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

Abstract

To further improve safety around an entrance / exit of a passenger entry / exit chamber.SOLUTION: The mechanical parking apparatus comprises: a passenger entry / exit chamber 7 for performing at least one of vehicle entry and vehicle exit; an entrance / exit door 4 provided at an entrance / exit 3 of the passenger entry / exit chamber 7; a monitoring area setting unit for setting a monitoring area in the vicinity of the entrance / exit door; and an entrance / exit sensor 20 provided near the entrance / exit door 4 and configured to detect an object in the monitoring area. The monitoring area setting unit sets each monitoring area during a door-opening operation period in which the entrance / exit door 4 is opened and during a vehicle movement period in which the vehicle moves.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Various methods have been proposed to ensure safety in mechanical parking systems. For example, Patent Document 1 discloses a system in which door periphery sensors are installed around the entrance door, and if the door is closing and a foreign object is detected by the door periphery sensors, the closing operation of the entrance door is stopped. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-188350 Summary of the Invention [Problem to be solved by the invention]

[0004] It is important to check safety not only when closing the entrance door but also when opening it, because if a user comes into contact with the entrance door while it is operating, their fingers may be caught in the door.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a mechanical parking device, a safety confirmation method, and a safety confirmation program that can improve safety around entrances and exits. [Means for solving the problem]

[0006] A mechanical parking device according to one aspect of the present disclosure comprises a boarding / exiting room where at least one of vehicles enters and exits the room, an entrance / exit door provided at the entrance / exit of the boarding / exiting room, a monitoring area setting means for setting a monitoring area near the entrance / exit door, and an object detection means provided near the entrance / exit door for detecting objects in the monitoring area, and the monitoring area setting means sets each monitoring area during a door opening operation period when the entrance / exit door is opened and during a vehicle movement period when the vehicle is moving.

[0007] A mechanical parking device according to one aspect of the present disclosure is a mechanical parking device having a boarding / exiting room where vehicles enter and exit at least one of the parking spaces, and where transport control of a vehicle transport means is performed with all or part of the entrance / exit of the boarding / exiting room open, and is equipped with a monitoring area setting means for setting a monitoring area near the entrance / exit during the operation period of the vehicle transport means, and an object detection means for detecting objects in the monitoring area during the operation period of the vehicle transport means.

[0008] A safety confirmation method for a mechanical parking device according to one aspect of the present disclosure is a safety confirmation method for a mechanical parking device that has a boarding / exiting room where vehicles enter and exit at least one of the rooms, and an entrance / exit door provided at the entrance / exit of the boarding / exiting room, in which a computer executes a monitoring area setting process for setting a monitoring area near the entrance / exit door, and an object detection process for determining whether an object has been detected in the monitoring area, and in the monitoring area setting process, each monitoring area is set during a door opening operation period in which the entrance / exit door is opened and a vehicle movement period in which the vehicle moves.

[0009] A safety confirmation method for a mechanical parking device according to one aspect of the present disclosure is a safety confirmation method for a mechanical parking device in which a boarding / exiting room is used for at least one of vehicle entry and exit, and transport control of a vehicle transport means is performed with all or part of the entrance / exit of the boarding / exiting room open, wherein a computer executes a monitoring area setting process for setting a monitoring area near the entrance / exit during the operation period of the vehicle transport means, and an object detection process for determining whether an object has been detected in the monitoring area during the operation period of the vehicle transport means.

[0010] A safety confirmation program for a mechanical parking device according to one embodiment of the present disclosure is a program for causing a computer to execute the above-mentioned safety confirmation method for a mechanical parking device. [Effects of the Invention]

[0011] According to the present disclosure, safety around the entrances and exits of boarding and disembarking compartments can be further improved. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device according to a first embodiment of the present disclosure. [Figure 2] 1 is a schematic perspective view showing a boarding / deboarding compartment according to a first embodiment of the present disclosure. FIG. [Figure 3] 1 is a diagram illustrating a configuration example of a control panel according to a first embodiment of the present disclosure. [Figure 4] A functional configuration diagram showing an example of functions provided by a control device of a mechanical parking device according to the first embodiment of the present disclosure. [Figure 5] 1 is a diagram showing an example of a monitoring area in the case of two doors that is set during the door-opening operation period of the mechanical parking device according to the first embodiment of the present disclosure. FIG. [Figure 6] 1 is a diagram showing an example of a monitoring area set during the door-opening operation period of the mechanical parking device according to the first embodiment of the present disclosure in the case of three doors. FIG. [Figure 7] 1 is a diagram showing an example of a monitoring area set during a vehicle movement period of the mechanical parking device according to the first embodiment of the present disclosure. FIG. [Figure 8] 10 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 9] 10 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 10] 10 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 11]10 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 12] 10 is a flowchart showing an example of a processing procedure for a door-opening process in a warehousing process according to the first embodiment of the present disclosure. [Figure 13] 10 is a diagram showing an example of a monitoring area set during a door closing operation period in the storage process according to the first embodiment of the present disclosure. FIG. [Figure 14] FIG. 10 is a diagram showing an example of a monitoring area that is set during a door-opening operation period when a two-leaf, downward-opening entrance door is used. [Figure 15] FIG. 10 is a schematic external view of an entrance door according to a first modified example of the present disclosure. [Figure 16] FIG. 10 is a diagram showing an example of a monitoring area when the opening degree is 0% set during the door-opening operation period according to the first modification of the present disclosure. [Figure 17] FIG. 10 is a diagram showing an example of a monitoring area when the opening degree is 50% set during the door opening operation period according to the first modification of the present disclosure. [Figure 18] FIG. 10 is a diagram showing an example of a monitoring area set for an emergency escape door in the first modification of the present disclosure. [Figure 19] FIG. 10 is a schematic external view of a mechanical parking device according to a second embodiment of the present disclosure. [Figure 20] FIG. 10 is a schematic front view of a mechanical parking device according to a second embodiment of the present disclosure. [Figure 21] FIG. 10 is a diagram showing the entrance / exit door in an open state in a mechanical parking device according to a second embodiment of the present disclosure. [Figure 22] 10A and 10B are diagrams illustrating an example of installation of a control panel according to a second embodiment of the present disclosure. [Figure 23] 10A and 10B are diagrams illustrating an example of installation of a control panel according to a second embodiment of the present disclosure. [Figure 24] FIG. 10 is a diagram illustrating a configuration example of a control panel according to a second embodiment of the present disclosure. [Figure 25] A functional configuration diagram showing an example of functions provided in a control device of a mechanical parking device according to a second embodiment of the present disclosure. [Figure 26]A figure showing an example of a monitoring area set during a pallet transport period and a door opening operation period of a mechanical parking device according to a second embodiment of the present disclosure. [Figure 27] FIG. 10 is a diagram showing another example of a monitoring area set during the door-opening operation period of the mechanical parking device according to the second embodiment of the present disclosure. [Figure 28] FIG. 10 is a diagram showing an example of a monitoring area set during a vehicle movement period of the mechanical parking device according to the second embodiment of the present disclosure. [Figure 29] FIG. 10 is a diagram showing an example of a monitoring area set during a door closing operation period of a mechanical parking device according to a second embodiment of the present disclosure. [Figure 30] 10 is a flowchart showing an example of a processing procedure of a warehousing process according to a second embodiment of the present disclosure. [Figure 31] 10 is a flowchart showing an example of a processing procedure of a warehousing process according to a second embodiment of the present disclosure. [Figure 32] 10 is a flowchart showing an example of a processing procedure for a pallet transport process in a warehousing process according to a second embodiment of the present disclosure. [Figure 33] FIG. 1 is a schematic plan view of a boarding / deboarding room (berth) provided in a berth-type mechanical parking device. [Figure 34] FIG. 1 is a schematic front view of a boarding / deboarding room (berth) provided in a berth-type mechanical parking device. [Figure 35] FIG. 10 is a diagram showing an example of a monitoring area set during a vehicle movement period in a berth-type mechanical parking device. [Figure 36] A diagram showing an example of a monitoring area set during the conveyor operation period of a berth-type mechanical parking device. DETAILED DESCRIPTION OF THE INVENTION

[0013] [First embodiment] Hereinafter, a mechanical parking device, a safety confirmation method, and a safety confirmation program according to a first embodiment of the present disclosure will be described with reference to the drawings. In the first embodiment described below, an elevator-type tower-type mechanical parking device will be described as an example.

[0014] FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device 1 according to a first embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating multiple 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 boarding / deboarding room 7 for vehicles 2 entering and leaving the parking lot, and a turntable 8 for changing the direction of the vehicle 2 is installed on its floor. The turntable 8 is configured such that a swivel plate 10 and a swivel drive unit 11 are provided within a recessed pit 9 formed in the floor of the boarding / deboarding room 7. Note that this embodiment illustrates a case in which both entry and exit are performed in the boarding / deboarding room 7, but this is not limited to this. For example, different boarding / deboarding rooms may be used for entry and exit, with one dedicated boarding / deboarding room for entry and one dedicated boarding / deboarding room for exiting the parking lot. Furthermore, although one boarding / deboarding room is illustrated in this embodiment, multiple boarding / deboarding rooms may be provided.

[0015] A vertical elevator passage 13 is formed in the center of the parking tower 5, within which a lift 14 (elevator-like transport vehicle) is provided so that it can move up and down. The lift 14 is suspended at its four corners by multiple wire ropes extending downward from a winch (not shown) provided at the top of the parking tower 5, for example, and can move up and down within the elevator passage 13 when the winch is activated.

[0016] Meanwhile, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage shelves 17 are provided in multiple levels, one above the other, on either side of the elevator passage 13, and each vehicle storage shelf 17 stores one pallet 18 for loading vehicles. Note that the support pillars and other elements of the vehicle storage shelves 17 are not shown in the drawing.

[0017] A transfer mechanism (not shown) is provided on the floor of the lift 14 and the vehicle storage shelf 17, which allows an empty pallet 18 or a pallet 18 loaded with a vehicle 2 to be smoothly transferred from the lift 14 to the vehicle storage shelf 17, or from the vehicle storage shelf 17 to the lift 14, when the heights of the two floors are the same.

[0018] 2 is a schematic perspective view showing the boarding / alighting compartment 7. Inside the boarding / alighting compartment 7, there is a space in the center where the pallet 18 is placed, and for example, on the wall in front of the entrance door 4, there is provided a mirror that allows the user (driver) to check the position of the vehicle 2, and an electronic stopping position indicator light 25 that provides guidance to "go forward," "stop," and "back up."

[0019] Four cameras 35A to 35D are installed in the boarding / de-boarding compartment 7 to capture images of the interior conditions. In this embodiment, the cameras 35A to 35D are, for example, video cameras, and are each attached to a different wall surface (four sides) of the boarding / de-boarding compartment 7. For example, camera 35A is positioned to capture the front of the vehicle 2 parked in the boarding / de-boarding compartment 7, camera 35B is positioned to capture the rear of the vehicle 2, camera 35C is positioned to capture the left side of the vehicle 2, and camera 35D is positioned to capture the right side of the vehicle 2. The number of cameras to be installed is not limited to the above, and it is sufficient that at least one camera is installed.

[0020] An internal sensor 30 (see FIG. 4) is installed in the boarding / deboarding compartment 7 to detect whether there is anyone in the compartment. Note that the internal sensor 30 is not shown in FIG. 2. The internal sensor 30 detects objects (people, pets, luggage, etc.) in the boarding / deboarding compartment, and any known sensor may be used as appropriate. Examples of the internal sensor 30 include multiple range sensors provided at diagonal or parallel positions in the boarding / deboarding compartment 7, motion sensors provided in the front, right, left, and rear regions of the boarding / deboarding compartment 7, photoelectric sensors, and stop position detection sensors for detecting the vehicle's stopping position. Furthermore, the above-described cameras 35A to 35D may be used as other examples of internal sensors. In this case, it is possible to confirm whether there is anyone in the boarding / deboarding compartment by processing the image data acquired by the cameras 35A to 35D. The detection signal of the internal sensor 30 is output to a sensor control unit 57 (see FIG. 4) which will be described later.

[0021] An entrance / exit sensor 32 is provided at the entrance 3 of the boarding / de-boarding room 7 to detect whether a person or vehicle has entered or exited the boarding / de-boarding room 7. The entrance / exit 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 that receive a beam transmitted from a transmitter at a receiver. When this beam is blocked by a vehicle 2, a person, or the like, the sensor turns on, and the detection signal is transmitted to a sensor control unit 57 (see FIG. 4) described later.

[0022] For example, when an ON signal is input from the sensor 32A to the sensor 32B in this order, the sensor control unit 57 determines that a person or vehicle has exited the boarding / deboarding compartment 7. Furthermore, when an ON signal is input from the sensor 32B to the sensor 32A in this order, the sensor control unit 57 determines that a person or vehicle has entered the boarding / deboarding compartment 7.

[0023] The method for detecting the exit of a person or vehicle from the boarding / 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 area of the boarding / alighting compartment 7 (such as a human presence sensor, an over-detection sensor for determining whether the rear part of the vehicle has exceeded a predetermined stopping position, or a range sensor) or a predetermined sensor installed inside the boarding / alighting compartment may be used. 2, the sensors 32A and 32B are respectively provided inside and outside the boarding / deboarding compartment 7, with the entrance door 4 sandwiched therebetween, but this is not limiting. For example, the sensors 32A and 32B may both be provided inside the boarding / deboarding compartment, or may both be provided outside the boarding / deboarding compartment.

[0024] Furthermore, the sensor control unit 57 can determine whether a person is entering or exiting or a vehicle is entering or exiting based on the detection signal of the entry / exit sensor 32. For example, when a person is entering or exiting, the sensors 32A and 32B do not output ON signals at the same time. In contrast, when a vehicle 2 is entering or exiting, because 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 a vehicle 2 is entering or exiting based on the degree of temporal overlap between the ON signal of the sensor 32A and the ON signal of the sensor 32B.

[0025] In this embodiment, the entry and exit sensor 32 is configured to be able to detect entry and exit, but is not limited to this example. For example, it is sufficient if the sensor is configured to at least detect exit from the boarding / deboarding compartment 7. One example is a camera 35.

[0026] An operation panel 22 that receives input information for closing the entrance door 4 is provided outside the boarding / deboarding compartment 7. This operation panel 22 is operated by, for example, a user, a manager, a maintenance worker, etc. A monitor 28 is installed near the operation panel 22 to display real-time images captured by the cameras 35A to 35D.

[0027] Fig. 3 is a diagram showing an example of the configuration of the control panel 22. As shown in Fig. 3, the control panel 22 is housed in a metal housing 43 to protect it from wind and rain and to prevent tampering, and this housing 43 is provided with a lockable lid 44. When an operator operates the control panel 22, the operator unlocks the lid, opens the lid 44, and accesses the control panel 22.

[0028] The operation panel 22 includes, for example, an authentication information input unit for receiving authentication information of a user. In the present embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, or face image, or a wireless communication unit that receives authentication information via wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wi-Fi, LTE, etc.).

[0029] The operation panel 22 may also be equipped with a touch panel 45, a speaker 47 for providing audio guidance to the operator (e.g., a user) on how to operate the device, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc.

[0030] The touch panel 45 has both a display function and an input function. For example, various kinds of guidance information for performing operations for entering and leaving the warehouse are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the warehouse. The display on the touch panel 45 is controlled by the control device 40, which will be described later, and information input by operating the touch panel 45 by the operator or the like is output to the control device 40.

[0031] As shown in Fig. 2, an entrance / exit sensor (object detection means) 20 that detects an object near the entrance / exit door is provided outside the boarding / deboarding compartment 7 near the entrance / exit door 3. The entrance / exit sensor 20 is installed facing downward, for example, on the upper part of the entrance / exit door 4. The area monitored by the entrance / exit sensor 20 is set according to the entry status or exit status by a monitoring area setting unit (monitoring area setting means) described later.

[0032] The entrance / exit sensor 20 is, for example, a range sensor (laser scanner) that detects objects by emitting a detection wave such as a laser beam or ultrasound that has the property of reflecting when it hits a target, and then receiving the reflected wave while scanning a predetermined angular range horizontally. In this embodiment, the case where the probe wave is scanned two-dimensionally (planarly) is exemplified, but the present invention is not limited to this. For example, the probe wave may be scanned three-dimensionally to detect an object three-dimensionally.

[0033] The installation position of the entrance / exit sensor 20 is not limited to the above example. For example, the entrance / exit sensor 20 may be provided on the right or left side of the entrance / exit 3. Furthermore, the entrance / exit sensor 20 is not limited to a range sensor, and may be a plurality of photoelectric sensors (reflective or transmissive) provided at a plurality of height positions and left and right positions, and any known sensor can be used as appropriate as long as it has the function of realizing monitoring of the monitoring area described below.

[0034] An entrance control light 21, for example, equipped with blue and red lamps, is provided above the entrance / exit sensor 20. In addition, a control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding / exiting room 7.

[0035] FIG. 4 is a functional configuration diagram showing an example of functions provided in the control device 40 of the mechanical parking device 1 according to this 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, a main memory that functions as a work area when each program is executed, and a communication interface for connecting to a network. The control device 40 also includes a comprehensive database 52 that stores various data required to control the mechanical parking device 1. The comprehensive database 52 stores vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information (user ID, etc.) of people authorized to use the mechanical parking device 1, and contact information for users, etc. (e.g., registered email addresses, etc.). People authorized to use the mechanical parking device 1 include users, managers, maintenance personnel, etc.

[0036] The control device 40 also includes a storage unit 41 for storing data required for the execution of the later-described storage process and retrieval process. For example, the storage unit 41 stores the user ID (first authentication information) of a user who has been successfully authenticated in the first user authentication process, a monitoring area, information on various modes, and the like.

[0037] The auxiliary storage device of the control device 40 stores control programs and the like for controlling each mechanism of the mechanical parking device 1, and the CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each unit described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the comprehensive database 52 and the memory unit 41.

[0038] The control programs may be stored in advance in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server or the like that distributes control programs after installation. Alternatively, the programs may be installed via an external storage device. In this way, there are no particular limitations on the method for installing the various programs.

[0039] The control device 40 includes a main control unit 50. In addition to the above-mentioned general database 52, the main control unit 50 is connected to 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 control unit 62, etc. The main control unit 50 is also connected to an operation panel 22, allowing for two-way communication.

[0040] The entrance door control unit 55 receives an operation command from the main control unit 50 and controls a door drive unit 63 that drives the entrance door 4 to open and close, thereby opening and closing the entrance door 4. The entrance door control unit 55 also receives a position signal of the entrance door 4 from an entrance door sensor 67 and feeds this information back to the main control unit 50. The door drive unit 63 is configured to include, for example, a motor and the like. Various known configurations can be adopted for the door drive unit 63 as appropriate.

[0041] The entrance door sensor 67 detects, for example, whether the entrance door 4 is fully open or fully closed, and outputs a detection signal indicating this (door fully open signal, door fully closed signal) to the entrance door control unit 55. Any known sensor can be used as the entrance door sensor 67. For example, a limit switch or the like is one example of the entrance door sensor 67. The entrance door sensor 67 may further include a sensor that outputs information regarding the opening degree of the entrance door 4. For example, a pair of photoelectric sensors (not shown) may be provided at a predetermined height on both ends of the entrance 3, and the opening degree of the entrance door 4, in other words, the vertical position, may be detected based on whether or not light from the photoelectric sensors is blocked. In this embodiment, a case in which a pair of photoelectric sensors is provided at a height of 300 mm from the ground is described as an example, but this is not limited to this. For example, multiple pairs of sensors may be provided to detect multiple height positions. Furthermore, the means for detecting the opening degree of the entrance door 4 is not limited to the photoelectric sensor described above. For example, a limit switch may be used, or an encoder provided on the motor of the door drive unit 63 may be used to detect the opening degree.

[0042] The conveyor control unit 56 receives operation commands from the main control unit 50 and controls a lift drive unit 64 that drives the lift 14, thereby controlling the raising and lowering of the lift 14 and the loading and unloading of the pallets 18. The conveyor control unit 56 also receives a position signal of the lift 14 from a conveyor position sensor 68 and feeds that information back to the main control unit 50.

[0043] The sensor control unit 57 receives detection signals from the entrance / exit sensor 20 and the internal sensor 30, and outputs the information to the main control unit 50. The sensor control unit 57 also determines whether a person or vehicle has entered or exited based on the detection signal from the entrance / exit sensor 32, and outputs the determination result to the main control unit 50.

[0044] Upon receiving an operation command from the main control unit 50, the camera control unit 58 causes the cameras 35 (35A to 35D) installed inside the boarding / deboarding compartment 7 to capture images and outputs the image information to the main control unit 50. This image information is accumulated in the image database 59 for a predetermined period of time. The image database 59 may be provided inside the general database 52 or on the cloud.

[0045] The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the 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 controlling the lift 14, etc.

[0046] The swivel control unit 62 receives an operation command from the main control unit 50 and operates the turntable 8 by controlling the swivel drive unit 11 that rotates the turntable 8. The swivel control unit 62 also receives a swivel position signal of the turntable 8 from the turntable position sensor 71 and feeds that information back to the main control unit 50.

[0047] The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55, 56, 57, 58, 61, 62 and input information from the operation panel 22. The main control unit 50 also executes a control program for entry processing and a control program for exit processing based on various information exchanged with the operation panel 22. Note that the detection signals from the entrance / exit sensor 20, the internal sensor 30, and the entry / exit sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the sensor control unit 57 described above. This makes it possible to implement more rapid control in response to the detection signals.

[0048] The main control unit 50 also includes a monitoring area setting unit (monitoring area setting means) 80 that sets a monitoring area at least either when entering or leaving the warehouse, and an object detection control unit 81 that performs predetermined control when an object is detected in the monitoring area.

[0049] The monitoring area setting unit 80 sets a monitoring area, for example, near the entrance / exit. For example, the monitoring area setting unit 80 sets a monitoring area during a door-opening operation period when the entrance / exit door 4 is opened and during a vehicle movement period when the vehicle 2 is moving. Specifically, the monitoring area setting unit 80 makes the monitoring area during the door-opening operation period different from the monitoring area during the vehicle movement period.

[0050] For example, the monitoring area setting unit 80 may set the monitoring area during the door-opening operation period so as to include all of the overlapping areas D of the doors that make up the entrance door 4. Fig. 5 is a diagram showing an example of a monitoring area in the case of two doors, and Fig. 6 is a diagram showing an example of a monitoring area in the case of three doors. Furthermore, the monitoring area setting unit 80 may change the monitoring area according to the opening degree of the entrance door 4 during the door-opening operation period. For example, the area in which the entrance door 4 is present may be set as the monitoring area. This allows the monitoring area to change dynamically in accordance with the movement of the entrance door 4.

[0051] The monitoring area setting unit 80 sets monitoring areas according to the type of vehicle during the vehicle movement period. For example, the monitoring area setting unit 80 may divide vehicle types into three categories: standard-roof vehicles, mid-roof vehicles, and high-roof vehicles, and set different monitoring areas according to these categories. For example, the monitoring areas may be set so that the lower ends of the monitoring areas become higher for standard-roof vehicles, mid-roof vehicles, and high-roof vehicles in that order. FIG. 7 shows an example of monitoring areas during the vehicle movement period. In FIG. 7, for high-roof vehicles, area C may be set as the monitoring area for detecting vehicles that cannot be stored, for mid-roof vehicles, areas B to C may be set as the monitoring area, and for standard-roof vehicles, areas A to C may be set as the monitoring area.

[0052] The vehicle type information may be associated with a user ID and stored in the general database 52. Alternatively, instead of the vehicle type information, information on the monitoring area corresponding to the vehicle type information may be associated with a user ID and stored in the general database 52. The monitoring area setting unit 80 has a table in which the above-mentioned monitoring areas are associated with conditions (setting timing), and by referring to this information, it realizes the above-mentioned monitoring area setting function. Note that the above-mentioned monitoring area setting method is one example and is not limited to this. For example, the monitoring area can be set appropriately depending on the door opening / closing method and the required safety level.

[0053] If an object is detected in the monitoring area during the door-opening operation period, the object detection control unit 81 stops the operation of the entrance door 4. Alternatively, the entrance door 4 may be reversed. The object detection control unit 81 may also determine whether to stop operation or reverse operation depending on the opening degree of the entrance door 4 when the object is detected.

[0054] If an object is detected in the monitoring area during the vehicle movement period, the object detection control unit 81 issues an error notification. This makes it possible to notify the user (e.g., the driver) that the vehicle entering the warehouse is different from the vehicle type set at the time of entry or the vehicle type associated with the pallet. Note that if a vehicle is detected in area C, a notification may be sent that entry is not permitted.

[0055] [Warehousing process] Next, an example of a warehousing process executed by the control device 40 when a vehicle is brought into warehousing will be described with reference to the drawings. Figures 8 to 11 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

[0056] First, when entering the parking lot, the user moves the vehicle 2 in front of the entrance / exit 3, gets out of the vehicle, and goes to the operation panel 22. Then, the user unlocks the vehicle with a dedicated key 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 operation panel 22 (SA2).

[0057] When a user touches an 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 parking lot is a pre-registered user (SA4). Specifically, the control device 40 accesses the comprehensive database 52 and determines whether the input user ID is registered. If the first user authentication is not successful (SA5: NO), the control device 40 notifies the user that the authentication has failed by displaying a message on the touch panel 45 indicating that the user authentication has failed, and then displays the first user authentication screen (SA2).

[0058] On the other hand, if the first user authentication is successful (SA5: YES), that is, if the user ID is registered in the general database 52, the system enters an operation permission state in which input operations can be performed from the touch panel 45 of the operation panel 22 (SA6), the user ID for which the first user authentication was successful is stored in the memory unit 41 (SA7), and a storage startup confirmation screen is displayed on the touch panel 45 of the operation panel 22 (SA8).

[0059] When the start button is pressed on the warehousing start confirmation screen (SA9), the control device 40 puts the vehicle transport mechanism such as the lift 14 and the mechanical mechanisms such as the entrance door 4 into an operation permission state (SA10), allowing them to operate, and retrieves an empty pallet from the vehicle storage shelf 17 (SA11 in FIG. 9). At this time, a warehousing waiting confirmation screen indicating the warehousing waiting status may also be displayed on the touch panel 45.

[0060] Next, when the empty pallet arrives at the boarding / exit room 7 (SA12), the control device 40 displays a door open screen on the touch panel 45 indicating that the entrance door 4 will open, and performs door open processing to open the entrance door 4 (SA13). Details of the door open processing will be described later. Next, when the entrance door 4 is fully opened, the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SA14), and further sets the operation lock state to not accept input from the touch panel 45 of the operation panel 22 (SA15). This makes it possible to prevent input from the touch panel 45 by a third party while the user is away from the operation panel 22.

[0061] Next, the control device 40 determines whether the vehicle 2 has started to enter the boarding / alighting compartment 7 (SA16). In other words, it determines whether an object has been detected by the entrance / exit sensor 32 (specifically, sensor 32B). As a result, if the vehicle 2 has not yet moved to the position of sensor 32B (SA16: NO), the control device 40 repeats the determination process. On the other hand, if the vehicle 2 has started to enter the boarding / alighting compartment 7 (SA16: YES), the control device 40 sets a monitoring area according to the vehicle type information of the vehicle 2 (SA17). As a result, if the vehicle 2 is a standard-sized vehicle, areas A to C are set as the monitoring area; if the vehicle 2 is a mid-roof vehicle, areas B to C are set as the monitoring area; and if the vehicle 2 is a high-roof vehicle, area C is set as the monitoring area for detecting vehicles that are not permitted to enter (see FIG. 7).

[0062] Next, the control device 40 determines whether an object has been detected in the monitoring area by the entrance / exit sensor 20 (SA18). In other words, it determines whether the vehicle body height of the vehicle 2 is within a specified value. As a result, if an object has not been detected in the monitoring area (SA18: NO), it determines whether the vehicle 2 has completed entering the boarding / de-boarding compartment 7 (SA19). That is, it determines whether the entry / exit sensor 32 has stopped detecting an object (vehicle). As a result, if the vehicle 2 has not completed entering (SA19: NO), it returns to step SA18 and repeats the above process. Also, if an object has been detected in step SA18 (SA18: YES), it determines that the height of the vehicle 2 is equal to or greater than the specified value, and issues an error notification (SA20). The error notification may be issued, for example, by a speaker or the like installed in the boarding / de-boarding compartment, or by displaying a message on a display installed at the front of the boarding / de-boarding compartment. Also, if communication with an on-board device installed in the vehicle 2 is possible, the notification may be made through the on-board device via the wireless communication unit.

[0063] On the other hand, if the entry of the vehicle 2 is completed without detecting an object (SA19: YES), the monitoring area setting is cancelled (SA21 in FIG. 10). This temporarily stops object detection near the entrance / exit. Next, the user stops the vehicle 2 at a predetermined position in the boarding / de-boarding compartment 7 and exits the boarding / de-boarding compartment 7. Then, when the entry / exit sensor 32 detects that the user has exited the boarding / de-boarding compartment 7, the control device 40 displays a second user authentication screen on the touch panel 45 of the operation panel 22 and prompts the user to enter authentication information (SA22).

[0064] As a result, when a user or the like touches an IC card to the IC card reader 46 and inputs authentication information (second authentication information) (SA23), the control device 40 performs second user authentication (SA24). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a pre-registered user ID.

[0065] As a result, if the second user authentication is successful (SA25: YES), a matching process is then performed to determine whether the user ID (first authentication information) entered in the first user authentication is the same as the user ID (second authentication information) entered in the second user authentication (SA26). The matching process determines whether the person who opened the entrance door 4 is the same as the person who will close it. If the matching process is successful (SA27: YES), the process proceeds to step SA28 in FIG. 11.

[0066] On the other hand, if the second user authentication is not successful (SA25: NO in FIG. 10) or if the matching process is not successful (SA27: NO), the process returns to step SA22 and the second user authentication screen is displayed. At this time, it is also possible to notify the user that the authentication or matching has failed.

[0067] 11, the control device 40 sets the operation panel 22 to an operation permitted state. Next, the control device 40 displays an unmanned confirmation screen on the touch panel 45 to prompt the user to perform unmanned confirmation inside the boarding / deboarding compartment, and provides guidance to prompt the user to perform unmanned confirmation (SA29).

[0068] When the unattended confirmation button is pressed on the unattended confirmation screen (SA30), the control device 40 causes the touch panel 45 of the operation panel 22 to display a door close screen for closing the entrance door 4 (SA31). On the door close screen, for example, a door close button is displayed, and guidance is displayed urging the user to confirm again that there is no one in the boarding / deboarding compartment before operating the door close button. When the door close button is pressed on this door close screen (SA32), the control device 40 determines that there is no one in the boarding / deboarding compartment based on a detection signal from the internal sensor 30 (SA33). At this time, a monitoring area may be set for the entire entrance 3, and object detection may further be performed in this monitoring area by the entrance / exit sensor 20, as shown in FIG. 13. As a result, if an object is detected by the internal sensor 30 or the entrance / exit sensor 20 (SA33: NO), the process returns to step SA29, and the user is asked to perform unattended confirmation again. On the other hand, if an object is not detected and unattended confirmation is made (SA33: YES), the door closing process is performed (SA34), the user ID (first authentication information) stored in the memory unit 41 is erased (SA35), and the storage process is terminated. The door closing process will be described later. If an object is detected in step SA33, instead of returning to step SA29, the process may return to step SA22 in FIG. 10 and start from the second user authentication.

[0069] [Door opening process] Next, the door-opening process executed in step SA13 (see Fig. 9) of the warehousing process will be described with reference to Fig. 12. Fig. 12 is a flowchart showing an example of the procedure of the door-opening process in the warehousing process.

[0070] In the door opening process of the storage process, the control device 40 sets a monitoring area (see, for example, FIG. 5) (SB1), and then determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 20 (SB2). As a result, if an object is detected in the monitoring area (SB2: YES), error processing is performed (SB3). In the error processing, for example, a message is sent to the user that an object has been detected in the monitoring area and that the user is urged to check the safety around the entrance / exit door 4. The message is sent, for example, by a speaker or the like installed on the operation panel 22. Alternatively, a display may be installed near the entrance / exit door 4 and a message may be displayed on the display. When the error processing is completed in this manner, the process returns to step SB2.

[0071] On the other hand, if an object is not detected in the monitored area (SB2: NO), the control device 40 starts the door-opening operation (SB4). Next, the control device 40 determines whether an object is detected in the monitored area based on the detection signal of the entrance / exit sensor 20 (SB5). As a result, if an object is not detected (SB5: NO), it determines whether the door is fully open (SB6). As a result, if the door is not fully open (SB6: NO), the process returns to step SB5, and the object detection determination is repeated until the door is fully open.

[0072] If an object is detected in the monitored area (SB5: YES), the control device 40 stops the opening operation of the entrance door 4 (SB7) and performs error processing (SB8). The error processing here is the same as that in step SB3, so its description will be omitted. Next, the control device 40 determines whether an object has been detected in the monitored area based on the detection signal from the entrance sensor 20 (SB9). As a result, if an object has been detected (SB9: YES), the process returns to step SB8. On the other hand, if an object has not been detected in step SB9 (SB9: NO), the process resumes the opening operation of the entrance door 4 (SB10) and returns to step SB5. Then, when the entrance door 4 is fully open (SB6: YES), the door-opening process ends.

[0073] [Door closing process] Next, the door closing process executed in step SA34 (see FIG. 11) of the warehousing process will be described. The door closing process is basically the same as the door opening process shown in FIG. 12 except that the entrance door 4 is driven from a fully open state to a fully closed state and the monitoring area is different from that in the door opening process, so a detailed description will be omitted here. The monitoring area set during the door closing process, in other words, the monitoring area during the door opening operation, is set to the entire entrance as shown in FIG. 13, for example. Furthermore, during the door closing process, instead of stopping the door opening operation in step SB7, a door reversal process may be performed. In this case, if an object is detected in the monitoring area during the door closing operation, the door is driven to reverse and returns to the fully open state. Thereafter, when it is confirmed based on the detection signal from the entrance sensor 20 that no object has been detected in the monitoring area, the door closing operation is resumed.

[0074] [Shipping process] The unloading process is the same as the unloading process described above, except that the loading start confirmation screen in step SA8 of Fig. 8 becomes the unloading start confirmation screen, a pallet with a vehicle 2 placed on it is called instead of an empty pallet when calling a pallet in step SA11, and the processes in steps SA16 to SA21 are omitted. Therefore, a detailed description will be omitted.

[0075] As explained above, the mechanical parking device 1 and its safety confirmation method and safety confirmation program according to this embodiment are provided with a monitoring area setting unit 80 that sets a monitoring area near the entrance door 4, and an entrance sensor 20 that is provided near the entrance door and detects objects in the monitoring area. The monitoring area setting unit 80 sets a monitoring area during the door-opening operation period when the entrance door 4 is opened and during the vehicle movement period when the vehicle 2 is moving. This makes it possible to detect contact between the entrance door 4 and a person during the door-opening operation period, and to prevent accidents such as fingers getting caught. Also, during the vehicle movement period, it becomes possible to detect vehicles with heights that do not meet the standards. This makes it possible to improve the safety of the mechanical parking device 1. Furthermore, since the common entrance / exit sensor 20 detects contact between the entrance / exit door and a person and determines the vehicle height, it is possible to avoid adding additional sensors, thereby making it possible to suppress increases in costs.

[0076] The processing procedures and processing contents related to the warehousing and shipping processing according to this embodiment are merely examples and are not limited to these. For example, processing can be added, omitted, or procedures can be changed as appropriate. Furthermore, well-known processing can be adopted as appropriate for user authentication, unattended confirmation, etc. Furthermore, in this embodiment, an upward-opening entrance door 4 has been described as an example, but this is not limiting. For example, a downward-opening entrance door can also be used. In this case, for example, as illustrated in FIG. 14, a monitoring area may be set below the entrance door 4 during the opening operation period of the entrance door 4. FIG. 14 is a diagram showing an example of a monitoring area when a two-leaf entrance door 4 is used.

[0077] [Variation 1] Furthermore, as for the entrance door, for example, a horizontally opening (left and right opening) entrance door 4' may be used as shown in Fig. 15. Fig. 15 is a diagram showing the configuration around the entrance 3 of a mechanical parking device according to Modification 1. As shown in Fig. 15, the entrance 3 is provided with a horizontally opening entrance door 4'. Furthermore, an emergency escape door 6 is provided near the entrance 3. The emergency escape door 6 is an outward opening door.

[0078] In the case of such a horizontally opening entrance door 4', the monitoring area setting unit 80 sets the monitoring area during the door opening operation period. In this case, as described above, the monitoring area may be changed depending on the opening degree of the entrance door 4'. Even in the case of a horizontally opening door, it is advisable to set the monitoring area so that the overlapping portion of the doors is included in the monitoring area. Fig. 16 is a diagram showing an example of the monitoring area when the door is fully closed (opening degree 0%), and Fig. 17 is a diagram showing an example of the monitoring area when the door is opened degree 50%.

[0079] Furthermore, when the entrance door 4' is in a fully closed state, as shown in Fig. 18, a monitoring area may be set that includes the entire emergency escape door 6, and object detection in the set monitoring area may be performed by the entrance sensor 20. If an object is detected by the entrance sensor 20, the mechanical parking device may be brought to an emergency stop to ensure safety. This is because if the emergency escape door 6 is opened, it can be assumed that a person has been trapped inside the passenger compartment. Furthermore, the monitoring of the emergency escape door 6 as described above can be widely applied to mechanical parking devices 1 having emergency escape doors 6, regardless of the opening and closing method of the entrance and exit doors.

[0080] Second Embodiment Hereinafter, a mechanical parking device and a safety confirmation method and a safety confirmation program according to a second embodiment of the present disclosure will be described with reference to the drawings. In the second embodiment described below, a two-tiered mechanical parking device 100 will be described as an example of the mechanical parking device according to the present disclosure.

[0081] Fig. 19 is a schematic external view of a mechanical parking device 100 according to a second embodiment of the present disclosure, and Fig. 20 is a schematic front view of the mechanical parking device 100 according to this embodiment. In this embodiment, a single-row mechanical parking device 100 in which boarding and disembarking compartments 107a to 107f of the mechanical parking device 100 are arranged in a row in the width direction of the vehicle will be described as an example.

[0082] As shown in Figures 19 and 20, the mechanical parking device 100 is a single-row, two-stage, lift-and-traverse type parking device, and is equipped with six boarding and disembarking rooms 107a-107f on the ground floor and six hangars on the floors above. The hangars may be located on floors below the boarding floor. The boarding and disembarking rooms 107 may be an area where both entry and exit are possible, or an area where either entry or exit is possible. Hereinafter, when it is necessary to distinguish between the landing rooms 107a to 107f individually, they will be referred to as landing rooms 107a, 107b, 107c, etc., and when there is no need to distinguish between them, they will be simply referred to as landing room 107. The same applies to other configurations.

[0083] Entrance doors 104a to 104f are provided at the entrances of each of the boarding and disembarking compartments 107a to 107f. In this embodiment, a case where an entrance door 104 is provided for each entrance of the vehicle will be described as an example, but the present invention is not limited to this. For example, one door may be provided for multiple entrances. The height L (see FIG. 20) of the entrance doors 104a to 104f is set to a predetermined height, and when fully closed, the upper part of the entrance is open. Therefore, the transport control of the pallet (vehicle transport means) described below is performed with part of the entrance open.

[0084] 19 and 20 show the mechanical parking device 100 with the entrance doors 104a to 104f closed (opening degree 0%). Also, Fig. 21 shows the mechanical parking device 100 with the entrance door 104 (here, entrance door 104d) open (opening degree 100%). As shown in FIG. 21, the entrance door 104 is opened by sliding upward, and is in a fully open state (opening degree 100%) when the upper end of the entrance door 104 reaches a predetermined height position.

[0085] An internal sensor 130 (see FIG. 25) for detecting the absence of anyone in the boarding / deboarding room 107 is provided inside the boarding / deboarding room 107. In addition, an entrance / exit sensor 132 (see FIG. 25) for detecting the entry and exit of an object into and from the boarding / deboarding room 107 is provided near the entrance / exit to the boarding / deboarding room 107. 19 and 20, these sensors are omitted from the illustration. The types, placement positions, control, etc. of the internal sensor 130 and the entrance / exit sensor 132 may be determined by appropriately adopting known techniques, and detailed explanations thereof will be omitted here.

[0086] In the mechanical parking device 100, for example, an entrance / exit sensor 120 for detecting an object near the entrance / exit is provided at the upper part of each of the boarding / deboarding compartments 107a to 107f, approximately in the center in the width direction. The entrance / exit sensor 120 is, for example, a range sensor (laser scanner) that detects an object by emitting a probe wave, such as a laser beam or ultrasonic wave, that reflects off a target, and scanning a predetermined angular range horizontally while receiving the reflected wave. In this embodiment, a case where the probe wave is scanned two-dimensionally (planarly) is illustrated, but this is not limiting. For example, an object may be detected three-dimensionally by scanning the probe wave three-dimensionally.

[0087] The number and locations of the entrance / exit sensors 120 are not limited to the above example. For example, the entrance / exit sensors 120 may be provided on the right or left side of the entrance. Furthermore, the entrance / exit sensors 120 may be provided corresponding to each of the entrance doors 104a to 104f. Furthermore, the entrance / exit sensor 120 is not limited to a range sensor, but may be a plurality of photoelectric sensors (reflective or transmissive) installed at a plurality of height positions and left and right positions, and any known sensor can be appropriately adopted as long as it has the function to realize monitoring of the monitoring area described below.

[0088] The mechanical parking device 100 is equipped with an operation panel 122 that allows the user to perform various input operations for entering and leaving the parking lot and to input the end of unmanned parking confirmation. In this embodiment, the operation panel 122 is provided on a support pillar between the boarding and disembarking compartments 107c and 107d, but is not limited to this. It may be provided on either of the support pillars, for example, on the right end or the left end of the support pillar.

[0089] Figures 22 and 23 are diagrams showing an example of installation of the control panel 122, where Figure 22 is a diagram showing the installation of the control panel 122 from above, and Figure 23 is a schematic front view of the control panel 122, showing an example of the arrangement of the support member 123 that supports the control panel 122. 22 and 23, the operation panel 122 is supported by two rod-shaped support members 123 on a support column 135. The sensing position of the entrance / exit sensor 120 described above is set to pass between the operation panel 122 and the support column 135. The size (diameter) of the support member 123 is set to be equal to or smaller than the size that can be detected by the entrance / exit sensor 120. This makes it possible to prevent the support member 123 from being detected as an object.

[0090] Fig. 24 shows an example of the configuration of the operation panel 122. As shown in Fig. 24, the operation panel 122 is equipped with a power key 111, an emergency stop button 112, and a touch panel 113. By operating the operation panel 122, a user can issue instructions to call an empty pallet when entering the warehouse, or to call an outgoing vehicle when leaving the warehouse. The touch panel 113 of the operation panel 122 displays a numeric keypad for inputting a pallet number to call up a desired pallet, a pallet activation button for calling up a pallet, an unmanned confirmation button for inputting the completion of unmanned confirmation, a door open button for opening the door, and a door close button for closing the door.

[0091] Next, the control device 140 of the mechanical parking device 100 according to this embodiment will be described with reference to FIG. 25. FIG. 25 is a functional configuration diagram showing an example of the functions of the control device 140 according to this embodiment. The control device 140 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, 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. The control device 140 also includes a comprehensive database 152 that stores various data required to control the mechanical parking device 100. The comprehensive database 152 stores various information required for entry and exit control of the mechanical parking device.

[0092] The control device 140 also includes a storage unit 141 for storing data required for the execution of the warehousing process and the retrieval process, which will be described later. For example, the storage unit 141 stores information on the monitoring area according to the progress of the warehousing process and the retrieval process.

[0093] The auxiliary storage device of the control device 140 stores control programs and the like for controlling each mechanism of the mechanical parking device 100, and the CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each unit described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the comprehensive database 152.

[0094] The control programs may be stored in advance in an auxiliary storage device such as a ROM when the control device 140 is manufactured, or may be downloaded and installed from a server or the like that distributes control programs after installation. Alternatively, the programs may be installed via an external storage device. In this way, there are no particular limitations on the method for installing the various programs.

[0095] The control device 140 includes a main control unit 150. In addition to the above-mentioned general database 152, the main control unit 150 is connected to an entrance / exit door control unit 155, a conveyor control unit 156, a sensor control unit 157, and the like. The main control unit 150 is also connected to an operation panel 122, and is configured to enable two-way communication.

[0096] The entrance door control unit 155 receives operation commands from the main control unit 150 and controls a door drive unit 163 that drives the entrance doors 104a to 104f to open and close, thereby opening and closing the entrance doors 104a to 104f. The entrance door control unit 155 also receives position signals of the entrance doors 104a to 104f from an entrance door sensor 167 and feeds this information back to the main control unit 50. The door drive unit 163 is configured to include, for example, a motor and the like. Note that the door drive unit 163 can employ various known configurations as appropriate.

[0097] The entrance door sensor 167 detects, for example, whether the entrance door 104 is fully closed (see FIG. 20) or fully open (see FIG. 21), and outputs a detection signal indicating this (door fully closed signal, door fully open signal) to the entrance door control unit 155. A known sensor can be appropriately adopted as the entrance / exit door sensor 167. For example, an example of the entrance / exit door sensor 167 is a limit switch or the like. The entrance door sensor 167 may further include a sensor that outputs information regarding the opening degree of the entrance door 104. For example, a pair of photoelectric sensors (not shown) may be provided at a predetermined height position on both ends of the entrance 3, and the opening degree of the entrance door 104, in other words, the position in the height direction, may be detected depending on whether or not light rays from these photoelectric sensors are blocked. The entrance door sensor 167 may be provided with multiple pairs of sensors to detect multiple height positions, for example. The means for detecting the opening degree of the entrance door 104 is not limited to the photoelectric sensor described above. For example, a limit switch may be used, or an encoder provided on the motor of the door drive unit 163 may be used to detect the opening degree.

[0098] The conveyor control unit 156 controls the lateral movement and elevation of the pallet by controlling a pallet drive unit 164 that drives the pallet (vehicle conveyance means) in response to an operation command from the main control unit 150. Note that a known technique may be used to drive the pallet, and detailed description thereof will be omitted here.

[0099] The sensor control unit 157 receives detection signals from the entrance / exit sensor 120 , the interior sensor 130 , and the entrance / exit sensor 132 , and outputs the information to the main control unit 150 .

[0100] The main control unit 150 operates the mechanical parking device 100 based on feedback from each control unit 155, 156, 157 and input information from the operation panel 122. The main control unit 150 also performs entry and exit processing based on various information exchanged with the operation panel 122. Note that the detection signals from the entrance / exit sensor 120, the internal sensor 130, and the entry / exit sensor 132 may be input directly to the main control unit 150 instead of being input to the main control unit 150 via the above-mentioned sensor control unit 157. This makes it possible to implement more rapid control in response to the detection signals.

[0101] The main control unit 150 also includes a monitoring area setting unit (monitoring area setting means) 180 that sets a monitoring area at least either when entering or leaving the warehouse, and an object detection control unit 181 that performs predetermined control when an object is detected in the monitoring area. This makes it possible to set an appropriate monitoring range depending on the vehicle's location and the progress of its entry and exit, thereby improving safety.

[0102] The monitoring area setting unit 180 sets a monitoring area, for example, near the entrance door 104. For example, the monitoring area setting unit 180 sets the monitoring area during a pallet transport period (operation period of the vehicle transport means) when a pallet is transported, a door-opening operation period when the entrance door 4 is opened, a vehicle movement period when the vehicle 2 moves between the boarding / exit room and the vestibule, and a door-closing operation period when the entrance door 4 is closed.

[0103] For example, during the pallet transport period, the monitoring area setting unit 180 sets a monitoring area according to the height L of the entrance door 104. For example, as shown in Fig. 26, the monitoring area may be set to be an area above a reference position D3 that is set slightly below the upper end of the entrance door 4 in the fully closed state.

[0104] Furthermore, the monitoring area setting unit 180 may set the same monitoring area during the door-opening operation period as during the pallet transport period, for example. The monitoring area setting unit 180 may also change the monitoring area depending on the opening degree. For example, as shown in FIG. 27, the monitoring area setting unit 180 may set a monitoring area above the entrance door 104 while it is open, so as to include a part of the entrance door 104. In this way, the monitoring area is dynamically set in accordance with the movement of the entrance door 104. Furthermore, the monitoring area setting unit 180 may set the monitoring area so as to monitor the entire entrance / exit, for example, in the same manner as in the door closing operation period described later (see FIG. 29).

[0105] The monitoring area setting unit 180 sets each monitoring area according to the type of vehicle during the vehicle movement period. FIG. 28 is a diagram showing an example of the monitoring area during the vehicle movement period. The monitoring area setting unit 180 may, for example, divide vehicle types into three types: standard cars, mid-roof cars, and high-roof cars, and set different monitoring areas according to these classifications. For example, the monitoring areas may be set so that the lower ends of the monitoring areas are higher in the order of standard cars, mid-roof cars, and high-roof cars. The method for setting these monitoring areas is, for example, as described in the first embodiment. The vehicle type information may be associated with a user ID and stored in the general database 152. Alternatively, instead of the vehicle type information, information on the monitoring area corresponding to the vehicle type information may be associated with a user ID and stored in the general database 152. Alternatively, the vehicle type information may be information input by the user when the vehicle is brought into warehousing.

[0106] For example, during the door closing operation period, the monitoring area setting unit 180 sets a monitoring area to cover the entire entrance as shown in FIG. The monitoring area setting unit 180 has information on the monitoring area associated with the progress of the warehousing process and the warehousing process, and by referring to this information, it realizes the above-mentioned monitoring area setting function.

[0107] If an object is detected in the monitoring area during the pallet transport period, the object detection control unit 181 stops driving the pallet. Furthermore, if an object is detected in the monitoring area during the door-opening operation period, the object detection control unit 181 stops the operation of the entrance door 104. Furthermore, the object detection control unit 181 may determine whether to stop the operation or perform a reverse operation depending on the opening degree of the entrance door 104 when the object is detected.

[0108] The object detection control unit 181 issues an error notification if an object is detected in the monitoring area during the vehicle movement period. This makes it possible to notify the user (e.g., the driver) that the vehicle entering the warehouse is different from the vehicle type set at the time of entry or the vehicle type associated with the pallet. Note that if an object (vehicle) is detected in area C for detecting vehicles that cannot be entered, a notification that entry is not permitted may be issued.

[0109] If an object is detected in the monitoring area during the door closing operation period, the object detection control unit 181 stops or reverses the operation of the entrance door 104. Furthermore, the object detection control unit 181 may determine whether to stop or reverse the operation depending on the opening degree of the entrance door 104 when the object is detected.

[0110] [Warehousing process] Next, an example of a warehousing process executed by the control device 140 at the time of warehousing will be described with reference to the drawings. Figs. 30 and 31 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 140.

[0111] First, the user turns on the power of the operation panel 122 (SC1), and when the desired pallet number is specified and a pallet call operation is performed (SC2), a pallet transport process is performed to transport the specified empty pallet to the loading / unloading room 107 from which the pallet was called (SC3). Details of the pallet transport process will be described later.

[0112] When the designated empty pallet arrives at a predetermined boarding / deboarding room 107 (SC3), a door-opening process is performed to fully open the entrance / exit door 104 corresponding to the boarding / deboarding room 107 where the empty pallet has arrived (SC4). In the door-opening process, for example, a monitoring area shown by hatching in Fig. 26 is set, and the entrance / exit door 104 is moved to a fully open state while monitoring for object detection in this monitoring area. Note that the specific processing content is the same as in the first embodiment described above, and therefore a detailed description thereof will be omitted here.

[0113] When the entrance door 104 is fully opened, the control device 40 sets the operation panel 122 to an operation lock state in which input from the touch panel 113 is not accepted (SC5). This makes it possible to prevent a third party from inputting from the touch panel 113 while the user is away from the operation panel 122.

[0114] Next, the control device 140 determines whether or not the vehicle has started to enter the boarding / alighting compartment 107 (SC6). In other words, it determines whether or not an object has been detected by the entrance / exit sensor 132. As a result, if the vehicle has not moved to the position of the entrance / exit sensor 132 (SC6: NO), the control device 140 repeats the determination process. On the other hand, if the vehicle has started to enter the boarding / alighting compartment 107 (SC6: YES), the control device 140 sets a monitoring area according to the vehicle type information of the vehicle (SC7). As a result, if the vehicle is a standard-sized vehicle, areas A to C are set as the monitoring area; if the vehicle is a mid-roof vehicle, areas B to C are set as the monitoring area; and if the vehicle is a high-roof vehicle, area C is set as the monitoring area for detecting vehicles that are not permitted to enter (see FIG. 7).

[0115] Next, the control device 140 determines whether an object has been detected in the monitoring area by the entrance / exit sensor 120 (SC8). In other words, it determines whether the vehicle's body height is within a specified value. As a result, if an object has not been detected in the monitoring area (SC8: NO), it determines whether the vehicle has completely entered the boarding / de-boarding compartment 107 (SC9). That is, it determines whether the entrance / exit sensor 132 has stopped detecting an object (vehicle). As a result, if the vehicle has not completely entered (SC9: NO), it returns to step SC8 and repeats the above process. Also, if an object has been detected in step SC8 (SC8: YES), it determines that the vehicle's height is equal to or greater than a specified value and issues an error notification (SC10). The error notification may be issued, for example, by a speaker or the like installed in the boarding / de-boarding compartment, or by displaying a message on a display installed at the front of the boarding / de-boarding compartment. Also, if communication with an on-board device installed in the vehicle is possible, it may be notified through the on-board device via a wireless communication unit.

[0116] On the other hand, if no object is detected (SC8: NO) and the vehicle has completed entering (SC9: YES), the monitoring area setting is cancelled (SC11 in FIG. 31). This temporarily stops object detection near the entrance door 104. Next, the user stops the vehicle at a predetermined position in the boarding / alighting compartment and exits the boarding / alighting compartment 107.

[0117] When the entrance / exit sensor 132 detects that a user has exited the boarding / deboarding compartment 107, the control device 140 puts the operation panel 122 into an operation-permitted state (SC12), and displays an unattended confirmation button on the touch panel 113 (SC13). When the unattended confirmation button is pressed by the user who has performed the unattended confirmation (SC14), the control device 140 displays a door close instruction button on the touch panel 113 (SC15). When the user presses the door close instruction button to input a door close instruction (SC16), the control device 140 determines that there is no one in the boarding / deboarding compartment based on the detection signal from the internal sensor 130 (SC17). At this time, a monitoring area may be set for the entire entrance / exit, as shown by hatching in Fig. 29, and object detection may further be performed in this monitoring area by the entrance / exit sensor 120.

[0118] As a result, if an object is detected by the internal sensor 130 or the entrance / exit sensor 120 (SC17: NO), the process returns to step SC13, and the user is asked to perform unattended check again. On the other hand, if an object is not detected and unattended check is confirmed (SC17: YES), a door closing process is performed to close the entrance / exit door 104 (SC18). In the door closing process, for example, a monitoring area shown by hatching in FIG. 29 is set, and the entrance / exit door 104 is moved to a fully closed state while monitoring for object detection in this monitoring area. Note that the specific processing content is the same as in the first embodiment described above, and therefore a detailed description thereof will be omitted here.

[0119] Then, when the entrance door 104 is completely closed and the door closing process is completed, the user turns off the power to the operation panel 122 (SC19). When the user turns off the power to the operation panel 122, the control device 140 ends the warehousing process.

[0120] [Pallet transport processing] Next, the pallet transport process executed in step SC3 (see FIG. 30) of the warehousing process will be described with reference to the drawings. FIG. 32 is a flowchart showing an example of the processing procedure for the pallet transport process. Note that the following process is performed by the control device 140 not only during warehousing but also during the pallet transport period when pallet transport is performed.

[0121] In the pallet transport process, the control device 140 sets a monitoring area (see, for example, the hatched area in FIG. 26) (SD1), and then determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 120 (SD2). As a result, if an object is detected in the monitoring area (SD2: YES), error processing is performed (SD3). In the error processing, for example, a message is sent to the user that an object has been detected in the monitoring area and that the user is urged to check the safety around the entrance / exit door 104. The message is sent, for example, by a speaker or the like installed on the operation panel 122. When the error processing is completed in this manner, the process returns to step SD2.

[0122] On the other hand, if no object is detected in the monitored area (SD2: NO), the control device 140 starts pallet transport (SD4). Next, the control device 140 determines whether or not an object has been detected in the monitored area based on the detection signal from the entrance / exit sensor 120 (SD5). As a result, if no object is detected (SD5: NO), the control device 140 determines whether or not the transport process for transporting the specified pallet to the desired location (for example, the called boarding / deboarding compartment 107) has been completed (SD6). As a result, if the pallet transport has not been completed (SD6: NO), the process returns to step SD5, and the determination of object detection is repeated until the pallet transport is completed.

[0123] If an object is detected in the monitored area (SD5: YES), the control device 140 stops pallet transport (SD7) and performs error processing (SD8). The error processing here is similar to that in step SD3, so its explanation will be omitted. Next, the control device 140 determines whether an object has been detected in the monitored area based on the detection signal from the entrance / exit sensor 120 (SD9). As a result, if an object has been detected (SD9: YES), the process returns to step SD8. On the other hand, if an object is not detected in step SD9 (SD9: NO), the process resumes pallet transport (SD10) and returns to step SD5. Then, when pallet transport is completed (SD6: YES), the pallet transport process ends.

[0124] [Shipping process] In the case of unloading processing, the only difference is that the pallet on which the vehicle is placed is called to a designated boarding / unloading room 107, and that a user enters the boarding / unloading room 107 where the pallet has arrived, gets into the vehicle placed on the pallet, and causes the vehicle to leave the boarding / unloading room 107; other points are almost the same, so explanations will be omitted.

[0125] The processing procedures and processing contents related to the warehousing processing and retrieval processing according to the present embodiment described above are merely examples and are not limited to these. For example, it is possible to add or omit processes, or change procedures as appropriate. It is also possible to adopt known processes as appropriate. For example, in the warehousing processing described above, processes such as user authentication and safety confirmation are omitted, but these processes may be added. For example, as in the first embodiment, an IC card reader or numeric keypad for performing user authentication operations may be provided on the operation panel 122, and user authentication may be performed as appropriate.

[0126] As explained above, the mechanical parking device 100 and its safety confirmation method and safety confirmation program according to this embodiment are provided with a monitoring area setting unit 180 that sets a monitoring area near the entrance door 104, and an entrance sensor 120 that is provided near the entrance door and detects objects in the monitoring area. The monitoring area setting unit 180 sets a monitoring area, for example, during a pallet transport period in which a pallet is transported, a door opening operation period in which the entrance door 104 is opened, a vehicle movement period in which a vehicle is moving, and a door closing operation period in which the entrance door 104 is closed. This makes it possible to detect human contact with the entrance door 104 during the pallet transport period, the door opening operation period, and the door closing operation period, thereby preventing accidents such as fingers getting caught. Also, during the vehicle movement period, it becomes possible to detect vehicles with heights that do not meet the standards. This makes it possible to improve the safety of the mechanical parking device 1. Furthermore, since the common entrance / exit sensor 120 detects contact between the entrance / exit door 104 and a person and determines the vehicle height, it is possible to avoid adding additional sensors, thereby making it possible to suppress increases in costs.

[0127] Furthermore, in the above-described embodiment, an upward-opening door in which the entrance door 104 slides upward has been described as an example, but the opening and closing method of the entrance door 104 is not limited to this. For example, the entrance door 104 may be a downward-opening door in which the entrance door 104 slides into a pocket (door storage space) provided below, and the entire entrance door 104 is stored downward to open and close. In this case, as shown in FIG. 29, the entire entrance may be set as the monitored area. Alternatively, all of the entrance doors 104 may be included, and a partial area above them may be set as the monitored area.

[0128] The entrance door 104 may also be a door that opens horizontally and slides left and right. In this case, the entire entrance may be set as the monitoring area, as shown in Fig. 29. Furthermore, the monitoring area may also be set according to the opening angle, as shown in Figs. 16 and 17, for example. In this way, the monitoring area can be set appropriately depending on the door opening / closing method and the required safety level.

[0129] Although the present disclosure has been described using the above-mentioned embodiments, the technical scope of the present disclosure is not limited to the scope described in the above-mentioned embodiments. Various modifications or improvements can be made to the above-mentioned embodiments without departing from the gist of the disclosure, and such modifications or improvements are also included in the technical scope of the present disclosure. The flow of each process (step) described in each of the above-mentioned embodiments is an example, and it is possible to delete some processes, add new processes, change the order of processes, etc. It is also possible to adopt some processes of known warehousing and shipping processes as appropriate, for example, it is possible to add known processes or replace some processes with known processes.

[0130] For example, in each of the above-described embodiments, the case where the vehicle exits in the same direction as when entering the vehicle has been described, but this is not limited to this example. For example, the front of the boarding / alighting compartment 7 (for example, the wall on which the parking position indicator light 25 (see FIG. 2) is installed) may be configured to be openable and closable, and when leaving the vehicle, the vehicle may exit through the front of the boarding / alighting compartment 7. Also, different boarding / alighting compartments may be used for entering and leaving the vehicle.

[0131] In addition, in the above-described embodiment, the elevator-type mechanical parking device 1 and the two-tiered mechanical parking device 100 have been described as examples, but the present disclosure is not limited to these examples. The mechanical parking device of the present disclosure may be a vertical circulation type, a multi-tiered circulation type, a horizontal circulation type, a flat reciprocating type, or the like. It may also be a conveyor-type or fork-type mechanical parking device that does not use pallets.

[0132] Furthermore, in the above-described embodiments, the mechanical parking devices 1, 100 are described in which entrance / exit doors 4, 104 are provided at the entrances / exits of the boarding / de-boarding spaces 7, 107. However, for example, the mechanical parking devices may be ones in which entrance / exit doors are not provided at the entrances / exits to the boarding / de-boarding spaces. An example of such a mechanical parking device is a berth-type mechanical parking device 200 shown in FIGS. 33 and 34. FIG. 33 is a schematic plan view of a boarding / de-boarding space (berth) 207 provided in the berth-type mechanical parking device 200, and FIG. 34 is a schematic front view of the boarding / de-boarding space 207. As shown in FIGS. 33 and 34, the boarding / de-boarding space 207 is provided with an entrance / exit 203 for allowing vehicles to enter and exit the space, and an entrance / exit sensor 220 is provided above the entrance / exit 203 for detecting objects near the entrance / exit.

[0133] A lift elevator room 205 is provided adjacent to the boarding / deboarding room 207. A partition door 204 is provided between the boarding / deboarding room 207 and the lift elevator room 205. A conveyor (vehicle transport means) 210 is provided in the boarding / deboarding room 207, and vehicles are transported (transported laterally) between the boarding / deboarding room 207 and the lift elevator room 205 by the conveyor 210. In the lift elevator room 205, vehicles are transported (up and down, transversely, etc.) between the vehicle storage shelves by a lift or the like. An automatic door 215 is provided at the back of the boarding / deboarding room 207 to allow people to enter and exit the boarding / deboarding room 207.

[0134] When entering such a mechanical parking device 200, the user drives the vehicle into the boarding / deboarding compartment 207 through the entrance / exit 203, parks the vehicle at a predetermined parking position, disembarks, and exits the boarding / deboarding compartment through the automatic door 215. When the user's exit is confirmed and a transport instruction is given on an operation panel (not shown), the compartment door 204 is changed from a fully closed state to a fully open state, and the conveyor 210 is operated to transport the vehicle. When such a vehicle is entering the parking lot, when the vehicle enters (moves), as in the first and second embodiments described above, area C for detecting vehicles that do not comply with parking standards can be set as a monitoring area, as shown in Figure 35, and vehicles that do not comply with parking standards can be detected by the entrance / exit sensor 220.

[0135] Furthermore, during the operation period of the conveyor 210 that moves the vehicle to the lift chamber 205 (the operation period of the vehicle transport means), as shown in Fig. 36, the entire entrance / exit area may be set as a monitoring area, and objects may be detected by the entrance / exit sensor 220. This makes it possible to quickly detect the entry of people or animals while the compartment door is opening / closing or while the vehicle is being transported, thereby improving safety.

[0136] The mechanical parking device and the safety confirmation method and safety confirmation program described in the above-described embodiments can be understood, for example, as follows.

[0137] A mechanical parking device (1, 100) according to a first aspect of the present disclosure comprises a boarding / deboarding room (7, 107) for at least one of entering and exiting a vehicle (2), an entrance / exit door (4, 104) provided at the entrance / exit of the boarding / deboarding room, a monitoring area setting means (80, 180) for setting a monitoring area in the vicinity of the entrance / exit door, and an object detection means (20, 120) provided in the vicinity of the entrance / exit door for detecting objects in the monitoring area, and the monitoring area setting means sets each monitoring area during a door-opening operation period when the entrance / exit door is opened and during a vehicle movement period when the vehicle moves.

[0138] According to this aspect, it is possible to detect contact between the entrance door and a person during the door-opening operation period, and to detect vehicles with heights that do not conform to the standard during the vehicle movement period. Furthermore, by using a common object detection means to both detect contact between the entrance door and a person and determine the vehicle height, it is possible to avoid adding additional sensors, thereby reducing costs.

[0139] A mechanical parking device (1, 100) according to a second aspect of the present disclosure is the first aspect, wherein the monitoring area setting means makes the monitoring area during the door-opening operation period different from the monitoring area during the vehicle movement period.

[0140] According to this aspect, it is possible to set appropriate monitoring areas during the door-opening operation period and the vehicle movement period, thereby enabling the appropriate monitoring range to be set according to the progress of entering and leaving the garage.

[0141] In the mechanical parking device (1) according to the third aspect of the present disclosure, in the first or second aspect described above, the monitoring area setting means changes the monitoring area according to the opening degree of the entrance / exit door during the door opening operation period.

[0142] According to this aspect, it is possible to set an appropriate monitoring area depending on the opening degree of the entrance door.

[0143] The mechanical parking device (1,100) according to the fourth aspect of the present disclosure is any one of the first to third aspects, wherein the monitoring area setting means sets each monitoring area according to the type of vehicle during the vehicle movement period.

[0144] According to this aspect, it is possible to set an appropriate monitoring area depending on the type of vehicle.

[0145] The mechanical parking device (1, 100) according to the fifth aspect of the present disclosure, in any of the first to fourth aspects, is provided with a control means (40, 140) that stops the opening operation of the entrance / exit door or controls the reversal of the entrance / exit door when an object is detected in the monitoring area during the door opening operation period.

[0146] According to this aspect, if an object is detected in the monitored area, the opening operation of the entrance / exit door is stopped or the entrance / exit door is reversed, making it possible to quickly detect when a person has come into contact with the entrance / exit door and take safety measures.

[0147] The mechanical parking device (1,100) according to the sixth aspect of the present disclosure, in any of the first to fifth aspects, is provided with a notification means for issuing an error notification when an object is detected in the monitoring area during the vehicle movement period.

[0148] According to the above aspect, when a vehicle having a height outside the specified range is detected, it is possible to notify the driver of this.

[0149] The mechanical parking device (100, 200) according to the seventh aspect of the present disclosure is a mechanical parking device having a boarding / deboarding room (107, 207) for at least one of vehicle entry and exit, and transport control of a vehicle transport means (210) with all or part of the entrance / exit (203) of the boarding / deboarding room open, and is equipped with a monitoring area setting means (180) that sets a monitoring area near the entrance / exit during the operation period of the vehicle transport means (210), and an object detection means (120, 220) that detects objects in the monitoring area during the operation period of the vehicle transport means.

[0150] According to this aspect, it is possible to quickly detect the intrusion of a person during the operation period of the vehicle transport means, thereby improving safety.

[0151] The mechanical parking device according to an eighth aspect of the present disclosure is the seventh aspect, wherein when an object is detected in the monitoring area, the operation of the vehicle transport means is stopped.

[0152] According to this aspect, when an object is detected in the monitored area, the operation of the vehicle transport means is stopped, thereby making it possible to prevent accidents from occurring.

[0153] A safety confirmation method for a mechanical parking device according to a ninth aspect of the present disclosure is a safety confirmation method for a mechanical parking device that has a boarding / exiting room where vehicles enter and exit at least one of the rooms, and an entrance / exit door provided at the entrance / exit of the boarding / exiting room, wherein a computer executes a monitoring area setting process for setting a monitoring area near the entrance / exit door, and an object detection process for determining whether an object has been detected in the monitoring area, and in the monitoring area setting process, each monitoring area is set during a door opening operation period in which the entrance / exit door is opened and a vehicle movement period in which the vehicle moves.

[0154] A safety confirmation method for a mechanical parking device according to a tenth aspect of the present disclosure is a safety confirmation method for a mechanical parking device in which a boarding / exiting room where at least one of vehicles enters and exits the parking lot and in which transport control of a vehicle transport means is performed with all or part of the entrance / exit of the boarding / exiting room open, wherein a computer executes a monitoring area setting process for setting a monitoring area near the entrance / exit during the operation period of the vehicle transport means, and an object detection process for determining whether an object has been detected in the monitoring area during the operation period of the vehicle transport means.

[0155] A safety confirmation program for a mechanical parking device according to an eleventh aspect of the present disclosure is a safety confirmation program for causing a computer to execute the above-mentioned safety confirmation method. [Explanation of symbols]

[0156] 1: Mechanical parking device 2: Vehicle 3: Entrance / exit 4: Entrance door 4': Entrance door 5: Parking tower 6: Emergency escape door 7: Boarding and disembarking area 14: Lift 18: Palette 20: Entrance / exit sensor 22: Control panel 25: Parking position indicator light 28: Monitor 30: Internal sensor 32: Entry / exit sensor 40: Control device 41: Storage section 45: Touch panel 46: IC card reader 47: Speaker 50: Main control unit 52: Comprehensive database 55: Entrance door control unit 56: Conveyor control unit 63: Door drive unit 64: Lift drive unit 67: Entrance door sensor 68: Conveyor position sensor 69: Vehicle measuring instruments 71: Turntable position sensor 73: Vehicle weight sensor 80:Monitoring area setting section 81: Object detection control unit 100: Mechanical parking equipment 104a: Entrance door 104b: Entrance door 104c: Entrance door 104d: Entrance door 104e: Entrance door 104F: Entrance door 107a: Boarding and disembarking area 107b: Boarding and disembarking area 107c: Boarding and disembarking area 107d: Boarding and disembarking area 107e: Boarding and disembarking area 107F: Boarding and disembarking area 111: Power key 113: Touch panel 120: Entrance / exit sensor 122:Operation panel 123: Support member 130: Internal sensor 132: Entry / exit sensor 135: Post 140: Control device 141: Storage section 150: Main control unit 152: Comprehensive Database 155: Entrance door control unit 156: Conveyor control unit 157: Sensor control unit 163: Door drive unit 164: Pallet drive unit 167: Entrance door sensor 180:Monitoring area setting section 181: Object detection control unit 200: Mechanical parking equipment 203: Entrance / exit 204: Compartment door 205: Lift chamber 207: Boarding and disembarking area 210: Conveyor 215: Automatic door 220: Entrance / exit sensor

Claims

1. a boarding and disembarking room for at least one of vehicle entry and exit; An entrance door provided at the entrance of the boarding / deboarding room; a monitoring area setting means for setting a monitoring area in the vicinity of the entrance door; an object detection means provided near the entrance door for detecting an object in the monitoring area; Equipped with The monitoring area setting means is a mechanical parking device that sets a monitoring area during a door-opening operation period when the entrance door is opened and during a vehicle movement period when the vehicle is moving.

2. 2. The mechanical parking device according to claim 1, wherein the monitoring area setting means sets a monitoring area during the door-opening operation period different from a monitoring area during the vehicle movement period.

3. 2. The mechanical parking device according to claim 1, wherein the monitoring area setting means changes the monitoring area depending on the opening degree of the entrance door during the door-opening operation period.

4. The mechanical parking device according to claim 1 , wherein the monitoring area setting means sets each monitoring area according to the type of the vehicle during the vehicle movement period.

5. 2. The mechanical parking device according to claim 1, further comprising a control means for stopping the opening operation of the entrance door or for controlling the reversal of the entrance door when an object is detected in the monitoring area during the door opening operation period.

6. The mechanical parking device according to claim 1, further comprising a notification means for issuing an error notification when an object is detected in the monitoring area during the vehicle movement period.

7. A mechanical parking device comprising: a boarding / deboarding room for at least one of entering and leaving a vehicle; and a vehicle transport means for transport control in a state in which all or part of the entrance / exit of the boarding / deboarding room is open; a monitoring area setting means for setting a monitoring area near the entrance during an operation period of the vehicle transport means; an object detection means for detecting an object in the monitoring area during an operation period of the vehicle transport means; A mechanical parking device comprising:

8. 8. The mechanical parking device according to claim 7, wherein the operation of the vehicle transport means is stopped when an object is detected in the monitoring area.

9. A safety confirmation method for a mechanical parking device that includes a boarding / deboarding room where at least one of vehicles enters and leaves the parking lot, and an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, comprising: a monitoring area setting step of setting a monitoring area near the entrance door; an object detection step of determining whether an object is detected in the monitoring area; The computer executes The method for confirming safety of a mechanical parking device includes setting each monitoring area during a door-opening operation period in which the entrance / exit door is opened and during a vehicle movement period in which the vehicle is moving, in the monitoring area setting step.

10. A safety confirmation method for a mechanical parking device in which a boarding / deboarding room where at least one of vehicles enters and leaves the parking lot and a transport control of a vehicle transport means is performed with all or part of the entrance / exit of the boarding / deboarding room open, a monitoring area setting step of setting a monitoring area near the entrance during an operation period of the vehicle transport means; an object detection step of determining whether or not an object has been detected in the monitoring area during an operation period of the vehicle transport means; A method for checking the safety of a mechanical parking device, the method being performed by a computer.

11. A safety confirmation program for causing a computer to execute the safety confirmation method for a mechanical parking device according to claim 9 or 10.

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