Mechanical parking device and safety confirming method therefor and vehicle conveying carriage

Abstract

To improve detection accuracy for a person and the like in an inside of a car.SOLUTION: A vehicle conveying carriage 60 is a self-propelled vehicle conveying carriage that loads a vehicle stopped in a predefined stopping area provided within a boarding room and moves the vehicle from the boarding room to a parking area outside the boarding room. The vehicle conveying carriage 60 comprises a loading part 61 for loading the vehicle and an in-vehicle person detection sensor 20 for detecting a person or an animal inside the vehicle loaded on the loading part 61. The vehicle conveying carriage 60 detects a person or an animal inside the vehicle by using the in-vehicle person detection sensor 20 with the vehicle loaded therein.SELECTED DRAWING: Figure 9

Description

Technical Field

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

Background Art

[0002] In a mechanical parking device, for example, a transporter such as a pallet is used to transport a vehicle between a boarding and alighting room where the vehicle enters and exits and a storage garage (parking area) where the vehicle is stored. For example, when storing a vehicle (when transporting the vehicle from the boarding and alighting room to the storage garage), since the transporter operates, it is necessary to perform a safety check in the boarding and alighting room before starting the vehicle transport. In the safety check, for example, it is necessary to confirm that there are no people, pets, obstacles, etc. in the boarding and alighting room, or to confirm that no one or pet has been left inside the vehicle.

[0003] For example, Patent Document 1 discloses a method of providing a microwave Doppler sensor in front of a vehicle parked in a boarding and alighting room, radiating microwaves from this sensor toward the windshield of the vehicle, and detecting a person or the like inside the vehicle based on the reflected wave.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the method disclosed in Patent Document 1, the microwave is blocked by vehicle interior parts such as the seats in the driver's seat and the passenger seat, and it is difficult to reach the rear seat, making it difficult to detect people and pets in the rear seat. Also, due to the inclination of the windshield, the microwave may be reflected and attenuated, resulting in a potential decrease in detection accuracy. Furthermore, since the height of the windshield, the shape of the vehicle body, and the inclination of the windshield vary depending on the vehicle type, it was necessary to adjust the installation position of the sensor.

[0006] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a mechanical parking device, a safety confirmation method thereof, and a vehicle carrier capable of improving the detection accuracy of people in the vehicle.

Means for Solving the Problems

[0007] One aspect as a reference example of the present disclosure is a mechanical parking device having a boarding and alighting room, which is installed in a side region of the boarding and alighting room and transmits microwaves toward the side glass of a vehicle stopped in a predetermined parking area set in the boarding and alighting room, and a transmission and reception unit that receives the reflected wave of the microwave, and a detection unit that detects a person or an animal inside the vehicle using the reflected wave.

[0008] One aspect of the present disclosure is a self-propelled vehicle carrier that loads a vehicle stopped in a predetermined parking area provided in a boarding and alighting room and moves the vehicle from the boarding and alighting room to a parking area outside the boarding and alighting room, and includes a loading unit for loading the vehicle and an in-vehicle person detection sensor for detecting a person or an animal inside the vehicle loaded on the loading unit. One aspect of the present disclosure is a mechanical parking device including the above vehicle carrier.

[0009] One aspect as a reference example of the present disclosure is a safety confirmation method for a mechanical parking device having a boarding and alighting room, which includes transmitting microwaves toward the side glass of a vehicle stopped in a predetermined parking area set in the boarding and alighting room, receiving a reflected wave of the microwaves, and detecting a person or an animal inside the vehicle using the received reflected wave.

[0010] One aspect of the present disclosure is a safety confirmation method applied to a mechanical parking device that moves a vehicle stopped in a predetermined parking area provided in a boarding and alighting room to the parking area by a self-propelled vehicle carrier. A vehicle interior person detection sensor is provided on the vehicle carrier, and in the boarding and alighting room, with the vehicle carrier loaded with the vehicle, the vehicle interior person detection sensor is used to detect a person or an animal inside the vehicle.

Effect of the Invention

[0011] According to the mechanical parking device, its safety confirmation method, and the vehicle carrier according to the present disclosure, it is possible to improve the detection accuracy of a person or the like inside the vehicle.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

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Figure 10

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Figure 16

Modes for Carrying Out the Invention

[0013] 〔First Embodiment〕 Hereinafter, a mechanical parking device and a safety confirmation method thereof according to the first embodiment of the present disclosure will be described with reference to the drawings. In the first embodiment, an elevator-type tower mechanical parking device is exemplified as the mechanical parking device of the present disclosure, but the present disclosure is not limited to this example, and the mechanical parking device of the present disclosure may be a vertical circulation type, a plane reciprocating type, a horizontal circulation type, a multi-layer circulation type, a two-multi-stage type, or the like.

[0014] FIG. 1 is a longitudinal sectional view of a mechanical parking device 1 according to the first embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower multi-story parking facility capable of accommodating a plurality of vehicles 2, and includes a parking tower 5 provided with an entrance / exit 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is 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 the present embodiment, a case where the same landing 7 is used for loading and unloading is exemplified. However, for example, a configuration may be adopted in which a landing dedicated to loading and a landing dedicated to unloading are provided, and loading and unloading are performed using different landings 7.

[0015] A vertical hoistway 13 is formed at the center of the parking tower 5, and a lift 14 (vehicle conveying means) is provided in the hoistway 13 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 12 extending downward from a winch (not shown) provided at the upper part of the parking tower 5, and can move up and down in the hoistway 13 when the winch is activated.

[0016] On the other hand, vehicle storage shelves 17 (parking areas) are provided on both sides of the hoistway 13. The vehicle storage shelves 17 are provided in multiple floors vertically so as to sandwich the hoistway 13, and each vehicle storage shelf 17 houses one pallet (vehicle conveying means) 18 for loading the vehicle. Note that the columns and the like of the vehicle storage shelves 17 are not shown.

[0017] On the floor surfaces of the lift 14 and the vehicle storage shelf 17, there is a transfer mechanism (not shown) that can smoothly transfer the empty pallet 18 or the pallet 18 loaded with the vehicle 2 from the lift 14 to the vehicle storage shelf 17 or from the vehicle storage shelf 17 to the lift 14 when the floor surface heights of the lift 14 and the vehicle storage shelf 17 are the same.

[0018] Figure 2 is a schematic plan view of the entrance and exit cabin 7. A parking area 16 for stopping the vehicle 2 is provided approximately at the center of the entrance and exit cabin 7. In this embodiment, this parking area 16 is set in the same range as the pallet 18, for example, but is not limited to this example. For example, the parking area 16 may be set in a range with a slight margin from the size of the pallet 18. The entrance and exit cabin 7 has an entrance / exit opening 3 for the vehicle 2 and users to enter and exit, and an entrance / exit door 4 is provided at the entrance / exit opening 3. When entering the warehouse, the user drives the vehicle into the entrance and exit cabin 7 from the entrance / exit opening 3 and stops on the parking area 16, in other words, on the pallet 18. Hereinafter, in the entrance and exit cabin 7, the front of the stopped vehicle is referred to as the front area, the rear of the vehicle is referred to as the rear area, and the left and right of the vehicle are referred to as the side areas.

[0019] An in-vehicle person detection sensor 20 for detecting people and animals inside the vehicle 2 is provided in the side area of the entrance and exit cabin 7. The in-vehicle person detection sensor 20 is provided, for example, at a height position corresponding to the side glass of the vehicle 2 stopped in the parking area 16 as shown in Figure 3. Preferably, the in-vehicle person detection sensor 20 is provided at a position corresponding to the side glass of the rear seat of the vehicle 2 as shown in Figures 2 and 3. More preferably, the in-vehicle person detection sensor 20 is provided at a height position corresponding to above the central part in the height direction of the side glass of the rear seat of the vehicle 2. By transmitting microwaves from the in-vehicle person detection sensor 20 arranged at such a height, it is possible to reduce the influence of the metal part of the vehicle body.

[0020] The in-vehicle person detection sensor 20 includes, for example, a transmission / reception unit 31 and a detection unit 32. The transmission / reception unit 31 is configured to have, for example, a microwave transmitter and a receiver for receiving reflected waves. The transmission / reception unit 31 transmits microwaves radially toward the side glass from the side of the vehicle 2 stopped in the parking area 16, and receives the reflected waves of the microwaves. Specifically, the transmission / reception unit 31 transmits microwaves toward a radiation area set to include the entire area of the side glass of the vehicle 2. The detection unit 32 detects a person or an animal inside the vehicle 2 using the reflected waves received by the transmission / reception unit 31. Specifically, the detection unit 32 detects a person or the like by determining whether there is a signal change corresponding to the breathing of a person or the like based on the phase difference between the transmitted microwave and the received microwave.

[0021] As an example of the in-vehicle person detection sensor 20, a microwave Doppler sensor can be mentioned. The technology of person detection using a microwave Doppler sensor is well-known, and as an example, it is possible to use the method exemplified in Japanese Patent No. 3527362 and the like.

[0022] In addition to the above in-vehicle person detection sensor 20, in the boarding and alighting compartment 7, for example, a person detection sensor 21 (see FIG. 4) for detecting objects such as people, animals, and obstacles in the compartment, a stop position detection sensor 22 (see FIG. 4) for detecting that the vehicle 2 has been properly parked in the parking area 16, an entry / exit detection sensor 23 (see FIG. 4) for detecting a person who has entered or exited the boarding and alighting compartment 7, and various other sensors may be provided as needed.

[0023] The person detection sensor 21 is, for example, a human presence sensor and is provided at a plurality of locations in the boarding and alighting compartment 7. For example, it is preferable that the person detection sensor 21 is provided in the front area, the left side area, the right side area, and the rear area, respectively. Note that since the person detection sensor 21, the stop position detection sensor 22, and the entry / exit detection sensor 23 are well-known, detailed descriptions thereof are omitted here.

[0024] In the boarding and alighting chamber 7, for example, a plurality of cameras 25 for photographing the inside of the boarding and alighting chamber 7 are installed. The camera 25 is, for example, a video camera and is attached at a position where it can photograph the entire boarding and alighting chamber 7. Note that the number and installation positions of the cameras 25 shown in FIG. 2 are examples, and can be determined as appropriate. Also, a speaker for notifying information to users or the like by voice may be provided in the boarding and alighting chamber 7.

[0025] Outside the boarding and alighting chamber 7 and near the loading / unloading port 3, an operation panel 30 is provided. The operation panel 30 is operated, for example, by a user who uses this mechanical parking device 1, a manager who manages the mechanical parking device 1, or a maintenance worker.

[0026] The operation panel 30 is provided with, for example, a touch panel, a speaker for guiding the user about the operation method by voice, an emergency stop button for immediately stopping the operation of the mechanical parking device 1, etc. On the touch panel, for example, various guidance information for performing the loading / unloading operation is displayed, and operation buttons for causing the user to perform the loading / unloading operation are also displayed. The display of the touch panel is controlled by a parking lot control device 40 (see FIG. 4) described later, and the information input by the touch panel being operated by the user or the like is output to the parking lot control device 40.

[0027] Near the operation panel 30, a display (not shown) for displaying the real-time image captured by the camera 25 is installed. Note that the display may be provided on the operation panel 30, and for example, the real-time image may be displayed on the touch panel provided in the operation panel 30.

[0028] The mechanical parking device 1 is controlled by a parking lot control device 40. FIG. 4 is a functional block diagram showing an example of the functions of the parking lot control device 40 according to the present embodiment. The parking lot control device 40 is, for example, a computer, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area during the execution of each program, a communication interface for connecting to a communication network, and the like. Further, the parking lot control device 40 includes a comprehensive database 52 in which various data necessary for controlling the mechanical parking device 1 is stored. The comprehensive database 52 stores vehicle presence / absence status, pallet shape types, vehicle storage shelf shape types, user IDs which are identification information of a plurality of users permitted to use the mechanical parking device 1, and the like.

[0029] The auxiliary storage device of the parking lot control device 40 stores control programs and the like for controlling each mechanism of the mechanical parking device 1. 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.

[0030] The above control program may be pre-stored in an auxiliary storage device such as a ROM at the time of manufacturing the parking lot 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. Also, it may be installed via an external storage device. Thus, the installation method of various programs is not particularly limited.

[0031] As shown in FIG. 4, the parking lot control device 40 includes, for example, a main control unit 50. Connected to the main control unit 50 are, in addition to the above-described comprehensive database 52, an entrance / exit door control unit 55, a sensor control unit 56, a transporter control unit 57, a camera control unit 58, an image database 59, and the like. Further, an operation panel 30 is connected to the main control unit 50, and is configured to enable two-way communication.

[0032] The entrance / exit door control unit 55 receives an operation command from the main control unit 50 to open and close the entrance / exit door 4, and receives a position signal of the entrance / exit door 4 from the entrance / exit door sensor 53, and feeds back the information to the main control unit 50.

[0033] The sensor control unit 56 performs operation control of the in-vehicle person detection sensor 20, the person detection sensor 21, the stop position detection sensor 22, the entry / exit detection sensor 23, etc. according to an operation command from the main control unit 50. Further, the sensor control unit 56 receives sensor signals from the in-vehicle person detection sensor 20, the person detection sensor 21, the stop position detection sensor 22, the entry / exit detection sensor 23, etc., respectively, and outputs the information to the main control unit 50.

[0034] The conveyor control unit 57 receives an operation command from the main control unit 50 to execute the raising and lowering of the lift 14 and the loading and unloading operation of the pallet 18, and receives a position signal of the lift 14 from the conveyor position sensor 54, and feeds back the information to the main control unit 50.

[0035] The camera control unit 58 receives an operation command from the main control unit 50 to cause the camera 25 to capture an image, 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 integrated database 52 or on the cloud.

[0036] The main control unit 50 controls the mechanical parking device 1 based on the feedback from each control unit 55 to 58 and the input information from the operation panel 30. Further, the main control unit 50 executes a control program for the warehousing process and a control program for the warehousing process to perform the warehousing process and the warehousing process, and performs display control of the touch panel provided in the operation panel 30, user authentication processing, call control of the lift 14, opening and closing control of the entrance / exit door 4, safety confirmation processing, etc. Note that the sensor signals from the various sensors 20 to 23 may be directly input to the main control unit 50 instead of being input to the main control unit 50 via the above-described sensor control unit 56. By doing so, it becomes possible to perform faster control according to the sensor signals.

[0037] 〔Warehousing Process〕 Next, an example of the warehousing process executed by the parking lot control device 40 during warehousing will be described with reference to the drawings. FIG. 5 is a flowchart showing an example of the procedure of the warehousing process executed by the parking lot control device 40.

[0038] For example, when a predetermined input operation (such as an operation related to user authentication or a pallet calling operation) for the user to call a empty pallet is performed, the parking lot control device 40 performs a pallet calling process (SA1). As a result, when the empty pallet arrives at the boarding and alighting room 7, the parking lot control device 40 performs a door opening process (SA2). Thereby, when the entrance and exit door 4 is fully opened, the parking lot control device 40 performs a safety confirmation process to confirm the safety inside the boarding and alighting room 7 (SA3). For example, the parking lot control device 40 determines whether a person is detected by a person detection sensor 21 or the like. At this time, in addition to various sensors such as the person detection sensor 21, the in-vehicle person detection sensor 20 may be used to confirm the safety inside the vehicle. In this case, since the vehicle 2 is not parked in the parking area 16, the in-vehicle person detection sensor 20 will perform person detection in the boarding and alighting room.

[0039] In the safety confirmation process, if a person is detected (SA4: YES), the parking lot control device 40 warns the user that safety is not ensured using the touch panel or speaker of the operation panel 30 on the grounds that the safety inside the warehouse cannot be confirmed (SA5). At this time, the parking lot control device 40 may superimpose and display the position where a person or animal is detected on the display on which the image data acquired by the camera 25 is displayed. Thereby, the user can recognize the place where a person or animal is detected, and it becomes possible to perform the safety confirmation more efficiently.

[0040] When the user visually confirms the safety inside the boarding and alighting room 7 and confirms that it is safe, the user makes an input indicating that the safety confirmation has been performed from the touch panel or the like of the operation panel 30 (SA6). When the parking lot control device 40 receives the input of the safety confirmation from the user, it returns to step SA3 and performs the safety confirmation process again. As a result, steps SA3 to SA6 are repeatedly performed until the safety inside the warehouse is confirmed.

[0041] On the other hand, in step SA4, when no person is detected (SA4: NO) and the safety inside the warehouse is confirmed, guidance to prompt entry is given, and the vehicle 2 enters the warehouse (SA7). Specifically, the user enters the vehicle 2 into the boarding and alighting room 7 and stops the vehicle 2 in the parking area 16, in other words, on the empty pallet. Then, the user exits from the boarding and alighting room 7.

[0042] Subsequently, when a predetermined input operation (such as an operation related to user authentication or a door closing instruction) is performed by the user, the parking lot control device 40 performs a door closing process (SA8). As a result, when the entrance and exit door 4 is completely closed, the parking lot control device 40 performs a safety confirmation process to confirm the safety inside the boarding and alighting room 7 (SA9). For example, in the in-vehicle person detection sensor 20, microwaves are transmitted radially from the side of the vehicle 2 toward the side glass. The radially transmitted microwaves pass through parts other than the metal part of the vehicle body (for example, the side glass) and travel straight. If there are people or animals inside the vehicle, the microwaves are reflected by the people or animals, and the reflected waves are received by the transmission and reception unit 31 of the in-vehicle person detection sensor 20. The received reflected waves are compared with the phase of the microwaves transmitted by the detection unit 32. Thereby, detection of people inside and around the vehicle is performed, and the sensor detection result is output to the parking lot control device 40.

[0043] In the safety confirmation process, when a person is detected (SA10: YES), the parking lot control device 40 assumes that the safety inside the warehouse cannot be confirmed, and warns the user that safety is not ensured using the touch panel or speaker of the operation panel 30 (SA11), and performs a door opening process (SA12). As a result, when the entrance / exit door 4 is opened, a person or the like trapped inside the warehouse can be moved outside the warehouse.

[0044] When the user visually confirms the safety inside the boarding and alighting room 7 and confirms that it is safe, the user inputs from the touch panel or the like of the operation panel 30 that the safety confirmation has been performed (SA13). When the parking lot control device 40 receives the safety confirmation input from the user, it performs a door closing process (SA14), returns to step SA9, and performs the safety confirmation process again. As a result, steps SA9 to SA14 are repeatedly performed until the safety inside the warehouse can be confirmed.

[0045] On the other hand, in step SA10, when no person is detected (SA10: NO) and the safety inside the warehouse is confirmed, a storage process is performed (SA15). As a result, the pallet 18 on which the vehicle 2 is placed is transported by the lift 14 and stored in the vehicle storage shelf 17.

[0046] Note that the above-described series of procedures and contents of the warehousing process are merely examples, and addition or omission of processes can be performed as appropriate. For example, it is also possible to perform the safety confirmation process after the vehicle 2 has stopped in the parking area 16 and before the door closing process (between steps SA7 and SA8). As a result, since the safety inside the warehouse is confirmed before closing the door, it is possible to prevent the confinement of people and animals, and the safety can be further enhanced.

[0047] As described above, according to the mechanical parking device 1 and its safety confirmation method according to the present embodiment, the following operational effects are achieved. It is installed in the lateral region of the boarding and alighting room 7, transmits microwaves toward the side glass of the vehicle 2 stopped in the parking area 16, and includes a transmitting and receiving unit 31 that receives the reflected wave of the microwave, and a detecting unit 32 that detects a person or an animal inside the vehicle 2 using the reflected wave.

[0048] Since the side glass has less inclination compared to the front glass, reflection and attenuation of microwaves can be reduced. Also, when trying to monitor the interior of the vehicle from the front glass, the seats in the driver's seat and the passenger seat become obstacles, but in the case of the side glass, there are fewer obstacles such as seats and vehicle interior parts, so stable sensing can be performed. Furthermore, in a general mechanical parking device, the vehicle types for storage are also limited, and the height position of the side glass does not vary significantly. For this reason, the mounting position of the in-vehicle person detection sensor can be fixed, and position adjustment according to the vehicle type can be made unnecessary.

[0049] Also, by transmitting microwaves from the position of the upper height of the side glass toward the interior of the vehicle, reflection by the side metal body of the vehicle 2 can be reduced, and it becomes possible to detect people throughout the interior of the vehicle. Furthermore, the microwaves transmitted through the side glass can detect people on the opposite side of the vehicle 2. As a result, it becomes possible to detect people not only inside the vehicle but also around the vehicle 2. Also, when the accuracy of detecting people inside the vehicle is not sufficient by simply transmitting microwaves from one direction, the in-vehicle person detection sensors 20 may be installed in the lateral regions on both sides of the boarding and alighting room 7, and microwaves may be transmitted from both directions. Thereby, for example, sensing becomes possible even in places where detection is difficult with a single sensor such as the back of the door.

[0050] Also, detection of a person by microwaves can detect breathing and heart rate. Thereby, even a person who is sleeping or a child, etc., who is not making large movements can be detected.

[0051] 〔Second Embodiment〕 Next, a mechanical parking device and a safety confirmation method thereof according to the second embodiment of the present disclosure will be described with reference to FIGS. 6 to 8. Hereinafter, for the configurations common to the above-described first embodiment, the same reference numerals will be given and the description thereof will be omitted, and the different configurations will be mainly described.

[0052] FIG. 6 is a schematic plan view of the boarding and alighting compartment 7a according to the present embodiment. As shown in FIG. 6, the mechanical parking device according to the present embodiment includes a reflector 15 provided on the opposite side of the in-vehicle person detection sensor 20 and the vehicle 2 in the boarding and alighting compartment 7a. The reflector 15 is formed of a metal (for example, iron, aluminum, etc.).

[0053] FIG. 7 is a schematic view when looking from the front region to the rear region of the boarding and alighting compartment 7a, and FIG. 8 is a schematic view when looking from the side region where the in-vehicle person detection sensor 20 is disposed to the opposite side region. As shown in FIGS. 7 and 8, for example, the reflector 15 is in the shape of a rectangular flat plate and is provided along the side wall surface 19 of the boarding and alighting compartment 7a so that the length direction thereof coincides with the front-rear direction of the boarding and alighting compartment 7a. The reflector 15 may be attached to the side wall surface 19, or may be arranged to be supported by a well-known support member or the like at a position slightly spaced from the side wall surface 19.

[0054] As shown in FIGS. 6 and 8, the length of the reflector 15 in the length direction may be longer than the length of the parking area 16 in the front-rear direction (length direction). Further, as shown in FIG. 6, the reflector 15 may include a curved surface 15a that curves inward at the end in the length direction. Further, as shown in FIG. 7, the reflector 15 may include a curved surface 15b that curves inward at the end in the height direction. The curved surfaces 15a and 15b may be provided at both ends of the reflector 15, or may be provided only at one of the ends.

[0055] In such a configuration, the in-vehicle person detection sensor 20 transmits microwaves radially toward the side glass from the side of the vehicle 2. At this time, in the present embodiment, in order to realize person detection in a wider range compared to the above-described first embodiment, the radiation area may be set wider. A part of the microwaves transmitted from the in-vehicle person detection sensor 20 passes through the side glass and travels straight, and another part travels straight through the space around the vehicle (the part other than the vehicle). When a person or an animal is present, the microwaves are reflected, and the reflected waves are received by the in-vehicle person detection sensor 20. On the other hand, when there is no person or the like, the microwaves are reflected by the reflector 15. At this time, since the curved surface 15a is provided at the end in the length direction of the reflector 15 and the curved surface 15b is provided at the end in the height direction, it is possible to collect the reflected waves around the vehicle, and it is possible to intensively perform person detection around the vehicle.

[0056] As described above, according to the mechanical parking device and its safety confirmation method according to the present embodiment, since the reflector 15 provided on the opposite side across the transmission / reception unit 31 of the in-vehicle person detection sensor 20 and the vehicle 2 is provided, it is possible to detect not only inside the vehicle but also people and animals around the vehicle. Thereby, compared with the first embodiment in which the reflector 15 is not provided, it is possible to expand the sensing range. Further, by adjusting the size, arrangement of the reflector 15, and the microwave radiation area, it is possible to expand the detection range by the in-vehicle person detection sensor 20 to a desired range. Thereby, it is possible to eliminate sensors (for example, the person detection sensor 21, etc.) whose detection ranges overlap or reduce the number of installations thereof.

[0057] In the above-described first or second embodiment, a mechanical parking apparatus that transports a vehicle by a pallet 18 has been described as an example, but the present invention is not limited to this example. For example, the mechanical parking apparatus of the present disclosure may be a plane reciprocating type berth type mechanical parking apparatus that transfers a vehicle by a conveyor, a mechanical parking apparatus in which a vehicle is transported by a self-propelled vehicle carrier, or the like. An interior person detection sensor 20 and a reflector 15 described above may be provided in the boarding and alighting room (storage berth) provided in various mechanical parking apparatuses, and the safety inside the vehicle and in the storage may be confirmed by these.

[0058] 〔Third Embodiment〕 Next, a mechanical parking apparatus, a safety confirmation method thereof, and a vehicle carrier according to the present embodiment of the present disclosure will be described. The mechanical parking apparatus according to the present embodiment transports the vehicle 2 between the boarding and alighting room and the parking area by a self-propelled vehicle carrier. Hereinafter, for the configurations common to the above-described first or second embodiment, the same reference numerals will be given and the description will be omitted, and the different configurations will be mainly described.

[0059] FIG. 9 is a schematic plan view of a vehicle carrier 60 according to the third embodiment of the present disclosure, and FIG. 10 is a schematic side view of the vehicle carrier 60. As shown in FIGS. 9 and 10, the vehicle carrier 60 includes a loading portion 61 for loading a vehicle, a main body portion 62, and tires 63. The main body portion 62 houses various devices necessary for traveling, such as a carrier control device 64 for controlling the entire vehicle carrier 60 and a battery 65.

[0060] Further, the vehicle carrier 60 has an interior person detection sensor 20. As shown in FIG. 10, the interior person detection sensor 20 is supported by, for example, a long support member 67 attached to the side surface of the loading portion 61. The support member 67 is attached so as to be rotatable around a horizontal axis by, for example, a rotation mechanism (not shown). The rotation mechanism includes, for example, a rotation shaft that rotatably supports the support member 67 around a horizontal axis with respect to the loading portion 61, and a rotation motor that rotates the rotation shaft around a horizontal axis. The rotation mechanism is controlled by the carrier control device 64.

[0061] The carriage control device 64 changes the inclination angle of the support member 67 with respect to the upper surface of the loading part 61 according to the usage state of the in-vehicle person detection sensor 20. For example, during the usage period of the in-vehicle person detection sensor 20, the carriage control device 64 controls the rotation mechanism so that the angle formed between the upper surface of the loading part 61 and the support member 67 is approximately 90 degrees. Also, during the period when the in-vehicle person detection sensor 20 is not in use, the carriage control device 64 controls the rotation mechanism so that the upper surface of the loading part 61 and the support member 67 are substantially parallel. Thereby, during the usage period of the in-vehicle person detection sensor 20, the in-vehicle person detection sensor 20 can be arranged at a position suitable for sensing. Also, during the period when the in-vehicle person detection sensor 20 is not in use, the support member 67 and the in-vehicle person detection sensor 20 can be made not to interfere with driving or the like. Thereby, stable driving can be realized. Also, damage to the in-vehicle person detection sensor 20 can be prevented.

[0062] FIG. 11 is a schematic plan view of the entrance / exit cabin 7b of the mechanical parking device according to the present embodiment. As shown in FIG. 11, a parking area 16 for stopping the vehicle 2 is provided substantially at the center of the entrance / exit cabin 7b. In the present embodiment, this parking area 16 is set, for example, in substantially the same range as the loading part 61 of the vehicle carriage 60. Note that the present invention is not limited to this example, and for example, the parking area 16 may be set in a range with a slight margin with respect to the size of the loading part 61.

[0063] The entrance / exit cabin 7b has an entrance / exit port 3 for the vehicle 2 to enter and exit, and an entrance / exit door 4 is provided at the entrance / exit port 3. Also, the entrance / exit cabin 7b is provided with an entrance / exit door 36 for a user who has finished entering the warehouse to move to the waiting space 35, and a partition door 38 for moving the vehicle 2 from the entrance / exit cabin 7b to the parking area 37.

[0064] An operation panel 30 is provided in the waiting space 35. The operation panel 30 is preferably provided in the vicinity of the entrance / exit door 36 and at a position where the inside of the entrance / exit cabin 7b is visible. In addition, in the boarding and alighting room 7b, a person detection sensor 21, a stop position detection sensor 22, an entrance and exit detection sensor 23, a camera 25, etc. may be provided as necessary. Here, the entrance and exit detection sensor 23 may be provided at positions capable of detecting, for example, the movement between the boarding and alighting room 7 and the standby space 35, the position capable of detecting whether the vehicle 2 has passed through the entrance and exit 3, and the position capable of detecting whether the vehicle carrier 60 has moved between the boarding and alighting room 7b and the parking area 37, respectively.

[0065] 〔Warehousing process〕 Next, an example of the warehousing process executed by the parking lot control device during warehousing will be described with reference to FIGS. 12 and 13. FIGS. 12 and 13 are flowcharts showing an example of the procedure of the warehousing process executed by the parking lot control device.

[0066] For example, when a predetermined input operation (for example, a warehousing reservation operation, an operation related to user authentication, etc.) for starting warehousing is performed by the user, the parking lot control device performs a door opening process for opening the entrance and exit door 4 (SB1). As a result, when the entrance and exit door 4 is fully opened, the parking lot control device performs a safety confirmation process for confirming the safety inside the boarding and alighting room 7 (SB2). For example, the parking lot control device determines whether there is a person in the boarding and alighting room 7b based on sensor signals from the person detection sensor 21, etc. and image data acquired by the camera 25.

[0067] In the safety confirmation process, when a person is detected (SB3: YES), the parking lot control device 40 aborts the warehousing process on the grounds that the safety inside the warehouse cannot be confirmed, and issues a warning indicating that safety is not ensured using a speaker or the like (SB4). On the other hand, in step SB3, when no person is detected (SB3: NO) and the safety inside the warehouse is confirmed, guidance for prompting warehousing is given, and the user warehouses the vehicle 2 (SB5). Specifically, the user enters the vehicle 2 into the boarding and alighting room 7b and stops the vehicle 2 in the parking area 16. Thereafter, the user moves from the boarding and alighting room 7 to the standby space 35 through the entrance and exit door 36.

[0068] Subsequently, when a predetermined input operation (such as an operation related to user authentication or a door closing instruction) is performed by the user or the administrator, the parking lot control device locks the entrance / exit door 36 so that people cannot enter the boarding and alighting room 7b, and performs a door closing process to close the entrance / exit door 4 (SB6). As a result, when the entrance / exit door 4 is completely closed, the parking lot control device performs an opening process for the partition door 38 (SB7). Thereby, the vehicle carrier 60 enters the boarding and alighting room 7b from the parking area 37 (SB8), and the loading part 61 enters below the vehicle parked in the boarding and alighting room 7b, making the vehicle 2 in a movable state (loaded). FIG. 14 is a schematic plan view of the boarding and alighting room 7b showing a state where the vehicle 2 is loaded on the loading part 61 of the vehicle carrier 60, and FIG. 15 is a view when the state where the vehicle 2 is loaded on the loading part 61 of the vehicle carrier 60 is viewed from the side area of the boarding and alighting room 7b. In FIG. 15, the support member 67 and the in-vehicle person detection sensor 20 are not shown.

[0069] When the loading process of the vehicle 2 is completed, the carrier control device 64 outputs a signal indicating that the loading process of the vehicle is completed to the parking lot control device. When receiving the completion signal of the loading process, the parking lot control device performs a safety confirmation process (SB9 in FIG. 13). For example, the parking lot control device outputs a safety confirmation start signal to the carrier control device 64, activates the person detection sensor 21, etc., and performs person detection based on the image data acquired by the person detection sensor 21 and the camera 25.

[0070] When receiving the safety confirmation start signal, the carrier control device 64 drives the rotation mechanism with the vehicle 2 loaded on the loading part 61. As a result, the in-vehicle person detection sensor 20 rotates and moves to a position suitable for the use state (see FIGS. 10 and 16). FIG. 16 is a view when the use state of the in-vehicle person detection sensor 20 is viewed from the front area of the boarding and alighting room 7b.

[0071] Subsequently, the carriage control device 64 outputs an operation signal for starting the operation of the in-vehicle person detection sensor 20. As a result, person detection is performed by the in-vehicle person detection sensor 20. Since the person detection here is the same as that in the second embodiment described above, detailed description thereof is omitted. The detection result by the in-vehicle person detection sensor 20 is transmitted to the parking lot control device via the carriage control device 64. Note that the configuration may be such that the sensor signal is directly transmitted from the in-vehicle person detection sensor 20 to the parking lot control device.

[0072] When a person is detected in the warehouse (SB10: YES), the parking lot control device cancels the warehousing process on the assumption that the safety in the warehouse cannot be confirmed, and issues a warning indicating that safety is not ensured using a speaker or the like (SB11). Further, the parking lot control device unlocks the entrance / exit door 36 so that people and animals can exit from the boarding and alighting compartment 7b.

[0073] On the other hand, in step SB11, when no person is detected (SB11: NO) and the safety in the warehouse is confirmed, the parking lot control device outputs a storage instruction signal to the carriage control device 64. As a result, the vehicle carrier 60 carrying the vehicle 2 moves from the boarding and alighting compartment 7b to the parking area 37 through the partition door 38, and stores the vehicle 2 in a predetermined storage area (SB12). When the parking lot control device detects that the vehicle carrier 60 has exited from the boarding and alighting compartment 7b, it performs a door closing process of closing the partition door 38 (SB13) and ends the warehousing process.

[0074] Note that the above-described series of warehousing process procedures and process contents are examples, and addition, omission, and change of processes can be made as appropriate. For example, it is also possible to perform a safety confirmation process before opening the entrance / exit door 4 (before step SB1). As a result, since the safety in the warehouse is confirmed before closing the door, it is possible to prevent people and animals from being trapped, and the safety can be further enhanced.

[0075] As described above, according to the mechanical parking device, the safety confirmation method, and the vehicle carrier according to the present embodiment, the following operational effects are obtained. A self-propelled vehicle carrier 60 is provided that loads the vehicle 2 stopped at a predetermined parking area 16 provided in the boarding and alighting chamber 7b and moves the vehicle 2 from the boarding and alighting chamber 7b to the parking area 37 outside the boarding and alighting chamber 7b. The vehicle carrier 60 includes a loading section 61 for loading the vehicle 2 and an in-vehicle person detection sensor 20 for detecting a person or an animal inside the vehicle 2 loaded on the loading section 61.

[0076] Thus, since the vehicle carrier 60 is provided with the in-vehicle person detection sensor 20, there is no need to install the in-vehicle person detection sensor 20 in the boarding and alighting chamber 7b. Further, since the vehicle carrier 60 is self-propelled, for example, it is possible to detect a person or an animal inside the stored vehicle 2 not only in the boarding and alighting chamber 7b but also in the parking area 37. For example, sensing inside the vehicle 2 may be performed during the conveyance of the vehicle 2 or when arriving at the storage location. Also, the vehicle carrier 60 may be made to tour the parking area 37 and the in-vehicle person detection sensor 20 may be used to regularly monitor the parked vehicles. Thereby, it becomes possible to monitor not only the remaining persons but also the intruders and the vandalism in the parking area 37.

[0077] Further, the vehicle carrier 60 may be provided with a notification means for notifying a warning when a person or an animal is detected inside the loaded vehicle 2. Examples of the notification means include means for visually notifying such as a warning light, means for audibly notifying such as a speaker, or a combination thereof. Also, it may be possible to send a warning to the parking lot management device which is the upper control device of the mechanical parking device and prompt a response to the operator or the like.

[0078] In the above-described third embodiment, the configuration is such that microwaves are transmitted from the side of the vehicle 2, but it is not limited to this example. For example, the in-vehicle person detection sensor 20 may be installed on the upper part of the main body 62, and configured to transmit microwaves from the front of the vehicle 2 toward the windshield. Further, for example, the in-vehicle person detection sensor 20 may be configured to transmit microwaves from the rear of the loading part 61 toward the rear windshield. In this case, the in-vehicle person detection sensor 20 may be supported by a structure similar to the above-described support member 67, for example.

[0079] Also, in the above-described third embodiment, after the vehicle 2 is stopped in the parking area 16, the vehicle carrier cart 60 enters the boarding and alighting chamber 7b, but it is not limited to this. For example, before the entrance and exit door 4 is opened, the vehicle carrier cart 60 waits in the parking area 16, and when the entrance and exit door 4 is opened, the user may stop the vehicle 2 on the loading part 61 of the vehicle carrier cart 60. Also, the configuration of the vehicle carrier cart 60 described in the above-described third embodiment is an example and is not limited thereto. That is, the vehicle carrier cart 60 only needs to be configured to be movable between the boarding and alighting chamber 7 and the parking area 37 of the vehicle 2, and also only needs to be provided with the in-vehicle person detection sensor 20 for detecting people and animals in the vehicle 2.

[0080] Also, in the above-described third embodiment, the inclination angle of the support member 67 with respect to the upper surface of the loading part 61 is changed according to the use state of the in-vehicle person detection sensor 20, but it is not limited to this example. For example, the in-vehicle person detection sensor 20 may be configured to be storable in the vehicle carrier cart 60.

[0081] As described above, the present disclosure has been described using each embodiment, but 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 various processes described in the above embodiments is merely an example, and within the scope not departing from the gist of the present disclosure, it is possible to delete unnecessary steps, add new steps, or change the processing order.

[0082] The mechanical parking device, its safety confirmation method, and the vehicle carrier described in each of the above embodiments can be understood as follows, for example.

[0083] The mechanical parking device (1) according to the present disclosure is a mechanical parking device having a boarding and alighting chamber (7). It is installed in the lateral region of the boarding and alighting chamber and transmits microwaves toward the side glass of a vehicle (2) stopped in a predetermined parking area (16) set in the boarding and alighting chamber, and includes a transmission and reception unit (31) that receives the reflected wave of the microwave, and a detection unit (32) that detects a person or an animal inside the vehicle using the reflected wave.

[0084] According to the above mechanical parking device, since microwaves are transmitted from the side of the vehicle toward the side glass, reflection and attenuation of the microwaves can be reduced. Further, by transmitting microwaves from the side of the vehicle toward the side glass, the influence of obstacles such as seats and vehicle interior parts can be reduced, and stable in-vehicle monitoring can be performed.

[0085] The above mechanical parking device may have a reflector (15) provided on the opposite side with the transmission and reception unit and the vehicle interposed therebetween.

[0086] According to the above mechanical parking device, it is possible to detect a person not only inside the vehicle but also around the vehicle. Thereby, compared with the case where the reflector is not provided, it is possible to expand the sensing range.

[0087] In the above mechanical parking device, the reflector may be in the shape of a rectangular flat plate and may be provided along the lateral wall surface of the boarding and alighting chamber so that the length direction coincides with the front-rear direction of the boarding and alighting chamber. Also, in the above mechanical parking device, the length in the length direction of the reflector may be longer than the length in the front-rear direction of the parking area.

[0088] According to the above mechanical parking device, since the length of the reflector in the length direction is longer than the length in the front-rear direction of the parking area, it is possible to perform human detection over a wider range, and it is possible to more reliably perform human detection around the vehicle.

[0089] In the above mechanical parking device, the reflector may be provided with a curved surface (15a) that curves inward at the end in the length direction. In the above mechanical parking device, the reflector may be provided with a curved surface (15b) that curves inward at the end in the height direction.

[0090] According to the above mechanical parking device, it is possible to collect the reflected waves of the microwaves reflected by the reflector around the vehicle. Thereby, it is possible to more reliably perform human detection around the vehicle.

[0091] The vehicle carrier (60) according to the present disclosure is a self-propelled vehicle carrier that loads a vehicle (2) stopped in a predetermined parking area (16) provided in the boarding and alighting compartment (7b) and moves the vehicle from the boarding and alighting compartment to a parking area (37) outside the boarding and alighting compartment, and includes a loading part (61) for loading the vehicle and an in-vehicle human detection sensor (20) for detecting a person or an animal inside the vehicle loaded on the loading part.

[0092] According to the above vehicle carrier, since it is provided with an in-vehicle human detection sensor for detecting a person or an animal inside the vehicle, the configuration of the boarding and alighting compartment can be simplified. In addition, since the vehicle carrier can self-propel, for example, not only inside the boarding and alighting compartment but also in the parking area, it is possible to detect a person or an animal inside the stored vehicle. Thereby, it is possible to improve convenience.

[0093] In the above vehicle transport cart, the in-vehicle person detection sensor includes a transmission / reception unit (31) that transmits microwaves toward the inside of the vehicle in a state where the vehicle is loaded on the loading part and receives the reflected waves of the microwaves, and a detection unit (32) that detects a person or an animal inside the vehicle using the reflected waves.

[0094] According to the above vehicle transport cart, it is possible to detect a person inside the vehicle with a simple configuration.

[0095] In the above vehicle transport cart, the transmission / reception unit may transmit microwaves from the side of the vehicle toward the side glass.

[0096] According to the above vehicle transport cart, reflection and attenuation of microwaves can be reduced. In addition, the influence of obstacles such as seats and interior parts inside the vehicle can be reduced, and stable in-vehicle monitoring can be performed.

[0097] In the above vehicle transport cart, the in-vehicle person detection sensor is supported by a long support member (67) rotatably attached around a horizontal axis on the side surface of the loading part, and the inclination angle of the support member with respect to the upper surface of the loading part may be changed according to the use state of the in-vehicle person detection sensor.

[0098] According to the above vehicle transport cart, it is possible to change the arrangement of the in-vehicle person detection sensor with respect to the loading part according to the use state of the in-vehicle person detection sensor. Thereby, for example, at the time of use, the in-vehicle person detection sensor can be arranged at an appropriate position for in-vehicle detection, and when the sensor is not used, the in-vehicle person detection sensor can be moved to a position where it does not interfere with driving or the like.

[0099] The safety confirmation method of the mechanical parking device of the present disclosure is a safety confirmation method of a mechanical parking device having a boarding and alighting room, which transmits microwaves toward the side glass of a vehicle stopped in a predetermined parking area set in the boarding and alighting room, receives the reflected waves of the microwaves, and detects a person or an animal inside the vehicle using the received reflected waves.

[0100] The safety confirmation method of the mechanical parking device of the present disclosure is a safety confirmation method applied to a mechanical parking device that moves a vehicle stopped in a predetermined parking area provided in the boarding and alighting room to the parking area by a self-propelled vehicle carrier. An in-vehicle person detection sensor is mounted on the vehicle carrier, and in the boarding and alighting room, with the vehicle carrier loaded with the vehicle, the in-vehicle person detection sensor detects a person or an animal inside the vehicle.

Explanation of Signs

[0101] 1: Mechanical parking device 2: Vehicle 3: Loading and unloading opening 4: Entrance and exit door 7: Boarding and alighting room 7a: Boarding and alighting room 7b: Boarding and alighting room 15: Reflector 15a: Curved surface 15b: Curved surface 16: Parking area 17: Vehicle storage shelf 18: Pallet 20: In-vehicle person detection sensor 21: Person detection sensor 22: Stop position detection sensor 23: Entrance and exit detection sensor 25: Camera 30: Control panel 31: Transceiver 32: Detection unit 37: Parking area 38: Compartment door 40: Parking lot control device 50: Main control unit 56: Sensor control unit 60: Vehicle carrier 61: Loading part 62: Body part 63: Tire 64: Trolley control device 65: Battery 67: Support member

Claims

1. A self-propelled vehicle carrier that loads a vehicle stopped in a predetermined parking area provided in the boarding and alighting room and moves the vehicle from the boarding and alighting room to a parking area outside the boarding and alighting room, a loading part for loading the vehicle, and an in-vehicle person detection sensor for detecting a person or an animal inside the vehicle loaded on the loading part. A vehicle carrier comprising the above.

2. The in-vehicle person detection sensor, in a state where the vehicle is loaded on the loading part, transmits microwaves toward the inside of the vehicle and receives a reflected wave of the microwaves, a transmission and reception part, and a detection part for detecting a person or an animal inside the vehicle using the reflected wave. The vehicle carrier according to Claim 1, comprising the above.

3. The vehicle carrier according to Claim 2, wherein the transmission and reception part transmits microwaves from the side of the vehicle toward the side glass.

4. The in-vehicle person detection sensor is supported by a long support member rotatably attached around a horizontal axis on the side surface of the loading part, and the support member has an inclination angle with respect to the upper surface of the loading part changed according to the use state of the in-vehicle person detection sensor. The vehicle carrier according to any one of Claims 1 to 3.

5. A mechanical parking device comprising the vehicle carrier according to any one of Claims 1 to 4.

6. A safety confirmation method applied to a mechanical parking device that moves a vehicle stopped in a predetermined parking area provided in the boarding and alighting room to a parking area by a self-propelled vehicle carrier, wherein an in-vehicle person detection sensor is mounted on the vehicle carrier, and in the boarding and alighting room, in a state where the vehicle carrier has loaded the vehicle, a safety confirmation method for a mechanical parking device that detects a person or an animal inside the vehicle by the in-vehicle person detection sensor.

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