit detection has not been performed (SG17: NO), it is determined whether or not a user ID has been input from the internal operation panel 26 (SG18). As a result, when the user ID has not been input (SG18: NO), the process returns to step SG17. In this way, the determination processes of steps SG17 and SG18 are repeatedly performed until exit detection is performed by the entry / exit detection sensor 32 or a user ID is input from the internal operation panel 26.

[0096] As a result, when the user inputs the user ID to the internal operation panel 26 (SG18: YES), it becomes the internal door closing mode in which the door closing operation is performed from the internal operation panel 26 (SG19). On the other hand, when the user ID is not input to the internal operation panel 26 and the entry / exit detection sensor 32 detects the exit (exit from the vehicle) (SG17: YES), it becomes the external door closing mode in which the door closing operation is performed from the external operation panel 22 (SG20).

[0097] Next, the internal door closing mode in the shipping process will be described with reference to FIGS. 22 and 23. FIGS. 22 and 23 are flowcharts showing an example of the processing procedure of the internal door closing mode in the shipping process.

[0098] In the internal door closing mode, the control device 40 performs the second user authentication using the user ID input from the internal operation panel 26 (SH1). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a pre-registered user ID. As a result, when the second user authentication fails (SH2: NO), the process returns to step SH1 to display the second user authentication screen. At this time, it may be notified that the authentication has failed.

[0099] On the other hand, when the second user authentication is successful (SH2: YES), subsequently, a collation process is performed to determine whether the user ID (first authentication information) input in the first user authentication and the user ID (second authentication information) input in the second user authentication are the same or have a predetermined relationship (SH3). As a result, when the collation process fails (SH4: NO), the process returns to step SH1 to display the second user authentication screen. At this time, it may be notified that the collation has failed. On the other hand, when the collation process is successful (SH4: YES), the control device 40 sets the monitoring area (SH5).

[0100] Specifically, as shown in FIG. 16, for the measurement range sensor 30A, since the internal operation panel 26 is provided in the vicinity, in order not to misdetect the user operating it as a detection target object, no monitoring area is set. As a result, object detection by the measurement range sensor 30A is not performed. Further, as shown in FIG. 17, for the measurement range sensor 30B, the control device 40 sets the right area and the rear area in the boarding and alighting compartment 7 as the monitoring areas. Further, as shown in FIG. 18, for the measurement range sensor 30C, the control device 40 sets the front area in the boarding and alighting compartment 7 as the monitoring area.

[0101] Subsequently, the control device 40 confirms the emptiness of the boarding and alighting compartment 7 based on the sensor signal from the object detection sensor 30 (SH6). Specifically, it is determined whether an object is not detected in the monitoring area set in step SH5. As a result, when an object is detected in the monitoring area by the object detection sensor 30 (measurement range sensors 30A to 30C) (SH6: NO), the process returns to step SH1 to display the second user authentication screen. At this time, it may be possible to notify that an object has been detected in the boarding and alighting compartment. Further, it may be possible to notify the information of the monitoring area in which the object has been detected.

[0102] On the other hand, when the emptiness of the monitoring area is confirmed (SH6: YES), the control device 40 sets the internal operation panel 26 to the operation permission state and gives guidance regarding emptiness confirmation such as "The emptiness of the boarding and alighting compartment has been confirmed. Please press the emptiness confirmation button." (SH7). The guidance may be displayed on the touch panel 262, may be notified by voice, etc., or may be a combination of these. As a result, the user visually confirms the emptiness of the boarding and alighting compartment. At this time, for the area on the opposite side of the vehicle 2 across from the area where the internal operation panel 26 is installed (for example, the left area) (for example, the right area), the emptiness may be confirmed by indirect visual observation using the mirror 37 (see FIG. 3), or the user may move to the opposite area to visually confirm the emptiness.

[0103] When no person is confirmed in the boarding and alighting room and the unmanned confirmation button 264 is pressed (SH8), the control device 40 gives guidance for closing the door. For example, the control device 40 gives guidance such as "Press the door closing button and quickly exit from the boarding and alighting room 7." As a result, when the door closing button 263 is pressed by the user (SH9), subsequently, the control device 40 determines whether or not the entry of a person into the boarding and alighting room 7 is detected by the entry / exit detection sensor 32 (SH10). As a result, if the entry of a person is detected (SH10: YES), the process returns to step SH1 and the subsequent processes are performed again.

[0104] On the other hand, if no entry of a person is detected (SH10: NO), it is determined whether or not the exit of the vehicle is detected by the entry / exit detection sensor 32 (SH11 in FIG. 23). That is, it is determined whether or not the vehicle has exited from the boarding and alighting room 7. As a result, if the exit of the vehicle is not detected (SH11: NO), the system enters a standby state until the exit of the vehicle is detected. When the exit of the vehicle is detected (SH11: YES), the door closing process is performed (SH12), the user ID stored in the storage unit 41 is deleted (SH13), and the process ends.

[0105] Next, the door closing process executed in step SH12 will be described with reference to FIG. 24. FIG. 24 is a flowchart showing an example of the processing procedure of the door closing process in the shipping process.

[0106] In the door closing process, the control device 40 sets a monitoring area (SJ1). Specifically, as shown in FIG. 19 for the ranging sensor 30A, the control device 40 sets the left area and the rear area inside the boarding and alighting room 7 and the vestibule area as the external area of the boarding and alighting room 7 as the monitoring area. Also, as shown in FIG. 20 for the ranging sensor 30B, the control device 40 sets the right area and the rear area inside the boarding and alighting room 7 and the vestibule area as the external area of the boarding and alighting room 7 as the monitoring area. Also, for the measurement range sensor 30C, as shown in FIG. 26, the control device 40 sets the front area, pallet area, and rear area inside the boarding and alighting compartment 7, as well as a part of the vestibule area outside the boarding and alighting compartment 7 as the monitoring area. Here, a part of the rear area and the vestibule area is an area where the pallet area is extended to the rear area. Note that whether to set a part of the rear area or a part of the vestibule area as the monitoring area of the measurement range sensor 30C may be appropriately determined according to the operation.

[0107] And for the processing after setting the monitoring area (processing after step SJ1), except that the monitoring area is different from that at the time of warehousing, it is the same as the door closing process in the above-described warehousing process. Therefore, the description of the subsequent processing is omitted.

[0108] Next, the external door closing mode executed in step SG20 of FIG. 21 will be described with reference to FIG. 25. FIG. 25 is a flowchart showing an example of the processing procedure of the external door closing mode in the outgoing process executed by the control device 40.

[0109] The processing before the monitoring area setting in step SK1 of the external door closing mode is the same as SF1 to SF8 in the above-described warehousing process, so the detailed description here is omitted. As shown in FIG. 14, in step SF7, when the collation process is successful (SF7: YES), or when it is determined in step SF8 that there is handling authority (SF8: YES), the control device 40 sets the monitoring area (SK1 in FIG. 25).

[0110] Specifically, for the measurement area sensor 30A, as shown in FIG. 19, the control device 40 sets the monitoring area as the left area and the rear area inside the boarding and alighting compartment 7 and the vestibule area as the external area of the boarding and alighting compartment 7. Further, for the measurement area sensor 30B, as shown in FIG. 20, the control device 40 sets the monitoring area as the right area and the rear area inside the boarding and alighting compartment 7 and the vestibule area as the external area of the boarding and alighting compartment 7. Further, for the measurement area sensor 30C, as shown in FIG. 26, the control device 40 sets the monitoring area as the front area, the pallet area, a part of the rear area inside the boarding and alighting compartment 7, and a part of the vestibule area as the external area of the boarding and alighting compartment 7. Here, a part of the rear area and a part of the vestibule area are areas where the pallet area is extended to the rear area. Note that whether to set a part of the rear area or a part of the vestibule area as the monitoring area of the measurement area sensor 30C may be appropriately determined according to the operation.

[0111] And for the processing after setting the monitoring area, the closing door process in step SK15 is the same as the closing door process in the above-described warehousing process except that it is the closing door process shown in FIG. 24. Therefore, the description of the subsequent processing is omitted.

[0112] As described above, according to the present embodiment, the boarding and alighting compartment 7 is provided with a measurement area sensor (left object detection sensor) 30A and a measurement area sensor (right object detection sensor) 30B. These can scan the beam toward the inside and outside of the boarding and alighting compartment 7, and can detect an object based on the reflected beam of the beam. Thereby, it becomes possible to perform safety confirmation not only inside the boarding and alighting compartment 7 but also in the vestibule, which is an external area, by the measurement area sensors 30A and 30B installed inside the boarding and alighting compartment 7. Therefore, it is possible to eliminate the need for sensors installed outside the boarding and alighting compartment 7, and it is possible to perform safety confirmation inside and outside the boarding and alighting compartment 7 while suppressing an increase in cost. Further, by installing the measurement area sensors 30A and 30B in such positions, it becomes possible to monitor the vestibule (external area) of the boarding and alighting compartment 7 even when the vehicle 2 is placed on the pallet 18.

[0113] As described above, the present disclosure has been explained using the above embodiments. However, the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Various changes or improvements can be made to the above embodiments without departing from the gist of the disclosure, and the forms with such changes or improvements are also included in the technical scope of the present disclosure. Also, the flow of the warehousing process and the shipping process described in the above embodiments is an example, and it is possible to delete unnecessary steps, add new steps, or change the processing order within the scope not departing from the gist of the present disclosure. As an example, the following various modification examples can be cited.

[0114] For example, in the above embodiment, the external area of the boarding and alighting compartment 7 was set as the monitoring area for both of the measurement area sensors 30A and 30B (see FIGS. 19 and 20), but it is not limited to this example. For example, the monitoring area setting unit 60 may set a monitoring area including the inside and outside of the boarding and alighting compartment 7 for at least one of the measurement area sensors 30A and 30B.

[0115] Also, instead of the measurement area sensor 30C in the above-described embodiment, another sensor capable of monitoring the front area of the boarding and alighting compartment 7 may be employed. Examples of other sensors include a human presence sensor, a photoelectric sensor, and the like. Also, instead of object detection by a sensor, an image of the front area of the pallet 18 may be taken by a camera 35A provided in the boarding and alighting compartment 7, and the image data obtained by the photographing may be displayed on the monitor 28 to allow a person to perform a non-attended confirmation. Also, a mirror may be used to allow a person to indirectly visually confirm the safety of the front area.

[0116] In the above-described embodiment, in the door closing process, the unmanned confirmation by the ranging sensors 30A to 30C is performed using the same monitoring area. However, for example, the range of the external area included in the monitoring area may be dynamically (e.g., stepwise) changed according to the position (opening degree) of the entrance / exit door 4. For example, the monitoring area setting unit 60 of the control device 40 may set a wider monitoring range as the opening degree is larger. Further, the monitoring area setting unit 60 may exclude the external area from the monitoring range when the opening degree of the entrance / exit door 4 is equal to or less than a predetermined threshold value. Thereby, an appropriate monitoring area corresponding to the opening degree of the entrance / exit door 4 can be set.

[0117] Regarding the detection of the opening degree (height position) of the entrance / exit door 4, for example, a pair of photoelectric sensors provided at a predetermined height position may be provided at both ends of the loading / unloading port 3, and a configuration may be adopted in which the opening degree of the entrance / exit door 4 is detected based on whether the light beam from this photoelectric sensor is blocked or not. For example, a plurality of sets of sensors may be provided to detect a plurality of opening degrees. Further, the means for detecting the opening degree of the entrance / exit door 4 is not limited to the above-described photoelectric sensor. For example, a limit sensor may be used, or the opening degree may be detected using an encoder provided in the motor of the door drive unit.

[0118] Further, in the above-described embodiment, the monitoring area may be changed in consideration of the weather, or the sensitivity of the ranging sensors 30A and 30B may be adjusted. For example, in the case of rain, there is a possibility that the beam is diffusely reflected by splashing water droplets or the like and false detection occurs. Therefore, in the case of weather in which false detection of the object detection sensor 30 occurs, adjustments such as excluding the external area of the boarding and alighting compartment 7 from the monitoring area or lowering the sensitivity of the ranging sensors 30A and 30B may be made.

[0119] For example, the monitoring area setting unit 60 may determine whether to include the external area of the boarding and alighting compartment 7 in the monitoring area according to the weather, and set the monitoring area according to this determination result. The weather information may be obtained, for example, by accessing a server or the like that manages the weather information, or a sensor capable of detecting rain may be installed outside the boarding and alighting compartment 7.

[0120] In addition, when the measurement area sensors 30A and 30B include the external area of the boarding and alighting compartment 7 as the monitoring area, the sensitivity may be adjusted according to the weather. At this time, the command for sensitivity adjustment may be transmitted from the control device 40 that has acquired the weather information to each of the measurement area sensors 30A and 30B.

[0121] In addition, in the above embodiment, a shielding member may be provided in front of the boarding and alighting compartment 7 to cover the upper part of the external area of the boarding and alighting compartment 7 set as the monitoring area. Thereby, it is possible to prevent raindrops from entering the monitoring area on rainy days. As a result, the occurrence rate of false detection by the sensor can be reduced, and smooth operation of the mechanical parking device 1 can be realized. The shielding member may be any member that can shield raindrops and the like. As an example, there are eaves provided on the outer wall of the mechanical parking device 1, roofs provided as separate structures from the main body of the mechanical parking device 1, and the like.

[0122] In the above embodiment, the upward-opening door is exemplified as the entrance and exit door 4, but it is not limited to this. For example, the entrance and exit door 4 may be a horizontally-opening door or a downward-opening door (a type stored on the ground).

[0123] In the above embodiment, the mechanical parking device 1 that transports a vehicle by the pallet (the part on which the vehicle is placed) 18 and the lift (transport mechanism) 14 is exemplified and described, but it is not limited to this. For example, a fork-type mechanical parking device that transports a vehicle using a transporter in which the transport mechanism and the part on which the vehicle is placed are integrated may be used. As an example, a mechanical parking device that transports a vehicle using a lifting lift having comb teeth as disclosed in Japanese Patent Application Laid-Open No. 2021-085174, Japanese Patent Application Laid-Open No. 2023-001935, etc. may be used.

[0124] In the above-described embodiment, the pallet 18 including the curb portion 19 and the medium-height portion 20 has been exemplified and described. However, the structure of the pallet is not limited to this. For example, a flat pallet without the curb portion 19 and the medium-height portion 20 may be used. In this case, since the beams of the ranging sensors 30A and 30B are not blocked by the curb portion 19 and the medium-height portion 20 of the pallet, the ranging sensor 30C for monitoring the upper surface of the pallet can be omitted. Even when a flat pallet is used, when the vehicle is stopped on the pallet, it is difficult to monitor the entire front area only with the ranging sensors 30A and 30B. Therefore, other sensors such as a photoelectric sensor and a human presence sensor may be appropriately installed. Also, as described above, unmanned confirmation by a person may be performed using the camera 35, the monitor 28, a mirror, and the like.

[0125] Also, in the above-described embodiment, the ranging sensors 30A to 30C are configured to detect an object in the monitoring area on the horizontal plane (two-dimensional). However, this is not limiting. For example, the object in the monitoring area in the three-dimensional space may be detected by scanning the probing wave three-dimensionally.

[0126] Also, in each of the above-described embodiments, the case where the external operation panel 22 and the internal operation panel 26 are controlled by the control device 40 has been exemplified. However, this is not limited to this example. For example, an operation panel control device may be provided for each of the external operation panel 22 and the internal operation panel 26, and the above-described processing may be realized by the exchange of information between the operation panel control device and the control device 40. In this case, for example, the storage process and the collation process of the authentication information (user ID) that the control device 40 has been performing may be executed by the operation panel control devices provided for each of the external operation panel 22 and the internal operation panel 26. That is, the device configuration regarding the specific control system for realizing the above-described storage process and delivery process is not limited to the above-described configuration, and various configurations can be realized by taking into consideration known techniques.

[0127] The mechanical parking device, the safety confirmation method, and the safety confirmation program according to the above-described embodiment can be understood as follows, for example.

[0128] The mechanical parking device (1) according to the first aspect of the present disclosure includes an entrance / exit room (7) that performs at least one of the entry and exit of a vehicle (2), a carrier (18) that can be arranged inside the entrance / exit room and is used to transport the vehicle, and a left object detection sensor (30A) that is provided in a region on the left side of the carrier and behind the rear end of the carrier, and can scan a beam toward the inside and outside of the entrance / exit room, and can detect an object based on the reflected beam of the beam, and a right object detection sensor (30B) that is provided in a region on the right side of the carrier and behind the rear end of the carrier, and can scan a beam toward the inside and outside of the entrance / exit room, and can detect an object based on the reflected beam of the beam.

[0129] According to the mechanical parking device of the present aspect, a left object detection sensor and a right object detection sensor are provided. These can scan a beam toward the inside and outside of the entrance / exit room, and can detect an object based on the reflected beam of the beam. Thereby, the left object detection sensor and the right object detection sensor installed inside the entrance / exit room can be used to confirm the safety not only inside the entrance / exit room but also in the external area. Therefore, it is possible to eliminate the need for sensors installed outside the entrance / exit room, and it is possible to perform safety confirmation inside and outside the entrance / exit room while suppressing an increase in cost. In addition, by installing the left object detection sensor and the right object detection sensor in such positions, it is possible to monitor the external area of the entrance / exit room even when the vehicle is placed on the carrier.

[0130] The mechanical parking device (1) according to the second aspect of the present disclosure, in the first aspect, includes an entrance / exit door (4) provided at the entrance / exit of the entrance / exit room (7), and a monitoring area setting means (60) for setting a monitoring area for the left object detection sensor and the right object detection sensor. The monitoring area setting means sets a monitoring area including the inside and outside of the entrance / exit room for at least one of the left object detection sensor and the right object detection sensor when the entrance / exit door is open, and the left object detection sensor and the right object detection sensor detect an object based on the monitoring area.

[0131] For example, in Patent Document 1, since the sensor for monitoring the inside of the entrance / exit compartment and the sensor for monitoring the outside of the entrance / exit compartment are separated, the monitoring areas by the respective sensors are separated, and it is difficult to monitor the area between them. On the other hand, according to this aspect, in a state where the entrance / exit door is open, a monitoring area including the inside and the outside of the entrance / exit compartment is set for at least one of the left object detection sensor and the right object detection sensor. Thereby, a continuous area including the inside area and the outside area of the entrance / exit compartment is set as the monitoring area. Therefore, compared with the case of separately providing a sensor for monitoring the inside area and a sensor for monitoring the outside area as in the prior art, it is possible to perform monitoring as a continuous area without separating the inside area and the outside area, and it is possible to enhance safety.

[0132] The mechanical parking device (1) according to the third aspect of the present disclosure, in the second aspect, the monitoring area setting means (60) changes the outside area of the entrance / exit compartment included in the monitoring area according to the opening degree of the entrance / exit door.

[0133] According to the above aspect, it is possible to set an appropriate outside area according to the opening degree of the entrance / exit door as the monitoring range. For example, the monitoring area setting means sets a wider monitoring range as the opening degree is larger. Also, the monitoring area setting means may exclude the outside area from the monitoring range when the opening degree is equal to or less than a predetermined threshold value.

[0134] The mechanical parking device (1) according to the fourth aspect of the present disclosure, in the second aspect or the third aspect, the monitoring area setting means determines whether to include the outside area of the entrance / exit compartment in the monitoring area according to the weather.

[0135] For example, in the case of rain, there is a possibility that the beam is diffusely reflected by splashing water droplets and the like, resulting in false detection. According to this aspect, since it is determined whether to include the outside area of the entrance / exit compartment in the monitoring area according to the weather, false detection in rainy weather can be avoided. Thereby, it is possible to realize smooth operation of the mechanical parking device.

[0136] In the mechanical parking device (1) according to the fifth aspect of the present disclosure, in the second or third aspect, when the external area of the boarding and alighting room is included in the monitoring area, the left object detection sensor and the right object detection sensor adjust their sensitivity according to the weather.

[0137] According to this aspect, since the sensitivity of the sensor is adjusted according to the weather, the occurrence rate of false detection in rainy weather can be reduced. Thereby, it becomes possible to realize the smooth operation of the mechanical parking device.

[0138] The mechanical parking device (1) according to the sixth aspect of the present disclosure includes, in the second or third aspect, a shielding member that covers the upper part of the external area of the boarding and alighting room set as the monitoring area.

[0139] According to this aspect, it is possible to prevent raindrops from entering the monitoring area in rainy weather. Thereby, the occurrence rate of false detection of the sensor can be reduced, and it becomes possible to realize the smooth operation of the mechanical parking device. The shielding member may be any member that can shield raindrops and the like. As an example, there are eaves provided on the outer wall of the mechanical parking device, roofs provided as separate structures from the main body of the mechanical parking device, and the like.

[0140] The mechanical parking device (1) according to the seventh aspect of the present disclosure includes, in any one of the second to sixth aspects, control means (40) for closing the entrance and exit door in a state where no object is detected in the monitoring area.

[0141] According to this aspect, it becomes possible to close the entrance and exit door after confirming that there is no one in the monitoring area. Thereby, it becomes possible to improve safety.

[0142] The safety confirmation method for a mechanical parking device (1) according to the eighth aspect of the present disclosure includes an entrance / exit room (7) for performing at least one of vehicle (2) entry and exit, an entrance / exit door (4) provided at the entrance / exit (3) of the entrance / exit room (7), a transporter (18) that can be arranged inside the entrance / exit room and is used to transport the vehicle, and a left object detection sensor (30A) provided in a region on the left side of the transporter and behind the rear end of the transporter, which can scan a beam toward the inside and outside of the entrance / exit room and can detect an object based on the reflected beam of the beam, and a right object detection sensor (30B) provided in a region on the right side of the transporter and behind the rear end of the transporter, which can scan a beam toward the inside and outside of the entrance / exit room and can detect an object based on the reflected beam of the beam. The safety confirmation method for a mechanical parking device includes a monitoring area setting step in which a computer executes to set the monitoring areas of the left object detection sensor and the right object detection sensor. The monitoring area setting step sets a monitoring area including the inside and outside of the entrance / exit room for at least one of the left object detection sensor and the right object detection sensor when the entrance / exit door is open. The left object detection sensor and the right object detection sensor detect an object based on the monitoring area.

[0143] The safety confirmation program according to the ninth aspect of the present disclosure is a safety confirmation program for causing a computer to execute the safety confirmation method for the mechanical parking device according to the eighth aspect.

Explanation of symbols

[0144] 1: Mechanical parking device 2: Vehicle 3: Entrance / exit 4: Entrance / exit door 5: Parking tower 7: Entrance / exit room 8: Turntable 9: Pit 10: Swivel plate 11: Swivel drive unit 13: Elevator passage 14: Lift 17: Vehicle storage shelf 18: Pallet 19: Kerb section 20: Medium-height section 21: In-stock control light 22: External operation panel 25: Parking position indicator light 26: Internal operation panel 28: Monitor 30: Object detection sensor 30A: Detection range sensor (left object detection sensor) 30B: Detection range sensor (left object detection sensor) 30C: Detection range sensor 32: Entry / exit detection sensor 32A: Sensor 32B: Sensor 35: Camera 35A: Camera 35B: Camera 35C: Camera 35D: Camera 37: Mirror 40: Control device (control means) 41: Memory section 43: Housing 44: Lid 45: Touch panel 46: IC card reader 47: Speaker 48: Emergency stop button 50: Main control section 52: Comprehensive database 55: Entrance / exit door control section 56: Conveyor control section 57: Sensor control section 58: Camera control section 59: Image database 60: Monitoring area setting section (monitoring area setting means) 61: Vehicle measurement control section 62: Swivel drive control section 67: Entrance / exit door sensor 68: Conveyor position sensor 69: Vehicle measuring instrument 71: Turntable position sensor 73: Vehicle weight sensor 260: Input section 261: IC card reader 262: Touch panel 263: Door closing button 264: Unattended confirmation button

Claims

1. A boarding and alighting room that performs at least one of vehicle entry and exit, A transporter that can be arranged in the boarding and alighting room and is used to transport vehicles, A left object detection sensor provided in a region on the left side of the transporter and behind the rear end of the transporter, capable of scanning a beam toward the inside and outside of the boarding and alighting room, and capable of detecting an object based on the reflected beam of the beam, A right object detection sensor provided in a region on the right side of the transporter and behind the rear end of the transporter, capable of scanning a beam toward the inside and outside of the boarding and alighting room, and detecting an object based on the reflected beam of the beam A mechanical parking device comprising the above.

2. An entrance / exit door provided at the entrance / exit of the boarding and alighting room, Monitoring area setting means for setting a monitoring area for the left object detection sensor and the right object detection sensor, In a state where the entrance / exit door is open, the monitoring area setting means sets a monitoring area including the inside and outside of the boarding and alighting room for at least one of the left object detection sensor and the right object detection sensor, The left object detection sensor and the right object detection sensor detect an object based on the monitoring area. The mechanical parking device according to claim 1.

3. The mechanical parking device according to claim 2, wherein the monitoring area setting means changes an external area of the boarding and alighting room included in the monitoring area according to the opening degree of the entrance / exit door.

4. The mechanical parking device according to claim 2, wherein the monitoring area setting means determines whether to include an external area of the boarding and alighting room in the monitoring area according to the weather.

5. The mechanical parking device according to claim 2, wherein the left object detection sensor and the right object detection sensor adjust their sensitivity according to the weather when the external area of the boarding and alighting room is included as the monitoring area.

6. The mechanical parking device according to claim 2, further comprising a shielding member that covers the upper part of the external area of the boarding and alighting chamber set as the monitoring area.

7. The mechanical parking device according to claim 2, further comprising control means for closing the entrance and exit door in a state where no object is detected in the monitoring area.

8. A safety confirmation method for a mechanical parking device, comprising: a boarding and alighting chamber for performing at least one of vehicle storage and retrieval; an entrance and exit door provided at the entrance of the boarding and alighting chamber; a transporter that can be arranged inside the boarding and alighting chamber and is used to transport vehicles; a left object detection sensor provided in an area on the left side of the transporter and behind the rear end of the transporter, capable of scanning a beam toward the inside and outside of the boarding and alighting chamber, and capable of detecting an object based on the reflected beam of the beam; and a right object detection sensor provided in an area on the right side of the transporter and behind the rear end of the transporter, capable of scanning a beam toward the inside and outside of the boarding and alighting chamber, and capable of detecting an object based on the reflected beam of the beam, wherein: The computer executes a monitoring area setting step of setting the monitoring areas of the left object detection sensor and the right object detection sensor. In the monitoring area setting step, in a state where the entrance and exit door is open, a monitoring area including the inside and outside of the boarding and alighting chamber is set for at least one of the left object detection sensor and the right object detection sensor. The left object detection sensor and the right object detection sensor are for a safety confirmation method of a mechanical parking device that detects an object based on the monitoring area.

9. A safety confirmation program for causing a computer to execute the safety confirmation method of the mechanical parking device according to claim 8.

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