Mechanical parking facility, and charging method

Abstract

To provide a mechanical parking facility that can increase the number of types of vehicles that can be charged while parked.SOLUTION: A mechanical parking facility includes a getting on / off area and a parking area for storing vehicles 20 moved from the getting on / off area. The parking area is provided with a charging space 98A where a vehicle 20 having a charging port 22 can be charged. In the charging space 98A, a robot arm 44 and an end effector 45 open and close a cover 23 that covers the charging port 22 and move a charging connector 43 to the charging port 22.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a mechanical parking lot and a charging method in a mechanical parking lot.

Background Art

[0002] Generally, a mechanical parking lot is known as a parking lot that can efficiently park a large number of vehicles in a small space. Although various structures are provided for mechanical parking lots, one of them is a pallet-type mechanical parking lot configured to place a vehicle on a pallet and move the pallet vertically and horizontally using rails or grooves to transport it to an empty parking space. In addition, a mechanical parking lot with higher parking efficiency is also provided by combining a lift (elevating mechanism) and a three-dimensional parking layer with this pallet-type mechanical parking lot (see, for example, Patent Document 1).

[0003] On the other hand, in recent years, electric vehicles and plug-in hybrid vehicles (hereinafter collectively referred to as EV vehicles) that are low-noise and clean have begun to spread. EV vehicles use electric power from secondary batteries such as lithium-ion batteries mounted on them as a power source. To charge this secondary battery, a charging time of several tens of minutes to several hours is currently required. Therefore, a technique has been proposed in which an outlet is provided on the pallet and the secondary battery of the EV vehicle is charged using the time when the EV vehicle is parked in the parking lot (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a mechanical parking lot where a socket is provided on a pallet, usually, in the boarding and alighting room, the lid of the charging port of the EV vehicle is opened, and after connecting the charging port and the pallet with a charging cable, the pallet with the EV vehicle placed thereon is moved to the boarding and alighting room. However, since the pallet has a storage capacity, for example, in the case of a large vehicle, even if it is within the storage capacity range and can be stored, when the lid of the charging port is opened and the charging cable is connected, it will exceed the storage capacity of the pallet, and there is a case where charging cannot be performed during parking.

[0006] The present invention has been made in view of such a situation, and an object thereof is to provide a mechanical parking lot capable of increasing the types of vehicles that can be charged during parking.

Means for Solving the Problems

[0007] In order to solve the above problems, a mechanical parking lot according to an aspect of the present invention includes a boarding and alighting room and a parking room for storing a vehicle moved from the boarding and alighting room, the parking room having a charging space capable of charging a vehicle having a charging port. The charging space includes opening and closing means for opening and closing a lid covering the charging port, and charging means for moving a charging connector to the charging port.

[0008] Another aspect of the present invention is a charging method. This method includes the steps of moving a vehicle having a charging port from the boarding and alighting room to the charging space in the parking room, opening the lid covering the charging port in the charging space, and moving a charging connector to the charging port.

[0009] In addition, any combination of the above components, or those obtained by mutually replacing the components and expressions of the present invention between methods, apparatuses, systems, etc. are also effective as aspects of the present invention.

Effects of the Invention

[0010] According to the present invention, a mechanical parking lot capable of increasing the types of vehicles that can be charged during parking can be provided.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0012] Hereinafter, the same or equivalent components and members shown in each drawing are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, a part of the members that are not important for explaining the embodiment in each drawing is omitted from the display.

[0013] FIG. 1 is a schematic cross-sectional view of a mechanical parking lot 10 according to an embodiment. FIG. 2 is a schematic plan view of the B1F parking room 14 in FIG. 1. Note that the B2F parking room 16 and the B3F parking room 18 are configured in the same manner as the B1F parking room 14.

[0014] The mechanical parking lot 10 is a so-called underground mechanical parking lot provided up to three basement floors underground of a building 104 provided on the ground. Note that the mechanical parking lot 10 may be a ground-type mechanical parking lot provided in a building on the ground.

[0015] The mechanical parking lot 10 includes an entrance and exit room 12, a parking room for storing the vehicle that has moved from the entrance and exit room 12, a plurality of pallets 32, a first transfer device 56, a plurality of second transfer devices 58, a lift frame 88, a hoistway 96, and a lifting device 94. The parking room includes a B1F parking room 14 on the first basement floor, a B2F parking room 16 on the second basement floor, and a B3F parking room 18 on the third basement floor.

[0016] The boarding and alighting room 12 is for putting a vehicle into the mechanical parking lot 10 or taking a vehicle out of the mechanical parking lot 10, and is provided in the building 104. The boarding and alighting room 12 is provided at the upper end of the lift path 96. The boarding and alighting room 12 is provided with a pallet opening 100 that is substantially rectangular in plan view and communicates the boarding and alighting room 12 with the lift path 96.

[0017] The pallet 32 is a flat member, and the upper surface on which the vehicle is mounted, that is, the vehicle mounting surface 32a, is substantially rectangular. The mechanical parking lot 10 is a pallet-type parking lot using the pallet 32. This pallet-type mechanical parking lot 10 is configured to park the vehicle 20 in the parking room by raising and lowering the pallet 32 with the vehicle 20 mounted thereon using the lifting device 94, or by moving it two-dimensionally in the vertical and horizontal directions using the first transfer device 56 or the second transfer device 58.

[0018] The B1F parking room 14, the B2F parking room 16, and the B3F parking room 18 each include 10 parking spaces 98. Those 10 parking spaces 98 are arranged in a matrix of 5 rows in the vertical direction (x direction in the figure) and 2 columns in the horizontal direction (y direction in the figure) that is substantially orthogonal to the vertical direction when viewed in plan. Of course, the arrangement of the parking spaces 98 is not limited to this. Each parking space 98 has a substantially rectangular shape in plan view and is configured to accommodate the pallet 32. The parking space 98 is a single parking area (one unit of parking) in the parking room where the vehicle 20 can be parked together with the pallet 32.

[0019] The lift path 96 is provided along the vertical direction (z direction). The lift path 96 communicates with each of the B1F parking room 14, the B2F parking room 16, and the B3F parking room 18. At the lower end of the lift path 96, a lifting device 94 for raising and lowering the lift frame 88 is installed. At the corners of the lift path 96, masts 89 are provided as support columns.

[0020] The lift frame 88 is supported by the mast 89 so as to be movable up and down, and moves up and down along the lifting path 96 by the lifting device 94. A first transfer device 56 is provided at the upper part of the lift frame 88. Note that the lift frame, mast, and lifting device described in Japanese Patent Application Laid-Open No. 2009-197417 filed earlier by the applicant can be respectively applied to the lift frame 88, mast 89, and lifting device 94.

[0021] A pallet 32 is mounted on the upper part of the first transfer device 56. The first transfer device 56 is configured to be able to move the pallet 32 in one direction (the x direction in the figure) within the plane. The second transfer device 58 is provided in each parking space 98, and moves the pallet 32 in the x direction and the y direction across the parking space 98. The y direction is a direction orthogonal to both the x direction and the z direction. The transfer devices described in Japanese Patent Publication No. 7-29681 filed earlier by the applicant can be applied to the first transfer device 56 and the second transfer device 58. As shown in FIG. 2, between the parking spaces 98, a tipping prevention roller 38 that supports the pallet 32 when it moves across the parking space 98 is installed.

[0022] The mechanical parking lot 10 according to the present embodiment can charge the secondary battery of the EV vehicle during parking. The vehicle that can be charged during parking in the mechanical parking lot 10 according to the present embodiment is an EV vehicle having a charging port to which a charging connector can be connected.

[0023] In the mechanical parking lot 10 according to the present embodiment, as shown in FIG. 2, one of the 10 parking spaces 98 is a charging space 98A, and a charging device 40 is provided. In another embodiment, a plurality of parking spaces 98 may be the charging space 98A.

[0024] FIG. 3 is a diagram for explaining the charging space 98A. As shown in FIG. 3, the charging space 98A includes the second transfer device 58 and the charging device 40. FIG. 3 shows a state in which the pallet 32 carrying the vehicle 20 is transferred to the charging space 98A. The pallet 32 is transferred to the charging space 98A by the second transfer device 58.

[0025] The vehicle 20 shown in FIG. 3 is an EV vehicle and has a charging port 22 at the front of the vehicle body 21. The charging port 22 is covered by a lid 23 provided on the vehicle body 21. The opening and closing method of the lid 23 includes a contact method and a non-contact method. The contact method includes a method of pushing the lid 23 from the outside and a method of pulling a lever provided on the lid 23. Here, it will be described assuming that the lid 23 of the vehicle 20 is opened by being pushed from the outside.

[0026] The charging device 40 is arranged at a location where it does not interfere with the pallet 32 in the charging space 98A. The charging device 40 includes a power supply unit 41, a charging cable 42 connected to the power supply unit, a charging connector 43 provided at the tip of the charging cable 42, a robot arm 44, and an end effector 45 and a camera 46 provided at the tip of the robot arm 44. When the charging space 98A is not in use, the charging connector 43 is placed in a predetermined charging connector storage place.

[0027] When the pallet 32 carrying the vehicle 20 arrives at the charging space 98A, the charging device 40 starts the charging operation of the vehicle 20.

[0028] First, the position of the lid 23 on the vehicle 20 is recognized based on the image captured by the camera 46. Then, the robot arm 44 moves the end effector 45 to the lid 23, and the end effector 45 pushes the lid 23 to open the lid 23.

[0029] After opening the lid 23, the robot arm 44 moves the end effector 45 to the charging connector storage place, and the end effector 45 grips the charging connector 43. Then, the position of the charging port 22 is recognized based on the image captured by the camera 46, and the robot arm 44 moves the charging connector 43 to the charging port 22 and connects the charging connector 43 to the charging port 22.

[0030] When a charging connector 43 is connected to the charging port 22, the power supply unit 41 starts supplying power to the charging port 22 via the charging cable 42 and the charging connector 43.

[0031] When the charging of the secondary battery of the vehicle 20 is completed, the robot arm 44 returns the charging connector 43 to the charging connector storage place. Then, the robot arm 44 moves to the lid 23 with the end effector 45 opened, and closes the lid 23 with the end effector 45. In this way, a series of charging operations is completed.

[0032] In the present embodiment, the robot arm 44 and the end effector 45 function as opening and closing means for opening and closing the lid 23 that covers the charging port 22 of the vehicle 20, and also function as charging means for moving the charging connector 43 to the charging port 22 and connecting the charging connector 43 to the charging port 22.

[0033] In the present embodiment, the end effector 45 is configured to grip the charging connector 43, but the charging connector 43 may be installed on the robot arm 44. Also in this case, the charging connector 43 can be moved to the charging port 22 and connected to the charging port 22 by the operation of the robot arm 44.

[0034] Some vehicles 20 may support a non-contact opening and closing method. A vehicle 20 that supports a non-contact opening and closing method can automatically open the lid 23 according to an instruction from the outside. In the case of such a vehicle 20, the charging device 40 can be provided with a transmission unit that sends an opening and closing instruction signal for the lid 23 to the vehicle 20. When the robot arm 44 approaches the charging port 22, the transmission unit sends an instruction to open the lid 23 to the vehicle 20 to open the lid 23. Alternatively, when the pallet 32 carrying the vehicle 20 arrives at the charging space 98A, the transmission unit may send an instruction to open the lid 23. After the charging of the secondary battery of the vehicle 20 is completed, the transmission unit sends an instruction to close the lid 23 to the vehicle 20.

[0035] Thus, according to the mechanical parking lot 10 according to this embodiment, since the lid 23 is opened at the charging space 98A of the parking space 98 and the charging connector 43 is connected to the charging port 22, the lid 23 may remain closed during the movement of the vehicle 20, and there is no need to connect the charging connector. Therefore, as long as the vehicle 20 fits within the accommodable dimensions of the pallet 32, charging can be performed while parked. That is, according to the mechanical parking lot 10 according to this embodiment, the types of vehicles that can be charged while parked can be increased.

[0036] FIG. 4 is a plan view of the boarding and alighting room 12 in the mechanical parking lot 10 according to this embodiment, showing the state when the vehicle 20 enters the warehouse. FIG. 5 is a block diagram for explaining the configuration of the boarding and alighting room 12.

[0037] In the above-described charging space 98A, there is a limit to the movable range of the charging connector 43 by the robot arm 44. Therefore, in order to perform charging, the charging port 22 of the vehicle 20 needs to be located within the movable range of this charging connector 43. However, since the position of the charging port 22 in the vehicle 20 differs for each vehicle type, depending on the vehicle type, the position of the charging port 22 may be outside the movable range of the charging connector 43, resulting in a case where charging cannot be performed. Therefore, in the mechanical parking lot 10 according to this embodiment, the position information of the charging port 22 in the vehicle 20 is acquired, and based on this position information of the charging port 22, the vehicle 20 is rotated so that the charging port 22 is within the movable range of the charging connector 43 by the robot arm 44. Thereby, charging can be suitably performed regardless of the vehicle type of the vehicle 20.

[0038] In the following description, in the charging space 98A shown in FIG. 3, it is assumed that the movable range of the charging connector 43 by the robot arm 44 reaches the center of the pallet 32. That is, it is assumed that the charging connector 43 can be moved to the center of the vehicle 20 mounted on the pallet 32. Further, in the mechanical parking lot 10 according to the present embodiment, the side S1 (referred to as the first side S1 of the pallet 32) far from the loading / unloading port 12a of the pallet 32 in the boarding and alighting room 12 is close to the robot arm 44 in the charging space 98A, and the side S2 (referred to as the second side S2 of the pallet 32) close to the loading / unloading port 12a of the pallet 32 in the boarding and alighting room 12 is far from the robot arm 44 in the charging space 98A. These preconditions are examples and are not limited to these conditions.

[0039] The boarding and alighting room 12 is provided with a loading / unloading port 12a, and a door 13 that can be opened and closed vertically is provided at the loading / unloading port 12a. Further, the mechanical parking lot 10 includes a turntable 70 in the boarding and alighting room 12 as a pallet turning device for turning the pallet 32. A rectangular opening 70a is formed in the central portion of the turntable 70. The pallet 32 carried from below by the lifting device 94 is received in the opening 70a.

[0040] The boarding and alighting room 12 further includes a camera 11, an operation panel 28, a control device 30, and a vehicle database 31. The camera 11 is installed outside the boarding and alighting room 12. The camera 11 photographs the vehicle 20 parked in front of the entrance / exit 12a at the time of storage. The operation panel 28 is provided outside the boarding and alighting room 12. The operation panel 28 functions as a user interface for users or attendants of the mechanical parking lot 10. The operation panel 28 has a touch panel. The operation panel 28 is connected to the control device 30, transmits a control signal to the control device 30 according to the operation input on the touch panel, and receives a control signal from the control device 30 to display necessary information on the touch panel. The control device 30 comprehensively controls the mechanical parking lot 10. The vehicle database 31 stores position information of the charging port for each vehicle type. The vehicle database 31 may be held in the boarding and alighting room 12, or may be accessed and used via an Internet line or the like from what is stored in the server.

[0041] As shown in FIG. 4, the case of storing the vehicle 20 having the charging port 22 covered by the lid 23 will be described. In the mechanical parking lot 10 according to the present embodiment, the control device 30 first acquires the position information of the charging port 22 in the vehicle 20. The position information of the charging port 22 is information indicating where the charging port 22 is provided in the vehicle 20, such as the front part of the vehicle, the rear part of the vehicle, the front part of the left side surface of the vehicle, and the rear part of the right side surface of the vehicle. The control device 30 can recognize the vehicle type of the vehicle 20 from the image photographed by the camera 11 and refer to the vehicle database 31 to acquire the position information of the charging port 22 of the vehicle 20. Alternatively, the control device 30 can directly acquire the position information of the charging port 22 of the vehicle 20 from the image photographed by the camera 11. Alternatively, the control device 30 can recognize the vehicle type of the vehicle 20 from the information input to the operation panel 28 by the user or the attendant and refer to the vehicle database 31 to acquire the position information of the charging port 22 of the vehicle 20. Alternatively, the user or the attendant can directly input the position information of the charging port 22 to the operation panel 28.

[0042] Next, based on the acquired position information of the charging port 22, the control device 30 drives the turntable 70 to rotate the pallet 32 on which the vehicle 20 is placed so that the charging port 22 is within the movable range of the charging connector 43 by the robot arm 44. In the boarding and alighting room 12 shown in FIG. 4, when the vehicle 20 moves forward and enters the boarding and alighting room 12 from the loading and unloading port 12a and is placed on the pallet 32, the front side of the vehicle 20 is located on the first side S1 of the pallet 32, and the rear side of the vehicle 20 is located on the second side S2 of the pallet 32. Therefore, when the position of the charging port 22 is in front of the center of the vehicle 20, the control device 30 does not rotate the vehicle 20. By moving the pallet 32 with the vehicle 20 in the same orientation, the charging port 22 can be within the moving range of the charging connector 43 by the robot arm 44 in the charging space 98A. On the other hand, when the position of the charging port 22 is behind the center of the vehicle 20, the control device 30 drives the turntable 70 to rotate the pallet 32 on which the vehicle 20 is placed by 180 degrees. By moving the pallet 32 with the vehicle 20 in the same orientation, the charging port 22 will be outside the moving range of the charging connector 43 by the robot arm 44 in the charging space 98A. By rotating the pallet 32 by 180 degrees, the charging port 22 can be made to be within the moving range of the charging connector 43 by the robot arm 44 in the charging space 98A.

[0043] Thus, according to the mechanical parking lot 10 according to the present embodiment, based on the position information of the charging port 22, by rotating the vehicle 20 so that the charging port 22 is within the movable range of the charging connector 43 by the robot arm 44, charging can be suitably performed regardless of the vehicle type of the vehicle 20.

[0044] If a robotic arm 44 that can move the charging connector 43 over the entire range of the vehicle 20 is used, it is not necessary to turn the vehicle 20. However, in this case, it is necessary to use a very large robotic arm 44, which is not practical considering the limited charging space 98A and cost. Also, it is conceivable to arrange a plurality of robotic arms 44 so that the charging connector 43 can be moved over the entire range of the vehicle 20, but this is also not practical considering the limited charging space 98A and cost. By using the turntable 70 originally provided in the mechanical parking lot 10 in consideration of the entry and exit of the vehicle 20, such as in the mechanical parking lot 10 according to this embodiment, a mechanical parking lot 10 with a low cost can be realized without excessively increasing the charging space 98A.

[0045] In the above-described embodiment, the turntable 70 is used to turn the vehicle 20. However, the means for turning the vehicle 20 is not limited to the turntable 70, and the vehicle 20 may be turned using an autonomous mobile robot (AMR) or an automatic guided vehicle (AGV). Also, the location where the vehicle 20 is turned is not limited to within the boarding and alighting room 12, and may be performed in the charging space 98A, for example, if space permits.

[0046] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of the respective embodiments and modifications combined.

Explanation of Reference Numerals

[0047] 10 Mechanical parking lot, 11 Camera, 12 Entrance and exit room, 20 Vehicle, 22 Charging port, 23 Cover, 28 Control panel, 30 Control device, 31 Vehicle database, 32 Pallet, 40 Charging device, 41 Power supply unit, 42 Charging cable, 43 Charging connector, 44 Robot arm, 45 End effector, 46 Camera, 70 Turntable, 94 Lifting device, 96 Lifting path, 98 Parking space, 98A Charging space.

Claims

1. A boarding and alighting room, A parking room for storing a vehicle moved from the boarding and alighting room, the parking room having a charging space capable of charging a vehicle having a charging port, Comprising, The charging space is, Opening and closing means for opening and closing a lid covering the charging port, Charging means for moving a charging connector to the charging port, A mechanical parking lot comprising.

2. Charging port position acquisition means for acquiring position information of the charging port in the vehicle, Based on the acquired position information of the charging port, vehicle turning means for turning the vehicle so that the charging port is within the movable range of the charging connector by the charging means, The mechanical parking lot according to claim 1, comprising.

3. The vehicle turning means is provided in the boarding and alighting room, the mechanical parking lot according to claim 2.

4. The mechanical parking lot is a pallet-type mechanical parking lot for moving a pallet on which a vehicle is mounted, The vehicle turning means includes a pallet turning device for turning the pallet, the mechanical parking lot according to claim 2 or 3.

5. The opening and closing means includes a robot arm, and the lid is opened and closed by the operation of the robot arm, the mechanical parking lot according to claim 1.

6. The lid is configured to be openable and closable by an external instruction, The opening and closing means includes a transmission unit for sending an opening and closing instruction to the lid, the mechanical parking lot according to claim 1.

7. The charging means includes a robot arm, and the charging connector is moved to the charging port by the operation of the robot arm, the mechanical parking lot according to claim 1.

8. Steps of moving a vehicle having a charging port from the boarding and alighting room to the charging space in the parking room, In the charging space, steps of opening a lid covering the charging port, Steps of moving a charging connector to the charging port, A charging method comprising.

9. Steps of acquiring position information of the charging port in the vehicle, Based on the acquired position information of the charging port, steps of turning the vehicle so that the charging port is within the movable range of the charging connector, The charging method according to claim 8, comprising.

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