System and method for detecting positional deviation of vehicle in mechanical parking system

Abstract

To provide a system and a method for preventing an accident in a mechanical parking device even when a non-automatic parking brake is forgotten to be pulled or the effect of the non-automatic parking brake is reduced.SOLUTION: The vehicle position deviation detection system of the mechanical parking device includes an imaging device 21 that photographs a positional relationship between the vehicle M and the carrier 8 on the side of the storage room 3 in the shaft 4, and compares a first image obtained by photographing the carrier 8 landed on the side of the storage room 3 by the lifting device 6 and the vehicle M with a second image obtained by photographing a state in which the carrier 8 is moved by a predetermined distance and stopped to detect the presence or absence of the position deviation of the vehicle M with respect to the carrier 8.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle position deviation detection system and a detection method for a mechanical parking device. [Background technology]

[0002] In recent years, the number of vehicles equipped with automatic parking brakes has been increasing, but there are also many vehicles that do not have automatic parking brakes, but are equipped with so-called side brakes or foot-operated parking brakes (hereinafter referred to as "non-automatic parking brakes"). In some mechanical parking systems, after a vehicle is parked, the carriage carrying the vehicle moves either vertically, which is the direction of travel of the vehicle, or horizontally, which is the direction intersecting the direction of travel of the vehicle, or in both directions. However, if the non-automatic parking brake is forgotten to be operated, or if it is operated but not operated sufficiently, or if the non-automatic parking brake is poorly maintained and does not function properly, when the carriage carrying the vehicle moves vertically, which is the direction of travel of the vehicle, the vehicle on the carriage will shift in the direction of travel, and there are many accidents in which the vehicle extends beyond the carriage. Although mechanical parking systems use various sensors to detect whether the vehicle on the carriage is protruding, if an accident in which the vehicle extends beyond the carriage may cause damage not only to the vehicle but also to various parts of the mechanical parking system.

[0003] As an example of a conventional mechanical parking device, Patent Document 1 describes a vehicle stop mechanism that is provided on a mounting surface on which a vehicle is mounted and that prevents a regulated wheel, which is at least one of the multiple wheels of the vehicle to be mounted, from displacing beyond a predetermined range, and is characterized by having a pair of outer protruding members that are arranged at a distance that allows movement of the regulated wheel in the direction of travel of the wheel and that protrude from the mounting surface, and an inner protruding member that protrudes from a predetermined position on the mounting surface between the two outer protruding members. Furthermore, the following is stated in paragraphs

[0002] -

[0006] :

[0002] states as a prior art that "conventionally, so-called pallet-type parking devices have moved vehicles by loading them onto a pallet and transporting this pallet. In this type of parking device, the driver drives the vehicle into the boarding / deboarding compartment of the parking device and stops the vehicle on an empty pallet placed inside the compartment. The driver then pulls the vehicle's handbrake before disembarking. When the driver leaves the boarding / deboarding compartment, the parking device transports the pallet on which the vehicle is loaded and stores it in a vehicle shelf."

[0003] states, "If the vehicle's parking brake is properly applied, the vehicle will be properly secured on the pallet when the pallet is being transported. However, if the parking brake is not properly applied or is not sufficiently effective, the vehicle may swing on the pallet when the pallet is being transported."

[0004] The article states, "Therefore, in order to prevent the vehicle on the pallet from being displaced beyond a predetermined range even if the parking brake is not functioning properly, a wheel stop mechanism is provided on the pallet. Usually, a pair of wheel stop mechanisms is provided on the pallet, one for each front wheel of the vehicle."

[0005] The document states, "Fig. 10 is a cross-sectional view showing a conventional wheel stop mechanism. This wheel stop mechanism is equipped with a pair of protruding members 71, 71 each welded to the mounting surface F of the pallet. These two protruding members 71, 71 are long members fixed approximately perpendicular to the traveling direction of the wheels WL, WS. Furthermore, these two protruding members 71, 71 are fixed at a distance such that they do not come into contact with the wheel WL, even if a large-diameter wheel WL of the wheels expected to be mounted is mounted."

[0006] The article states, "If the parking brake of the vehicle on which the vehicle is installed is not functioning properly and a force is applied to the vehicle to the right in FIG. 10, the wheels WL and WS will be displaced to the right in FIG. 10, but will come to a stop by striking one of the protruding members 71, as shown in FIG. 11. Conversely, if a force is applied to the vehicle in the opposite direction, the vehicle will be displaced to the left in FIG. 11, and will come to a stop by striking the other protruding member 71." However, if the parking brake (non-automatic parking brake) is not applied correctly or if the non-automatic parking brake is not effective enough, the wheels will ride over the protruding member 71 and the vehicle will move forward or backward in the direction of travel beyond the allowable range of the vehicle dimensions on the pallet. In this case, the front or rear of the vehicle may protrude beyond the edge of the pallet.

[0004] Furthermore, Patent Document 2 describes a pallet having a mounting surface on which a vehicle is mounted, the pallet comprising a vehicle receiving plate having an upper surface that is open at the top and bottom and has openings that can store part of the wheels of the vehicle and is formed to fit into the openings so that it can be flush with the mounting surface, a guide section that guides the vehicle receiving plate so that it can move vertically relative to the mounting surface, and driven sections that are provided below the vehicle receiving plate near the edge of the vehicle receiving plate, wherein when each of these driven sections is pushed upward, the vehicle receiving section takes a raised position where the upper surface of the vehicle receiving plate is flush with the mounting surface, and when the upward force applied to each driven section is removed while the vehicle receiving section is set in this raised position, the vehicle receiving section moves downward, and a support section that positions and supports the vehicle receiving section at a predetermined lowered position below the raised position when no upward force is applied to each driven section of the vehicle receiving section. Furthermore, paragraph

[0071] states the following: "Then, after the vehicle has been correctly positioned on the pallet 1, the driver applies the parking brake of the vehicle and dismounts. Once dismounting is confirmed, each drive unit 3, 3 moves its lifting section 34 to its lowered position. Then, as shown in Figure 9(d), each vehicle receiving plate 2, 2 moves to its vehicle stop position. In this state, the vehicle is securely fixed on the pallet 1 with its front wheels W dropped onto the vehicle receiving plate 21. The pallet 1 with the vehicle mounted thereon is transported to a parking space by a transport mechanism (not shown), and the vehicle is stored in the parking space." However, as described in Patent Document 1 above, if the non-automatic parking brake is forgotten to be applied or if the non-automatic parking brake is not effective enough, the wheels 20 may climb over the front and rear frames 11 of the vehicle support plate 21 in which the wheels 20 are housed and move across the top surface of the pallet 1, and in this case too, the front or rear of the vehicle may protrude from the pallet 1.

[0005] Furthermore, Patent Document 3 describes a car stopper that includes an abutment portion that abuts against the tread surface of a vehicle's tire to prevent the vehicle from moving while parked, and a magnetic fixing device that is fixed by magnetic force to the surface on which the vehicle is placed. Furthermore, paragraph

[0092] states the following: "Storage facility 3 transports pallets 4 on which vehicles 9 are placed. Because wheel stoppers 1 are fixed to pallets 4 by magnetic force, they are prevented from shifting position or rotating on pallets 4 due to vibrations during transport, etc. Furthermore, wheel stoppers 1 that restrain forward movement and wheel stoppers 1 that restrain reverse movement each come into contact with the wheels of vehicle 9. Therefore, even if vehicle 9 attempts to move forward or backward while transporting pallet 4 (for example, if the parking brake is forgotten to be applied), the movement itself can be stopped, and acceleration of vehicle 9 can be prevented. Wheel stoppers 1 can effectively restrain the movement of vehicle 9 on pallet 4. However, as vehicles 9 enter and exit the parking lot, the pallets 4 of the mechanical parking device become contaminated with dust, pebbles, water, mud, etc. brought in by the wheels, and there is also rust due to aging. Therefore, even with the magnetic fixing device 2 of the car stopper 1, if the non-automatic parking brake is forgotten to be applied or if the non-automatic parking brake is not effective enough, the car stopper 1 will not be able to hold down the weight of the vehicle and will move. In this case, the front or rear of the vehicle may protrude from the pallet 1. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-266515 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-207673 [Patent Document 3] Japanese Patent Publication No. 2022-071677 Summary of the Invention [Problem to be solved by the invention]

[0007] As described above, the conventional technologies described in Patent Documents 1 to 3 do not take into consideration measures to prevent accidents that may occur if the non-automatic parking brake is forgotten to be applied or if the non-automatic parking brake is not effective enough, causing the front or rear of the vehicle to protrude from a pallet or the like.

[0008] To provide a system and method for preventing accidents in a mechanical parking device by detecting inadvertent movement of a vehicle even if a non-automatic parking brake is forgotten to be applied or the non-automatic parking brake is not effective enough. [Means for solving the problem]

[0009] The vehicle position deviation detection system for a mechanical parking device according to the first aspect is a vehicle position deviation detection system for a mechanical parking device that includes an entry / exit room where vehicles enter and exit, an elevator shaft in which an elevator device that raises and lowers a carrier carrying the vehicle is installed, and a storage room connected to the entry / exit room by the elevator shaft and having multiple storage compartments for storing the carrier.The system is configured to include an imaging device on the side of the storage room in the elevator shaft that photographs the positional relationship between the vehicle and the carrier, and to detect whether or not there is a position deviation of the vehicle relative to the carrier by comparing a first image photographed of the carrier and the vehicle landed on the side of the storage room by the elevator device with a second image photographed of the carrier moved a predetermined distance and stopped.

[0010] The vehicle position deviation detection system for a mechanical parking device of the second aspect is the vehicle position deviation detection system for a mechanical parking device of the first aspect, and is provided in the storage room and has, in addition to the imaging device, a sensor that detects at least the front side of the vehicle mounted on the carrier in its normal position on the lifting device.

[0011] The vehicle position deviation detection system for a mechanical parking device of the third aspect is a vehicle position deviation detection system for a mechanical parking device of the first or second aspect, in which the imaging devices are individually installed in two locations, on the front and rear sides of the vehicle.

[0012] The fourth aspect of the vehicle position deviation detection system for a mechanical parking device is a vehicle position deviation detection system for a mechanical parking device according to the first or second aspect, in which the loading and unloading room has another sensor that detects at least the front side of the vehicle at the same fore and aft position as the sensor that detects at least the front side of the vehicle provided in the storage room.

[0013] A fifth aspect of the vehicle position deviation detection method for a mechanical parking device is a method for detecting vehicle position deviation in a mechanical parking device that includes an entry / exit room through which vehicles enter and exit, an elevator shaft in which an elevator device for raising and lowering a carrier carrying the vehicle is installed, and a storage room connected to the entry / exit room by the elevator shaft and having a plurality of storage compartments for storing the carrier.The method uses an imaging device installed on the side of the storage room in the elevator shaft to photograph the positional relationship between the vehicle and the carrier, and compares a first image obtained by photographing the carrier and the vehicle landed on the side of the storage room by the elevator device with a second image obtained by photographing the carrier after moving a predetermined distance and stopping, to detect whether or not there is a position deviation of the vehicle relative to the carrier. [Effects of the Invention]

[0014] According to the vehicle position deviation detection system for a mechanical parking device of the first aspect, compared to a system that does not have a device to detect when the non-automatic parking brake has been left unoperated or is not working properly, it is possible to reliably detect when the non-automatic parking brake has been left unoperated or is not working properly, thereby preventing accidents caused by vehicle position deviation within the mechanical parking device.

[0015] According to the vehicle position deviation detection system for a mechanical parking device according to the second aspect, even if the vehicle has shifted on the carriage, it is possible to detect whether or not the vehicle is positioned inside the carriage.

[0016] According to the vehicle position deviation detection system for a mechanical parking device according to the third aspect, it is possible to more reliably detect the position deviation of the vehicle relative to the carriage than when only one imaging device is used.

[0017] According to the vehicle position deviation detection system for a mechanical parking device of the fourth aspect, it is possible to detect further position deviation of a vehicle not only when entering or leaving the parking lot, but also when a vehicle that has shifted on a carrier is returned to the entry / exit room.

[0018] According to the vehicle position deviation detection method for a mechanical parking device relating to the fifth aspect, compared to a method that does not have a device for detecting when the non-automatic parking brake has been left unoperated or when it is not working properly, it is possible to reliably detect when the non-automatic parking brake has been left unoperated or when it is not working properly, thereby preventing accidents caused by vehicle position deviation within the mechanical parking device. [Brief explanation of the drawings]

[0019] [Figure 1] A partially cross-sectional side view showing a portion of the loading / unloading room and storage room of a mechanical parking device according to one embodiment of the present invention, showing a state in which a vehicle has entered the loading / unloading room. [Figure 2] A partially cross-sectional side view showing a portion of the loading / unloading room and storage room of a mechanical parking device according to one embodiment of the present invention, showing the state in which a vehicle has been moved from the loading / unloading room to the storage room. [Figure 3] 10 is a partial cross-sectional side view showing a state in which the tray according to the embodiment of the present invention has been moved a predetermined distance and stopped. FIG. [Figure 4] A side view showing a state in which a vehicle is misaligned with respect to the tray in a mechanical parking device according to one embodiment of the present invention. [Figure 5] This is a partially cross-sectional side view showing a portion of the loading / unloading room and storage room of a mechanical parking device in one embodiment of the present invention, and is a partially cross-sectional side view showing the state in which the tray has been returned to its normal position on the lifting device. [Figure 6] This is a partially cross-sectional side view showing a portion of the loading / unloading chamber and storage chamber of a mechanical parking device according to one embodiment of the present invention, showing the state in which the tray has been raised into the loading / unloading chamber and landed. [Figure 7] This is a front view of the control panel of a mechanical parking device according to one embodiment of the present invention, showing the state in which a vehicle body position deviation has been detected. [Figure 8] 1 is a flowchart showing the procedure for detecting positional deviation of a mechanical parking device according to one embodiment of the present invention. [Figure 9] 9 is a flowchart showing the continuation of FIG. 8, illustrating the procedure for detecting positional deviation in a mechanical parking device according to one embodiment of the present invention. [Figure 10]This is a partially cross-sectional side view showing a portion of the loading / unloading room and storage room of a mechanical parking device in one embodiment of the present invention, and is a partially cross-sectional side view showing a state in which the vehicle protrudes from the front end of the tray when the tray has been returned to its normal position on the lifting device. DETAILED DESCRIPTION OF THE INVENTION

[0020] The present invention relates to a vehicle position deviation detection system for a mechanical parking device, and an example of the detection method thereof, which will be described with reference to the drawings. Note that the carrier is not limited to a tray (pallet) made of steel plate, but also includes a fork-type cart.

[0021] <Embodiment> The main components of a mechanical parking device 1 in this embodiment are shown in Figure 1. As shown in Figure 1, the mechanical parking device 1 is configured to include an entrance / exit room 2 where a vehicle M enters and leaves, a hoistway 4 in which a lifting device 6 that raises and lowers a carrier 8 carrying the vehicle M is installed, and a storage room 3 that is connected to the entrance / exit room 2 by the hoistway 4 and has a plurality of storage compartments 10 for storing the carrier 8.

[0022] The entire mechanical parking device 1 is constructed of a structure 1A, and the receiving compartment is provided with an entrance / exit door 2A through which vehicles enter and exit the compartment. In addition, a vehicle body detection sensor that detects the front end of the vehicle M and a vehicle body detection sensor that detects the rear end are provided at both ends of the carrier 8 of the receiving / exiting compartment 2. In this embodiment, the structure 1A is formed of a skeleton such as reinforced concrete, for example.

[0023] An opening 1B is provided in the floor of the loading / unloading room 2, and a carrier 8 is placed on a lifting device 6 (described later) so that it can be raised and lowered.

[0024] An opening 1B of the loading / unloading room 2 and the storage room 3 are connected by a hoistway 4. In the hoistway 4, a lifting device 6 that lifts and lowers a carriage 8 is mounted on a lifting column 5 so that it can be raised and lowered. The upper part of the lifting device 6 is configured with rails 7 on which wheels 9 attached to the underside of the carriage 8 can run. Furthermore, the storage room 3 is provided with a plurality of storage compartments 10. Rails 11 are laid in the storage compartments 10 so that the carriage 8 can run.

[0025] <Main components> Here, the configuration of the main part of the present invention will be described. As shown in FIG. 1, in this embodiment, imaging devices 21 for photographing at least the carriage 8 and the vehicle M are installed on the side of the storage room 3, one each on the front and rear of the vehicle M. These imaging devices use ordinary cameras, but a camera with a wide-angle lens may also be installed near the center in the longitudinal direction of the carriage 8, i.e., in the forward and rearward traveling direction of the vehicle M. Furthermore, this camera may also be an AI camera.

[0026] In this embodiment, vehicle detection sensors 20 are installed at the front and rear ends of the carrier 8 to detect whether the front end of the vehicle M protrudes from the front end of the carrier 8, and vehicle detection sensors 20 are installed to detect whether the rear end of the vehicle M protrudes from the rear end of the carrier 8. In this embodiment, each vehicle detection sensor is located approximately 30 mm inside the front or rear end of the carrier 8 and detects whether the front or rear end of the vehicle M protrudes from the carrier 8. Here, the vehicle detection sensors 20 are an example of a "sensor."

[0027] <Function of main parts> Here, the operation of the main parts will be explained with reference to FIGS.

[0028] 2, the carriage 8 carrying the vehicle M is placed on the elevator 6 and descends down the elevator shaft 4 in the direction of arrow A, stopping so that the tops of the rails 7 of the elevator 6 and the rails 11 laid in the storage compartment 10 of the storage room 3 are at the same level. Here, the two imaging devices 21, 21 photograph the entire carriage 8 and the vehicle M, and store the photographs as a first image in a predetermined storage device in a control panel (not shown).

[0029] Next, as shown in Fig. 3, the carriage 8 is advanced a predetermined distance in the direction of arrow B by a vertical feed device (not shown) and brought to an emergency stop. The emergency stop means stopping the carriage 8 with a stronger negative acceleration than would be achieved by stopping the carriage 8 with normal acceleration by cutting off the power supplied to the vertical feed device. In this embodiment, the non-automatic parking brake of the vehicle M is forgotten to be applied or is not effective enough, causing the vehicle M to move forward on the carriage 8 in the direction of arrow B. In this state, the two imaging devices 21, 21 capture images of the entire carriage 8 and the vehicle M, which are stored as a second image in a predetermined storage device in a control panel (not shown).

[0030] Here, the images taken by the two imaging devices 21, 21 are combined, the first image and the second image are adjusted, and the first image and the second image are compared by superimposing them with the carriage 8 as a reference. Then, as shown in FIG. 4, the carriage 8 becomes a single image, and the images of the vehicles, that is, the images of vehicle M and vehicle Mx, are compared by an image comparison device in a control panel (not shown), and the image comparison device detects that the image of vehicle Mx has shifted forward from vehicle M by a distance X2. At this time, a distance X3 remains compared to the distance X1 from the original position of the vehicle to the front end of the carriage 8, and vehicle Mx does not protrude beyond the front end of the carriage 8. In FIG. 4, the portion where vehicle Mx has shifted is indicated by diagonal lines.

[0031] As shown in Figure 5, vehicle Mx does not protrude from the front end of carriage 8, so carriage 8 is moved in the direction of arrow C and returned to its original position on lifting device 6. Since the front end of vehicle Mx is not detected by vehicle detection sensor 20 on the storage room 3 side, vehicle Mx is lifted in the direction of arrow A' while still shifted forward on carriage 8 and lands in loading / unloading room 2, as shown in Figure 6. Even in this state, the front end of vehicle Mx is not detected by vehicle detection sensor 20 in loading / unloading room 2.

[0032] FIG. 7 shows the operation panel 30 installed next to the entrance door 2A of the loading / unloading room 2. The display unit 32 displays "Vehicle position deviation detected" with the vehicle Mx still in the position shown in FIG. 6, and the confirmation button 33 is also displayed. At the same time, a transmitter (not shown) within the operation panel 30 notifies the vehicle position deviation information to a pre-registered mobile device carried by the user of the deviated vehicle Mx. Upon receiving this notification, the user returns to the parking lot, performs a predetermined authentication operation on the authentication unit 31, touches the confirmation button 33, and operates the entrance door open button. The entrance door 2A then opens, and the user unlocks the vehicle Mx and re-operates the non-automatic parking brake to restore it to its normal state. The user then leaves the loading / unloading room 2 and operates the entrance door close button 35 to perform the entry operation again. This allows the vehicle Mx to be entered again and the entry operation to be resumed. Note that the unmanned and safety confirmation operations required for the entry operation of the mechanical parking device 1 are also performed here. Furthermore, if the display unit 32 is not a touch panel type, the confirmation button 33 may be disposed on the outside of the display unit 32 .

[0033] This will be explained in detail with reference to the flowcharts of FIGS. (1) Step 1: First, the vehicle M is brought into the loading / unloading room 2. (2) Step S02: The user of vehicle M gets off vehicle M, exits the loading / unloading room 2, and closes the entrance door. (3) Step S03: In response to the entry command for the vehicle M, the mechanical parking device 1 lowers the lift (elevating device 6). (4) Step S04: The tray (carrier 8) is placed at the level of the circulation section (storage section 10). (5) Step S05: The state of the carrier 8 before the longitudinal feed movement is photographed by the camera (imaging device 21) to obtain a first image. (6) Step S06: The tray (carrier 8) is moved in the longitudinal direction (forward or backward direction of the vehicle M) on the lift (lifting device 6) and stopped. (7) Step S07: The state of the tray (carrier 8) after it has stopped is photographed by the camera (imaging device 21) to obtain a second image. (8) Step S08: The first image before the movement of the carriage 8 is compared with the second image after the movement of the carriage 8 has stopped (see also FIG. 4). (9) Step S09: Determine whether there is a deviation in the position of vehicle M. If there is no deviation in vehicle M, proceed to step S10, where the storage operation of carrier 8 is started, and storage of carrier 8 is completed in step S11. On the other hand, if there is a deviation in vehicle M, proceed to step S12, where information about the deviation in the position of vehicle M is notified to the user's mobile device.

[0034] (10) Step S13: The tray (carrier 8) whose movement has been stopped is returned to its original position on the lift (elevating device 6). (11) Step S14: If the front and rear sensors (vehicle detection sensors 20) have not detected the front end or rear end of the vehicle Mx, the process proceeds to step S15; if they have detected the front end or rear end, the process proceeds to step S21. (12) Step S15: If the vehicle detection sensor 20 does not detect the front end or rear end of the vehicle Mx, the lift (elevating device 6) rises to the loading / unloading room 2. (13) Step S16: The vehicle Mx arrives at the loading / unloading room 2 and lands on its floor. (14) Step S17: The user performs authentication operation on the operation panel 30. (15) Step S18: The user operates the confirmation button 33 on the operation panel 30. (16) Step S19: The user operates the entrance door open button 34 on the operation panel 30. (17) Step S20: The user unlocks the vehicle Mx and re-applies the non-automatic parking brake. After this, the process returns to step S02 and the parking operation is performed again.

[0035] (18) Step S21: When the front and rear sensors (vehicle detection sensors 20) detect the front or rear end of vehicle Mx (state of Figure 10), the body of vehicle Mx is outside its fixed position range on the carrier 8, the mechanical parking device 1 cannot operate, and an abnormality alert is issued indicating that an abnormality has occurred. (19) Step S22: A maintenance worker rushes to the parking lot and performs recovery work on the vehicle Mx that has protruded from the carriage 8. In this case, a message is sent to the mobile device carried by the user of the vehicle Mx to inform him or her of the abnormality. (20) Step S23: After the restoration work by the maintenance worker is completed, the user is prompted to reapply the non-automatic parking brake of the vehicle Mx.

[0036] The above is the details of the method for detecting the positional deviation of the vehicle Mx that has shifted on the carriage 8 since the vehicle M was brought into the warehouse, and the restoration work therefor.

[0037] In this way, the vehicle position deviation detection system for a mechanical parking device of the present invention is a vehicle position deviation detection system for a mechanical parking device 1 that has an entrance / exit room 2 where vehicle M enters and exits, an elevator shaft 4 in which an elevator device 6 that raises and lowers a carrier 8 carrying vehicle M is installed, and a storage room 3 that is connected to the entrance / exit room 2 by the elevator shaft 4 and has a plurality of storage compartments 10 for storing carriers 8.The system is configured to include an imaging device 21 on the side of the storage room 3 in the elevator shaft 4 that photographs the positional relationship between vehicle M and carrier 8, and to detect whether or not there is a position deviation of vehicle M relative to carrier 8 by comparing a first image photographed of carrier 8 and vehicle M that has landed on the side of the storage room 3 by the elevator device 6 with a second image photographed of the carrier 8 that has been moved a predetermined distance and stopped.

[0038] This makes it possible to reliably detect when the non-automatic parking brake has been left unoperated or when it is not working properly, compared to devices that do not have a device for detecting when the non-automatic parking brake has been left unoperated or when it is not working properly, thereby preventing accidents caused by vehicle position shifts within the mechanical parking device 1.

[0039] The storage room 3 also includes an imaging device 21 and a sensor 20 for detecting at least the front side of the vehicle M loaded on the carriage 8 in the normal position on the lifting device 6.

[0040] As a result, even if the vehicle M shifts on the carriage 8, it is possible to detect whether the vehicle M is located inside the carriage 8 or not.

[0041] The imaging devices 21 are provided at two locations on the front and rear sides of the vehicle M, respectively.

[0042] This makes it possible to reliably detect the positional deviation of the vehicle M relative to the carriage 8 compared to when there is only one imaging device 21.

[0043] The loading / unloading room 2 also has another sensor 20 for detecting at least the front side of the vehicle M at the same front-to-rear position as the sensor 20 for detecting at least the front side of the vehicle M provided in the storage room 3.

[0044] This makes it possible to detect further positional deviation of the vehicle Mx when the vehicle Mx that has shifted on the carrier 8 is returned to the loading / unloading room 2, not only when the vehicle Mx is being loaded / unloaded.

[0045] In addition, the method for detecting vehicle position deviation in a mechanical parking device is a method for detecting vehicle position deviation in a mechanical parking device 1 that has an entrance / exit room 2 where vehicle M enters and exits, an elevator shaft 4 in which an elevator device 6 that raises and lowers a carrier 8 carrying vehicle M is installed, and a storage room 3 that is connected to the entrance / exit room 2 by the elevator shaft 4 and has a plurality of storage compartments 10 for storing carriers 8, and uses an imaging device 21 installed on the side of the storage room 3 in the elevator shaft 4 to photograph the positional relationship between vehicle M and carrier 8, and compares a first image obtained by photographing the carrier 8 and vehicle M that have landed on the side of the storage room 3 by the elevator device 6 with a second image obtained by photographing the carrier 8 in a state where it has been moved a predetermined distance and stopped, to detect whether or not there is a position deviation of the vehicle relative to the carrier 8.

[0046] This makes it possible to reliably detect when the non-automatic parking brake has been left unoperated or when it is not working properly, compared to devices that do not have a device for detecting when the non-automatic parking brake has been left unoperated or when it is not working properly, thereby preventing accidents caused by vehicle position shifts within the mechanical parking device 1.

[0047] Although the embodiments of the present invention have been described above, the present invention is not limited to the description in the specification or drawings, and it goes without saying that other aspects, modifications, or improvements of the present invention are included in the technical scope of the claims of the present invention. [Explanation of symbols]

[0048] 1 Mechanical parking equipment 1A Structure (framework) 1B opening 2. Storage room 2A Entrance door 3. Storage Room 4 Elevator shaft 5. Lifting Pillar 6 Lifting device 7 Rail 8 Carrier (tray) 9 wheels 10 Storage Compartment 11 Rail 20 Vehicle detection sensor (an example of a sensor or another sensor) 21 Imaging device (camera) 30 Control panel 31 Authentication Device 32 Display section 33 Confirm button 34 Entrance door open button 35 Entrance door close button M vehicle Mx misaligned vehicle

Claims

1. A vehicle position deviation detection system for a mechanical parking device that includes an entrance / exit room where vehicles enter and exit the parking lot, an elevator shaft in which an elevator device that raises and lowers a carriage carrying the vehicle is installed, and a storage room that is connected to the entrance / exit room by the elevator shaft and has a plurality of storage compartments for storing the carriage, The elevator includes an imaging device on the storage room side of the elevator shaft that captures an image of the positional relationship between the vehicle and the carriage, A vehicle position deviation detection system for a mechanical parking device, which is configured to detect whether or not the vehicle is misaligned relative to the carrier by comparing a first image taken of the carrier and the vehicle landed on the side of the storage room by the lifting device with a second image taken of the carrier after being moved a predetermined distance and stopped.

2. A vehicle position deviation detection system for a mechanical parking device as described in claim 1, which is provided in the storage room and has, in addition to the imaging device, a sensor that detects at least the front side of the vehicle loaded on the carrier in its normal position on the lifting device.

3. 3. The vehicle position deviation detection system for a mechanical parking device according to claim 1, wherein the imaging devices are individually provided at two locations, one on the front side and one on the rear side of the vehicle.

4. A vehicle position deviation detection system for a mechanical parking device as described in claim 1 or 2, wherein the loading / unloading room has another sensor that detects at least the front side of the vehicle at the same fore and aft position as the sensor that detects at least the front side of the vehicle provided in the storage room.

5. A method for detecting a vehicle position deviation in a mechanical parking device that includes an entrance / exit room where a vehicle enters and leaves the parking device, an elevator shaft in which an elevator device that raises and lowers a carrier carrying the vehicle is installed, and a storage room that is connected to the entrance / exit room by the elevator shaft and has a plurality of storage compartments for storing the carrier, comprising: A vehicle position deviation detection method for a mechanical parking device that uses an imaging device installed on the side of the storage room in the elevator shaft to photograph the positional relationship between the vehicle and the carrier, and compares a first image obtained by photographing the carrier and the vehicle landed on the side of the storage room by the elevator device with a second image obtained by photographing the carrier after moving a predetermined distance and stopping, to detect whether the vehicle is misaligned with the carrier.

Images