Parking device

Abstract

To provide a parking device capable of moving up and down a pallet safely.SOLUTION: A parking device including multiple parking areas in vertical and horizontal directions comprises a traverse driving part for traversing multiple pallets for placing a vehicle in a horizontal direction, sensors for detecting that the multiple pallets exist in setting positions within the parking areas, and a control part to control the traverse driving part. The control part records a state in the middle of processing until traverse movement is finished when controlling so as to traverse the multiple pallets to the setting position within an adjacent parking area, and executes a determination process of whether or not a detection result by the sensor indicates that at least one pallet exists in the setting position after executing a control process that makes at least one pallet traverse to a position out of the setting position, if a detection result by the sensor indicates that at least one of the plurality of pallets exists in the setting position and if a state in the middle of processing is recorded.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a parking device for parking a vehicle such as an automobile. [Background technology]

[0002] A known vehicle parking device is a multi-level parking device in which vehicles are placed on pallets and parked in a stacked manner. In this multi-level parking device, the pallets are moved to the entrance / exit gates and vehicles are loaded onto or unloaded from the pallets by moving the pallets up and down or moving them laterally (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-209644 Summary of the Invention [Problem to be solved by the invention]

[0004] In a mechanical multi-story parking system with three or more levels above ground, when a pallet stopped in a parking area on the second level or higher is called to the entrance / exit gate, the called pallet or a pallet stopped on a level below the called pallet is moved laterally, and the called pallet is moved up and down to the entrance / exit gate.

[0005] In a mechanical multi-story parking system, to call a pallet stopped in an upper parking area to the entrance / exit gate, other pallets may be moved laterally before the called pallet is moved up or down. The laterally moved panel must be stopped with high precision at a set position within the parking area so as not to interfere with the moving pallet. The misidentification of a pallet stopped outside the allowable range of the set position within the parking area as normal can also occur due to malfunction of the sensor used to stop the pallet, poor maintenance, the presence of foreign objects, freezing, etc. Therefore, a safety measure to prevent interference between the moving pallet and the lift guide of the other moving pallet has been desired.

[0006] In view of the above problem, one object of one embodiment of the present invention is to provide a parking device in which pallets can be raised and lowered without being obstructed by other pallets. [Means for solving the problem]

[0007] A parking device according to one embodiment of the present invention is a parking device that includes multiple parking areas in the vertical and horizontal directions, and includes multiple pallets for placing vehicles on each pallet, a lateral drive unit that moves the multiple pallets laterally in the horizontal direction, a sensor for detecting whether the multiple pallets are at a set position within a parking area, and a control unit that controls the lateral drive unit.When the control unit controls the multiple pallets to move laterally to a set position within an adjacent parking area, the control unit records the processing status until the lateral movement is completed, and if the detection result by the sensor indicates that the multiple pallets are at the set position and the processing status has been recorded, the control unit controls the lateral drive unit to perform a control process to move at least one pallet laterally to a position away from the set position, and then performs a determination process to determine whether the detection result by the sensor indicates that at least one pallet is at the set position.

[0008] The system further includes an elevation drive unit that moves the multiple pallets up and down, and when the detection result from the sensor indicates that any of the multiple pallets is not in the set position, the control of the elevation movement can be stopped.

[0009] The multiple parking areas include multiple levels of parking areas in the vertical direction and multiple rows of parking areas in the horizontal direction, and when a pallet located at a set position in a parking area located in the middle or top row of the multiple parking areas is to be raised and lowered, a control process is executed, and a parking area located in the same row as the pallet being raised and lowered and lower than the pallet being raised and lowered may be empty.

[0010] After the control process is executed, two pallets among the plurality of pallets can be present in a spaced apart state in one vacant parking area among the plurality of parking areas.

[0011] The at least one pallet on which the control process is executed may be at least one pallet that is laterally movable.

[0012] After executing the control process, if the control unit performs a determination process that the detection result indicates that at least one pallet is present at the set position, it determines that there is an abnormality in the sensor, and if the control unit performs a determination process that the detection result indicates that at least one pallet is not present at the set position, it can control the lateral movement drive unit to move at least one pallet lateral to a stop target position at the original set position, and the stop target position can be included in the set position.

[0013] The system further includes a lifting drive unit that moves at least one pallet up and down in the vertical direction, and when the detection result indicates that at least one pallet is present in its original set position, the control unit can control the lifting drive unit to move at least one pallet that is present at a set position within the specified parking area up and down to the entrance / exit gate.

[0014] When at least one pallet is to be moved laterally to a set position in an adjacent parking area, the control unit controls the lateral movement drive unit to stop the at least one pallet after a pushing time from when the sensor detects that the at least one pallet is present at the set position in the adjacent parking area, and when at least one pallet is to be moved laterally to a position away from the set position, the control unit controls the lateral movement drive unit to move laterally for a return time longer than the pushing time. [Effects of the Invention]

[0015] According to the parking device of one embodiment of the present invention, stable lifting and lowering movement is possible, improving the safety of the parking device. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic front view showing the configuration of a parking device according to one embodiment of the present invention; [Figure 2] 1 is a schematic side view showing the configuration of a parking device according to one embodiment of the present invention; [Figure 3A] 2 is a schematic diagram showing the operation of a sensor installed in a parking device according to one embodiment of the present invention. FIG. [Figure 3B] 2 is a schematic diagram showing the operation of a sensor installed in a parking device according to one embodiment of the present invention. FIG. [Figure 3C] 2 is a schematic diagram showing the operation of a sensor installed in a parking device according to one embodiment of the present invention. FIG. [Figure 4] 1 is a schematic side view showing the stopping position of a pallet 200 installed in a parking device 100 according to one embodiment of the present invention. [Figure 5] 2 is a block diagram illustrating the control configuration of a control unit of a parking device according to one embodiment of the present invention. FIG. [Figure 6] 10 is a flowchart illustrating the operation recording of the control unit of the parking device according to one embodiment of the present invention. [Figure 7] 3 is a flowchart illustrating a control method for a parking device according to one embodiment of the present invention. [Figure 8]1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 9] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 10] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 11] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 12] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 13] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 14] 1 is a schematic rear view of a parking device illustrating a control method for a parking device according to one embodiment of the present invention; [Figure 15] 1 is a schematic rear view of a parking device illustrating a control method for a parking device 100B according to one embodiment of the present invention. [Figure 16] 1 is a schematic rear view of a parking device illustrating a control method for a parking device 100B according to one embodiment of the present invention. [Figure 17] 1 is a schematic rear view of a parking device illustrating a control method for a parking device 100C according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, each embodiment of the invention disclosed in this application will be described with reference to the drawings. However, the present invention can be embodied in various forms without departing from the spirit of the invention, and should not be construed as being limited to the description of the embodiments exemplified below.

[0018] In order to clarify the description, the drawings may show the width, thickness, shape, etc. of each part schematically compared to the actual embodiment, but these are merely examples and do not limit the interpretation of the present invention. Furthermore, in this specification and each drawing, elements having the same functions as those explained in the previous drawings may be assigned the same reference numerals, and duplicate explanations may be omitted.

[0019] A parking device 100 and a method for controlling the parking device 100 according to one embodiment of the present invention will be described with reference to FIGS.

[0020] [1. Overview of the configuration of the parking device 100] 1 and 2 are schematic front and side views, respectively, showing the configuration of a parking device 100 according to one embodiment of the present invention. In this specification, the side of the parking device 100 where the entrance and exit gate is located is referred to as the front, and the opposite side is referred to as the back. Furthermore, the direction from the front of the parking device 100 to the back, or the direction from the back of the parking device 100 to the front (i.e., the direction in which a vehicle 600 enters or leaves the parking device 100) is referred to as the front-rear direction.

[0021] The parking apparatus 100 has a framework including support posts 102 and beams 104 erected between the support posts 102, and has multiple partitioned areas (hereinafter referred to as "parking areas") capable of accommodating one vehicle 600. The parking apparatus 100 has multiple vertical tiers and multiple rows of parking areas in the left-right direction. For example, the parking apparatus 100 shown in FIG. 1 has 16 parking areas: four tiers on the ground in the vertical direction (lifting direction) where the vehicles 600 are stacked, and four rows in the left-right direction (traverse direction) where the vehicles 600 are lined up side by side. However, the parking apparatus 100 requires a reserve space for the vehicles 600 to lift, lower, or traverse. Excluding this reserve space, the parking apparatus 100 can park and accommodate a maximum of 13 vehicles 600, as shown in FIG. 1. In the parking apparatus 100, the vehicle 600 is placed on a pallet 200 and accommodated in one of the parking areas.

[0022] The first level of the parking device 100 has an entrance / exit gate for the vehicle 600. A gate 106 is installed on the first level of the parking device 100, and the vehicle 600 can enter or exit the parking device by opening or closing the gate 106. The opening and closing of the gate 106 is controlled by a control panel 108 installed on the outside of the parking device 100. The control panel 108 can not only open and close the gate 106, but also move a specified pallet. For example, it can be operated to move the pallet 200 in a specified parking area to one level. The control panel 108 may be installed on the support 102.

[0023] The parking device 100 is broadly divided into a parking area located on the first ground level, a parking area located on the second and third intermediate levels, and a parking area located on the fourth uppermost level. Pallets 200 are placed in the parking areas located on the ground levels. The pallets 200 placed in the parking areas located on the ground levels can move laterally in the left and right directions by a lateral movement drive unit 300 (see FIG. 5). The pallets 200 can move laterally in the left and right directions by the lateral movement drive unit 300. The lateral movement drive unit 300 is composed of, for example, a plurality of wheels that are installed under the pallet 200 and can move laterally in the left and right directions, rails that guide the wheels, and a motor that drives the wheels. Pallets 200 are also placed in parking areas located on the intermediate levels. The pallets 200 placed in parking areas located on the intermediate levels can also move laterally in the left and right directions by the lateral movement drive unit 300. The lateral movement drive unit 300 further includes, for example, a lateral movement vehicle 350 in order to move laterally the pallets 200 placed in parking areas located on the intermediate levels. The traverse carriage 350 is coupled to the pallet 200 and can move the pallet 200 laterally in the left-right direction. The traverse movement of the pallet 200 can be interpreted as the traverse movement of the traverse carriage 350. In addition, a lifting device 210 is connected to the pallet 200, and the pallet 200 can be raised and lowered in the up-down direction using the lifting device 210. In the parking area located at the top level, a pallet 200 connected to the lifting device 210 is placed, but the traverse carriage 350 is not placed. Therefore, the pallet 200 placed in the parking area located at the top level can move up and down in the up-down direction, but cannot move laterally in the left-right direction.

[0024] Two pallets 200 adjacent in the left-right direction are arranged with a gap between them so that the vehicles 600 do not interfere with each other. The pallet 200 in the second parking area moves laterally with the pallet 200 in the first parking area located below, and then moves up and down between the second and first tiers, allowing the vehicle 600 to be loaded or unloaded. The pallet 200 in the third parking area moves laterally with the pallets 200 in the first and second parking areas located below, and then moves up and down between the third and first tiers, allowing the vehicle 600 to be loaded or unloaded. The pallet 200 in the fourth parking area moves laterally with the pallets in the first to third parking areas located below, and then moves up and down between the fourth and first tiers, allowing the vehicle 600 to be loaded or unloaded.

[0025] The parking apparatus 100 is a multi-story parking apparatus capable of parking multiple vehicles 600. When vehicles 600 parked on the middle and top levels of the parking apparatus enter or leave the parking lot, the pallets 200 on the middle and top levels must be moved to the ground level. The parking apparatus 100 shown in FIG. 1 uses a system in which the pallets 200 on the ground level move laterally and the pallets 200 on the middle and top levels move up and down, but the parking apparatus 100 is not limited to this system. For example, the parking apparatus 100 according to this embodiment can be applied to various systems, such as a system in which the pallets 200 on the ground level are lowered into an underground pit provided in the underground portion of the parking apparatus 100 and the pallets 200 on the second to fourth levels are lowered to the first level, a system in which the pallets 200 on the first to third levels are slid forward and backward and the pallets 200 on the second to fourth levels are lowered to the first level, or a combination of these systems.

[0026] Although the parking apparatus 100 shown in FIG. 1 has a four-tier, four-row structure, the structure of the parking apparatus 100 is not limited to this. Depending on the location where the parking apparatus 100 is installed, it may have a structure with fewer than four tiers or more than five tiers in the vertical direction, and may have a structure with fewer than four rows or more than five rows in the horizontal direction. Furthermore, depending on the location where the parking apparatus 100 is installed, a parking area may be provided underground. The parking apparatus 100 may have a structure with 1 to m tiers (m is a natural number of 3 or more) in the vertical direction and 1 to n rows (n is a natural number of 2 or more) in the horizontal direction (in this specification, it may be referred to as a parking apparatus 100 having m tiers x n rows of parking areas). In this case, the parking area on the first row corresponds to the parking area on the ground level, the parking areas on the 2nd to (m-1)th rows correspond to the parking areas on the middle rows, and the mth row corresponds to the parking area on the top row. Therefore, in this case, the traverse vehicle 350 is placed in the parking area located on the 2nd to (m-1)th rows.

[0027] As shown in FIG. 2, four lifting chains 202 connected to lifting devices 210 are installed at four locations on the front, back, left, and right sides of the pallet 200, on the pallet 200 located in the parking areas on the middle and top levels. The pallet 200 is raised and lowered by controlling a lifting drive unit 500, which will be described later. The lifting drive unit 500 is composed of, for example, the lifting device 210 and the lifting chains 202. The lifting and lowering movement of the pallet 200 by the lifting chains 202 can be unstable if the pallet 200 shakes due to vibration of the lifting chains 202 or wind. For this reason, the parking device 100 installs lifting guides 220 on the pallets 200 located in the parking areas on the middle and top levels. The lifting guides 220 of the pallet 200 can engage with guide rails 110 installed on the support posts 102 and guide rails 310 installed on the traverse cart 350. The lifting guide 220 of the pallet 200 moves along the guide rails 110 and 310, thereby stabilizing the lifting and lowering movement of the pallet 200.

[0028] In the parking device 100, a guide rail 310 that engages with the lifting / lowering guide 220 of the pallet 200 during the lifting / lowering movement of the pallet 200 is installed on the traverse carriage 350. However, if the traverse carriage 350 is not stopped at a target stopping position within the parking area, the lifting / lowering guide 220 of the pallet 200 will collide with the guide rail 310 of the traverse carriage 350 during the lifting / lowering movement of the pallet 200. Even if the lifting / lowering guide 220, guide rail 110, and guide rail 310 are not installed, if the traverse carriage 350 is stopped at a position outside the target stopping position within the parking area, the pallet 200 will collide with the traverse carriage 350. For this reason, in the parking device 100, a sensor 410 (described later) is installed on the traverse carriage 350 to stop the traverse carriage 350 at a target stopping position within the parking area during the traverse movement of the pallet 200. The sensor 410 can also detect the presence of the traverse vehicle 350 and the pallet 200 coupled to the traverse vehicle 350 at a target stopping position within the parking area.

[0029] Therefore, the sensor 410 will be described with reference to FIGS. 3A to 3C and 4. FIG.

[0030] [2.Sensor 410] 3A to 3C are schematic diagrams showing the operation of a sensor 410 installed in a parking device 100 according to one embodiment of the present invention. Fig. 4 is a schematic diagram showing the position of a pallet 200 installed in a parking device 100 according to one embodiment of the present invention.

[0031] As shown in FIGS. 3A to 3C, the sensor 410 is attached to the traverse carriage 350 when in use. For example, the sensor 410 is attached to the back of the traverse carriage 350. Note that no traverse carriage 350 is installed in the parking area located on the first level above ground. In this case, the sensor 410 is attached to the back or rear surface (the surface opposite to the surface on which the vehicle 600 is placed) of the pallet 200 that can move laterally.

[0032] The sensor 410 may be a contact sensor. For example, the sensor 410 is a limit switch. Fig. 3A is a schematic diagram of the sensor 410 and the striker 122 attached to the support 102 before the sensor 410 detects the pallet 200. The actuator 412 of the limit switch and the striker 122 attached to the support 102 are positioned so that they come into contact with each other when the pallet 200 moves laterally (for example, in the direction of the arrow shown in Fig. 3A).

[0033] As the pallet 200 moves laterally, the sensor 410 approaches the striker 122. As the pallet 200 moves further, the actuator 412 of the sensor 410 comes into contact with the striker 122 attached to the support 102, as shown in FIG. 3B, and is then pushed. At this time, as shown in FIG. 4, the end of the pallet 200 passes the detection position when the actuator 412 is pushed by the striker 122, and enters a set position within the parking area. The sensor 410 detects the pallet 200 as the actuator 412 is pushed by the striker 122. When the sensor 410 detects the pallet 200, the lateral movement drive unit 300 is controlled based on the detection result, and the pallet 200 stops after a predetermined time has elapsed since contact.

[0034] The sensor 410 detects the pallet 200 from the time the pallet 200 is detected until the pallet 200 stops, and while the pallet 200 is stopped. During this time, the actuator 412 remains pressed by the striker 122. While the pallet 200 is detected by the sensor 410, as shown in Figures 3C and 4, for example, the end of the pallet 200 moves laterally from the detection position, reaches the target stop position, and stops at the target stop position.

[0035] The pallet 200 stops after the push time has elapsed since it was detected by the sensor 410. In other words, the pallet 200 stops after a predetermined time has elapsed since the actuator 412 contacted the striker 122. The push time is the time from when the sensor 410 detected the pallet 200 until the pallet 200 stopped. The range of lateral movement of the pallet 200 during the push time corresponds to the range from the detection position where the end of the pallet 200 moves to the target stop position where the pallet 200 actually stops, as shown in FIG. 4, for example. This is the set position where the pallet 200 stops within the parking area. As shown in FIG. 4, the set position includes the target stop position and also includes the tolerance range of the target stop position. Positioning the end of the pallet 200 at the target stop position is equivalent to having the pallet 200 exist at the target stop position, and the pallet 200 can be stopped or exist within the parking area without interfering with the movement of other pallets 200.

[0036] The set position can be adjusted by the configuration of the traverse drive unit 300. For example, if a motor is used in the electric unit that configures the traverse drive unit 300, the set position can be lengthened or shortened by adjusting the rotation speed of the motor. Also, by shortening the predetermined time, the set position can be set to a shorter position, and by lengthening the predetermined time, the set position can be set to a longer position.

[0037] Furthermore, the sensor 410 may be attached to the framework of the parking device 100, such as the support 102 or the beam 104. In this case, the striker 122 is attached to the traversing cart 350 or the pallet 200. Even in this configuration, the sensor 410 can detect that the traversing pallet 200 has reached a set position within the parking area.

[0038] Although one sensor 410 is provided for each parking area in the example shown, multiple sensors may be provided. For example, separate sensors may be provided to detect lateral movement of the pallet 200 to the left and right.

[0039] As described above, the sensor 410 has the function of detecting the pallet 200 in order to stop it, and the function of detecting that the pallet 200 is in a set position within the parking area, but a sensor having such functions may be provided in addition to the sensor 410.

[0040] In the parking device 100, various control processes are performed based on the sensor 410 as described above.

[0041] 3. Configuration of control unit 400 FIG. 5 is a block diagram illustrating the control configuration of the control unit 400 of the parking device according to one embodiment of the present invention.

[0042] The control unit 400 can perform various control processes for the parking device 100. The control unit 400 may be an IC chip that executes a control sequence, or may be a computer that executes a control program. The control unit 400 may be included in the operation panel 108, or may be included in a separately installed control panel. The control unit 400 can perform various control processes by executing a control sequence or a control program.

[0043] The control unit 400 can store the movement of the pallet 200 based on the operation of the pallet 200. When the pallet 200 moves laterally to a set position in an adjacent parking area, the control unit 400 can record the movement of the pallet 200 until it completes its lateral movement to the set position in the adjacent parking area.

[0044] The control unit 400 can acquire position information of the parking area where the pallet 200 is located. When calling a pallet to the entrance / exit gate, position information of the parking area where the pallet to be called and the pallet 200 that needs to be moved when the called pallet is moved to the entrance / exit gate are located can be acquired.

[0045] 5, the control unit 400 is communicatively connected to a sensor 410. Based on information acquired from the sensor 410, the control unit 400 can identify that the sensor 410 has detected the pallet 200 and that the pallet 200 is present at a set position within the parking area. Furthermore, the control unit 400 is communicatively connected to a traverse drive unit 300 that moves the pallet 200 laterally and an elevation drive unit 500 that moves the pallet 200 up and down.

[0046] The sensor 410 can detect the lateral movement of the intermediate pallet 200 and the ground pallet 200 within the parking area. Based on the detection result from the sensor 410, the control unit 400 can control the lateral movement drive unit 300 to stop the pallet 200.

[0047] As described above, when the control unit 400 controls the pallet 200 to move laterally to a set position in an adjacent parking area, the control unit 400 performs a process of recording the movement of the pallet 200 until the pallet 200 completes its lateral movement. For example, as shown in the flowchart in Fig. 6, when the control unit 400 calls the pallet 200, it starts the flow of steps S110 to S150 and records the processing status.

[0048] In step S110, the control unit 400 determines whether or not the called pallet 200 needs to move laterally based on the positional relationship of the pallet 200. If lateral movement of the pallet 200 is necessary (step S110; YES), step S120 is executed. If lateral movement of the pallet 200 is not necessary (step S110; NO), the process of storing the intermediate processing state of the control unit 400 ends.

[0049] The positional relationship of the pallet 200 refers to the positional relationship between the called pallet 200 and other pallets 200. For example, if the called pallet 200 and the other pallets 200 located below it are located in the same row, the called pallet 200 must move laterally toward an adjacent, vacant parking area. If the called pallet 200 and the other pallets 200 located below it are located in different rows, and the called pallet 200 and the loading / unloading gate from which it is scheduled to exit are located in the same row, the called pallet 200 only needs to move up and down to the loading / unloading gate and does not need to move laterally. In other words, even if the called pallet 200 and the other pallets 200 located below it are located in different rows, if the called pallet 200 and the loading / unloading gate from which it is scheduled to exit are located in different rows, the called pallet 200 must move laterally and then move up and down to the loading / unloading gate.

[0050] Step S120 starts recording the movement of the called pallet 200. Recording starts of the movement, for example, lateral movement, that the called pallet 200 will make. After recording of the movement of the called pallet 200 has started, step S130 is executed.

[0051] In step S130, the called pallet 200 starts to move laterally to the adjacent parking area. After the called pallet 200 starts to move laterally, step S140 is executed.

[0052] In step S140, it is determined whether or not the movement of the called pallet 200 has ended based on the operation of the called pallet 200. For example, if the called pallet 200 moves to a target stopping position in an adjacent parking area, is detected by the sensor 410 in the adjacent parking area, and stops, it may be determined that the movement of the called pallet has ended.

[0053] When it is determined that the movement of the called pallet 200 is completed (step S140; YES), step S150 is executed. When the movement of the called pallet 200 is not completed (step S140; NO), step S140 is executed again.

[0054] In step S150, the movement of the called pallet 200 is completed, and the record of the movement of the pallet 200 is stopped and deleted. Here, for the movement record for which the determination in step S140 indicates that the movement is not complete, step S150 is not executed, and so the record remains in an in-process state until the lateral movement is completed.

[0055] The control unit 400 can further perform a process of determining whether or not the pallet 200 is present at the target stop position based on the movement record of the pallet 200.

[0056] Specifically, when controlling pallets 200 to move laterally to a target stopping position in an adjacent parking area, if the detection result by sensor 410 indicates that pallets 200 are stopped at the target stopping position in the parking area and control unit 400 determines that pallets 200 have completed their lateral movement to the target stopping position in the adjacent parking area, this means that all pallets 200 are present at the target stopping position in the parking area. If the detection result by sensor 410 indicates that pallets 200 are present at the target stopping position and control unit 400 determines that pallets 200 have completed their lateral movement, control unit 400 performs processing to determine that pallets 200 are stopped at the target stopping position, and controls lifting drive unit 500 so that pallets 200 move up and down.

[0057] As another example, when the detection result by sensor 410 indicates that pallet 200 is at the set position and a processing in progress state is recorded, control unit 400 executes control processing to control lateral movement drive unit 300 to move pallet 200 laterally to a position away from the set position, and then executes processing to determine whether the detection result by sensor 410 indicates that pallet 200 is at the target stopping position of the original set position. However, when pallet position information is acquired that the parking area where pallet 200 to be called is located is located in the middle or top row of parking device 100 and that a parking area located in the same row as the parking area where pallet 200 to be called is located is vacant, control unit 400 executes control processing to control lateral movement drive unit 300 to move pallet 200 laterally to a position away from the set position, as described above.

[0058] An example of a case where the detection result by sensor 410 indicates that the pallet 200 is stopped at the set position and a processing in progress state is recorded for the pallet 200 is when a pallet 200 different from the specified pallet 200 is called by mistake, and the lateral movement of the different pallet 200 is interrupted before completion, but sensor 410 detects the different pallet 200 at the set position within the parking area. When a pallet 200 is called and its lateral movement is interrupted before completion, the pallet 200 may be located at a position outside the target stopping position within the set position, as shown in FIG. 4. In such a case, the detection result by sensor 410 may indicate that the pallet 200 is stopped at the set position.

[0059] Here, the control unit 400 records the processing in progress state when the detection result from the sensor 410 indicates that the pallet 200 is present at the set position and the pallet 200 is not moving laterally, but if the pallet 200 to be called is present at the set position in the parking area located at a level lower than the pallet 200 for which the processing in progress state is recorded, the control unit 400 does not need to perform the above-mentioned control processing.

[0060] The control unit 400 does not need to execute the control process described above if the detection result by the sensor 410 indicates that the pallet 200 is present at the set position, the processing in progress state is recorded when the pallet 200 is not moving laterally, and the pallet 200 to be called is present at the set position in the parking area located at the top of the parking device 100. However, there are other pallets 200 in multiple parking areas located in the same row as the pallet 200 to be called.

[0061] In this way, in the parking device 100, before performing the raising and lowering operation of the pallet 200, the control unit 400 controls the lateral movement drive unit 300 to perform a control process to move the pallet 200 laterally to a position away from the set position based on the record of the processing state until the lateral movement of the pallet 200 is completed and the detection result of the sensor 410, and then performs a determination process to determine whether the detection result of the sensor 410 indicates that the pallet 200 is present at the set position.

[0062] [4. Control method of parking device 100] A control method for the parking device 100 according to one embodiment of the present invention will be described with reference to Fig. 7. Fig. 7 is a flowchart illustrating a control method for the parking device 100 according to one embodiment of the present invention.

[0063] Specifically, the flowchart in Figure 7 shows the movement processing of the pallet 200 that is performed when the vehicle 600 is parked or taken out in the parking device 100. When the pallet 200 is called, the control unit 400 starts the flow of steps S210 to S260 and performs the movement processing of the called pallet 200. The called pallet 200 is a pallet 200 other than the pallet 200 that is present in the parking area on the first level of the ground level, specifically, a pallet 200 that is present in the parking area on the middle level or the top level, and the parking area that is in the same row as the called pallet 200 but below the level on which the called pallet 200 is present does not have any other pallets 200 and is therefore empty.

[0064] In step S210, the control unit 400 determines whether the detection result by the sensor 410 indicates that the pallet 200 is present at each set position in at least the adjacent parking areas in the series of parking areas in which the called pallet 200 is present. If the detection result indicates that the pallet 200 is present at the set position in the parking area (step S220; YES), step S220 is executed. If the detection result indicates that the pallet 200 is not present at the set position in the parking area (step S210; NO), step S215 is executed.

[0065] In step S215, the control unit 400 detects that there is an abnormality in the parking device 100. After the control unit 400 detects the abnormality, control of the up and down movement of the pallet 200 is stopped, the called movement of the pallet 200 is not performed, and the movement process of the pallet 200 ends. Examples of abnormalities in the parking device 100 include an abnormality in which the pallet 200 cannot be detected due to an abnormality in the sensor 410 itself, or an abnormality in which the sensor 410 cannot detect the pallet 200 because the pallet 200 is located away from its set position.

[0066] In step S220, when the control unit 400 attempts to move laterally to a target stopping position in an adjacent parking area, it determines whether or not a record of the intermediate processing state remains in the operation of the pallet 200 until the pallet 200 has completed its lateral movement to the target stopping position in the adjacent parking area. When it is determined that a record of the intermediate processing state remains in the operation of the pallet 200 until the pallet 200 has completed its lateral movement to the set position in the adjacent parking area (step S220; YES), step S230 is executed. When the pallet 200 has completed its lateral movement to the target stopping position in the adjacent parking area, the record of the movement up to that point is deleted, and therefore, when it is determined that no record of the intermediate processing state remains in the operation of the pallet 200 (step S220; NO), step S260 is executed.

[0067] In step S230, the lateral movement drive unit 300 is controlled to perform a control process to laterally move the pallet 200 in the parking areas located in the middle and ground levels on at least both sides of the row of parking areas in which the called pallet 200 is located, to a position away from the set position. The control process temporarily laterally moves the pallet 200 to a position away from the set position, and prevents the sensor 410 from detecting the pallet 200, thereby returning the sensor 410 to its initial state (off state).

[0068] In order for the pallet 200 to move to a position away from the set position, it only needs to move laterally in a direction away from the target stop position for a return time that is longer than the pushing time. For example, as shown in Fig. 4, by moving the pallet 200 laterally in a direction away from the target stop position or in a direction toward an adjacent parking area for a distance equal to the return time, the pallet 200 has an end at a position away from the set position and is not detected by the sensor 410.

[0069] In step S240, control unit 400 determines whether or not pallet 200, which existed in the original set position before the control processing of step S230 was executed, is no longer present. That is, based on the detection result of sensor 410, it is determined whether or not pallet 200, which was moved to a position away from the set position in step S230, is now present away from the original set position. If the detection result by sensor 410 indicates that pallet 200 is no longer present in the original set position (step S240; YES), step S250 is executed. If the detection result by sensor 410 indicates that pallet 200 is present in the original set position (step S4; NO), step S245 is executed.

[0070] In step S245, the processing of step S230 causes pallet 200 to be positioned away from its original set position, but the detection result of sensor 410 indicates that pallet 200 is at its set position, so control unit 400 detects that there is an abnormality in sensor 410, and the movement of the called pallet 200 is not performed, and the movement processing of pallet 200 ends.

[0071] In step S250, the lateral movement drive unit 300 is controlled to return the pallet 200, which is located at a position deviated from the original set position, to the stop target position of the original set position. After step S250 is executed, step S260 is executed.

[0072] In step S260, the lateral drive unit 300 or the lift drive unit 500 is controlled to move the called pallet 200 to the entrance / exit gate. Similarly, if the determination in step S220 indicates that no record of an in-process state remains for the called pallet 200, the called pallet 200 is moved to the entrance / exit gate. When step S260 is executed, the movement process for the pallet 200 ends. Thereafter, the gate 106 is opened or closed, allowing the vehicle 600 to be brought in or out of the warehouse.

[0073] Next, a control method for the parking device 100 according to one embodiment of the present invention will be described with reference to Figures 8 to 14. Figures 8 to 14 are schematic rear views of the parking device 100 for explaining a control method for the parking device 100 according to one embodiment of the present invention.

[0074] The control method of the parking device 100 is applied when a pallet 200 is called to an entrance / exit gate, the pallet 200 being located at a set position in a parking area located in the middle or top row, and the parking area located in a row below the called pallet 200 of the same row being vacant. Figure 8 shows a case where pallet 200C is called to an entrance / exit gate of the third row, the third row being located at a set position in a parking area of ​​the top row, and the parking areas of the middle and ground rows of the third row being vacant.

[0075] In the parking device 100, it is important that the pallet 200N located in the parking area adjacent to the pallet 200C is located in the parking area so as not to obstruct the up and down movement of the pallet 200C. Therefore, it is necessary to obtain the position information of the pallet 200, which indicates whether the pallet 200C and the pallet 200N are in the above-mentioned positional relationship.

[0076] When pallet 200C is called, control unit 400 starts the movement process of pallet 200C. First, before moving pallet 200C, it determines whether all pallets 200 in parking device 100 are present at their respective set positions based on the detection results of sensor 410. Although not shown, if the detection results indicate that pallet 200N is not present at its set position within the parking area, this may be because pallet 200N is positioned outside the set position of the parking area where it is present. In such a case, control unit 400 detects an abnormality in parking device 100 and suspends the movement process of pallet 200.

[0077] If the detection results indicate that all pallets 200 are located at their designated positions within the parking area, a determination is made based on the movement records of the pallets 200 as to whether any records of their in-process status remain. Figure 9 shows a case in which pallet 200NE has a record of its in-process status remaining. Pallet 200NE was called once, but its movement was interrupted before it completed its movement to the adjacent third-tier, third-row parking area. Furthermore, since it did not move beyond its designated position, it was detected by sensor 410 at its designated position. As shown in Figure 4, pallet 200NE is located at its designated position but not at the stop target position, which may impede the up-and-down movement of pallet 200C. Therefore, as shown in Figures 10 to 13, control unit 400 performs control processing on pallets 200 located at their designated positions within the parking areas on the intermediate and ground levels.

[0078] In the control process, the control unit 400 first moves the pallet 200 located in the fourth parking area on the middle level and the ground level laterally toward the third vacant parking area, as shown in FIG. 10 . At this time, the pallet 200 is moved to a position away from the set position so as not to be detected by the sensor 410. For example, the pallet 200 located in the fourth parking area on the middle level and the ground level laterally moves toward the third vacant parking area (leftward in FIG. 10 ) for a first control time. The first control time is preferably at least twice as long as the pushing time. It is even more preferable that the first control time be at least twice as long as the pushing time plus at least a second control time, which will be described later. The first control time can be adjusted according to the speed at which the pallet 200 moves laterally. For example, if a motor is used for the electric motor of the traverse drive unit 300, the motor is rotated at 20 Hz, the first control time is set to 6 seconds, and the pallet 200 is moved laterally for 6 seconds. The pallet 200 is moved laterally for a first control time to a position away from the set position.

[0079] Next, as shown in Fig. 11, pallet 200N located in the fourth parking area on the middle and ground tiers, pallet 200N located in the third parking area on the middle and ground tiers, and pallet 200 located in the first parking area on the middle and ground tiers are moved laterally in a direction toward the fourth parking area. At this time, pallet 200N located in the second parking area on the middle and ground tiers and pallet 200 located in the first parking area on the middle and ground tiers are moved laterally to a position away from their set positions, and pallet 200N located in the fourth parking area on the middle and ground tiers is moved laterally to a position just short of their original set position. Specifically, pallet 200N located in the fourth parking area on the middle and ground tiers, pallet 200N located in the second parking area on the middle and ground tiers, and pallet 200 located in the first parking area on the first to third tiers are moved laterally in a direction toward the fourth parking area (to the right in Fig. 11) for a second control time that is shorter than or half the first control time. Here, using the example of the first control time described above, the second control time is set to 3 seconds, which is half the first control time, and the pallet 200 is moved for only 3 seconds. As described above, since the first control time is at least twice as long as the pushing time, even if the pallet 200 is moved again toward the original set position for the second control time, it will stop at a position away from the original set position.

[0080] Next, as shown in FIG. 11, in the third parking area, which is an empty area between the fourth and second parking areas, there is a pallet 200N in the fourth parking area and a pallet 200N in the second parking area. Pallet 200N is located in a position that is out of its respective set position, but it is located in the second parking area, separated so as not to interfere with each other. In this case, two pallets can be present in a single empty parking area, separated from each other. However, as will be described later, when processing is performed only on pallets 200 that have a record of an intermediate processing state, there is a case where two pallets 200 are not present in a single empty parking area, separated from each other.

[0081] Furthermore, as shown in Figure 12 (in the direction of the left arrow), pallet 200N and the first series of pallets 200 on the intermediate and ground tiers are moved laterally to their original set positions. At this time, pallet 200N and the first series of pallets 200 on the intermediate and ground tiers stop after a push-in time has elapsed since they were detected by sensor 410, as shown in Figure 4.

[0082] Next, as shown in Fig. 13, the pallets 200N present in the parking areas of the middle and ground levels in the fourth row are moved laterally to their original set positions. At this time, the pallets 200N present in the parking areas of the middle and ground levels in the fourth row are stopped after the push-in time has elapsed since they were detected by the sensor 410, as shown in Fig. 4.

[0083] Finally, as shown in FIG. 14, the called pallet 200C moves up and down to the third entrance / exit.

[0084] The process of moving the pallet 200 is not limited to the processes shown in FIGS.

[0085] As described above, according to the parking device 100, before the called pallet 200 moves up and down, the other pallets 200 are moved to a position away from the set position, and then returned to the original set position as the stop target position, thereby moving the other pallets to the stop target position. Therefore, when the called pallet 200 moves up and down, it is possible to avoid in advance collision between the lifting and lowering guide of the called pallet 200 and the other pallets. Therefore, the parking device 100 can move the pallet 200 up and down without being obstructed by the other pallets 200.

[0086] The configuration of the parking device 100 according to this embodiment can be modified in various ways. Below, several modified examples of the parking device 100 will be described with reference to Figs. 15 to 17. In the description of the modified examples, the description of the same configuration as the parking device 100 will be omitted. However, the modified examples of the parking device 100 are not limited to these.

[0087] <Variation 1> A non-contact sensor can be used as the sensor 410. A case where a non-contact sensor is used as the sensor 410 will be described.

[0088] The non-contact sensor may be, for example, an optical sensor or a magnetic sensor, but it is preferable to use a magnetic sensor as the non-contact sensor because it is resistant to temperature changes and sunlight.

[0089] For both the contact sensor and the non-contact sensor, it is preferable to provide a push-in time from when the sensor 410 detects the pallet 200 to when the traverse drive unit 300 stops, as described above. The push-in time can include a push-in time controlled by the software processing control unit 400 for stopping the traverse drive unit 300 from when the sensor 410 detects the pallet 200. By providing such a push-in time, it is possible to prevent the pallet 200 from shifting from its stopping position due to shaking of the pallet 200.

[0090] If the pallet 200 has a record of an in-process state and is detected by the sensor 410, the control unit 400 executes control processing. If the pallet 200 has a record of an in-process state and is not detected by the sensor 410, the control unit 400 determines that there is an abnormality in the sensor 410. If there is no record of an in-process state for the pallet 200 and the pallet 200 is detected by the sensor 410, the pallet 200 is moved to the loading / unloading gate. If there is no record of an in-process state for the pallet 200 and the pallet 200 is not detected by the sensor 410, the control unit 400 determines that there is an abnormality in the sensor 410.

[0091] <Variation 2> The control unit 400 can execute the control process regardless of whether or not the intermediate processing state of the pallet 200 present in the parking device 100 is recorded and regardless of the position of the pallet 200 to be called.

[0092] When a predetermined pallet 200 is called, control processing is executed for a plurality of pallets 200 present in a parking area located at a level below the parking area in which the predetermined pallet 200 is present.

[0093] <Variation 3> In the parking device 100B, control processing can be performed on each individual pallet 200, without performing control processing for multiple pallets 200 in the same row to move them laterally to a position away from the set position.

[0094] A method for performing control processing on an individual pallet 200 will be described with reference to Figures 9, 15, and 16. Figures 15 and 16 are schematic rear views of a parking device for explaining a control method for a parking device according to one embodiment of the present invention.

[0095] As shown in Figure 9, if a pallet 200 present in the second row, third tier parking area is detected by the sensor 410 but has a record of an in-process state, as shown in Figure 15, the second row, third tier pallet 200 whose in-process state is stored is moved laterally toward the adjacent vacant parking area (in the direction of the arrow shown in Figure 15).

[0096] Next, as shown in Figure 15, the pallet 200NE located in the second-row, third-tier parking area and the pallet 200 in the fourth-row, third-tier adjacent to it across the empty parking area are moved laterally in the opposite direction (the direction of the arrow) to the direction in which the second-row, third-tier pallet 200NE moved. For example, as shown in Figure 16, while the second-row, third-tier pallet 200NE moves away from the adjacent empty parking area, the fourth-row, third-tier pallet 200 simultaneously moves laterally toward the adjacent empty parking area. The pallet 200NE is not located in the original set position within the parking area, but is located in a position where it cannot be detected by the sensor 410 in the second-row, third-tier. The second-row, third-tier pallet 200NE and the fourth-row, third-tier pallet 200 are positioned so as to straddle the empty parking area between them.

[0097] Furthermore, the second row, third tier pallet 200NE and the fourth row, third tier pallet 200 that have moved laterally each return to their original set target stopping positions. For example, the second row, third tier pallet 200NE moves laterally away from the adjacent vacant parking area and stops at the original set target stopping position within the second row, third tier parking area. The fourth row, third tier pallet also moves laterally away from the adjacent vacant parking area and stops at the original set target stopping position within the fourth row, third tier parking area.

[0098] <Variation 4> In the parking device 100C, control processing can be performed on individual pallets 200, without performing control processing to move multiple pallets 200 in the same row and the same tier laterally to a position outside the set position.

[0099] A method for performing control processing on an individual pallet 200 will be described with reference to Figures 9 and 17. Figure 17 is a schematic rear view of the parking device for explaining a control method for the parking device according to one embodiment of the present invention.

[0100] As shown in Figure 17, the second row, third tier pallet 200NE, whose intermediate processing state is stored, is moved laterally (in the direction of arrow A shown in Figure 17) toward the adjacent vacant parking area. At this time, the second row, third tier pallet 200NE needs to move out of its set position and to an extent that it is not detected by the second row, third tier sensor 410. For example, the second row, third tier pallet 200 needs to move a distance that can be traveled in half the first control time described above.

[0101] Next, the fourth row, third tier pallet 200 is moved laterally toward the adjacent vacant parking area (in the direction of arrow B shown in FIG. 17). At this time, the fourth row, third tier pallet 200 needs to move out of its set position and be moved to an extent that it is not detected by the fourth row, third tier sensor 410. Here, the fourth row, third tier pallet 200 was moved laterally after the second row, third tier pallet 200NE, but the second row, third tier pallet 200NE may also be moved laterally after the fourth row, third tier pallet 200.

[0102] <Variation 5> As described above, the movement record in the processing in progress state may be treated as a movement record for each pallet 200, but it can also be treated as a movement record for all pallets 200 installed in the parking device 100. For example, if a movement record for the movement in progress state remains for at least one pallet 200 among the pallets 200 installed in the parking device 100, the control procedure is executed. Note that, as described above, the pallets 200 that are the subject of the control process are the pallets 200 located in the middle and top tiers.

[0103] Even if there are other effects and advantages different from those brought about by the aspects of the above-described embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0104] 100: Parking device, 102: Support, 104: Beam, 106: Gate, 108: Control panel, 110: Guide rail, 122: Striker, 200: Pallet, 202: Suspension chain, 210: Lifting device, 220: Lifting guide, 300: Traverse drive unit, 310: Guide rail, 350: Traverse carriage, 400: Control unit, 410: Sensor, 500: Lifting drive unit, 600: Vehicle

Claims

1. A parking device including a plurality of parking areas in the vertical and horizontal directions, a plurality of pallets for placing vehicles on each pallet; a lateral movement drive unit that moves the plurality of pallets laterally in the left-right direction; a sensor for detecting the presence of the plurality of pallets at predetermined positions within the parking area; a control unit that controls the traverse drive unit, The control unit When controlling the plurality of pallets to move laterally to a set position in the adjacent parking area, a processing state is recorded until the lateral movement is completed; A parking device that, when the detection result by the sensor indicates that at least one of the plurality of pallets is present at the set position and when the processing in progress state is recorded, executes a control process to control the lateral movement drive unit to move the at least one pallet laterally to a position away from the set position, and then executes a determination process to determine whether the detection result by the sensor indicates that the at least one pallet is present at the set position.

2. a lifting drive unit that moves the plurality of pallets up and down in the vertical direction, 2. The parking device according to claim 1, wherein when the detection result by the sensor indicates that any one of the plurality of pallets is not present at the set position, the control of the lifting and lowering movement is stopped.

3. The plurality of parking areas includes a plurality of rows of parking areas in the vertical direction and a plurality of rows of parking areas in the horizontal direction, The control process is executed when a pallet located at a set position in a parking area located in an intermediate level or the top level of the plurality of parking areas is to be moved up and down, 2. The parking device according to claim 1, wherein a parking area located in the same row as the pallet being moved up and down and below the pallet being moved up and down is vacant.

4. 2. The parking device according to claim 1, wherein after the control process is executed, two of the plurality of pallets are present in a spaced-apart relationship in one vacant parking area among the plurality of parking areas.

5. The parking device according to claim 1 , wherein the at least one pallet on which the control process is executed is a plurality of the at least one pallets that are laterally movable.

6. 2. The parking device according to claim 1, wherein, after executing the control process, if the control unit performs the determination process to show that the detection result indicates that the at least one pallet is present at the set position, it determines that there is an abnormality in the sensor, and if the control unit performs the determination process to show that the detection result indicates that the at least one pallet is not present at the set position, it controls the lateral movement drive unit to move the at least one pallet lateral to its original set position.

7. a lifting / lowering drive unit that moves the at least one pallet up and down in the vertical direction, 7. The parking device according to claim 6, wherein when the detection result indicates that the at least one pallet is present at the original set position, the control unit controls the lifting drive unit to lift and move the at least one pallet present at a set position within the specified parking area to an entry / exit position.

8. 2. The parking device according to claim 1, wherein the control unit controls the lateral movement drive unit to stop the at least one pallet after a pushing time from when the sensor detects that the at least one pallet is present at the set position in the adjacent parking area when the at least one pallet is to be moved laterally to a set position in the adjacent parking area, and controls the lateral movement drive unit to move the at least one pallet laterally for a return time that is longer than the pushing time when the at least one pallet is to be moved laterally to a position away from the set position.

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