Sensor diagnostic system, sensor diagnostic method, sensor diagnostic program, and mechanical parking device

Abstract

To improve the accuracy of fault diagnosis in photoelectric sensors. [Solution] The sensor diagnostic system is applied to a mechanical parking system that includes an entry / exit compartment 7 for at least one of vehicle entry and exit, and an entry / exit detection sensor 32 for detecting the entry and exit of objects into and out of the entry / exit compartment 7. The sensor diagnostic system performs a first sensor diagnostic step of diagnosing the entry / exit detection sensor 32 based on the detection result of the entry / exit detection sensor 32 at the time of entry or exit, a guidance step of guiding the user to enter or exit the entry / exit compartment if an abnormality of the entry / exit detection sensor 32 is detected in the first sensor diagnostic step, and a second sensor diagnostic step of determining a malfunction of the entry / exit detection sensor 32 based on the detection result of the entry / exit detection sensor 32 due to the user's entry and exit in accordance with the guidance.

Description

Technical Field

[0001] The present disclosure relates to a sensor diagnosis system, a sensor diagnosis method, a sensor diagnosis program, and a mechanical parking device.

Background Art

[0002] In a mechanical parking device, for example, a photoelectric sensor is used as a sensor for detecting entry and exit to and from a passenger compartment. This photoelectric sensor has a light projecting unit and a light receiving unit, and detects an object by detecting that light emitted from the light projecting unit to the light receiving unit is blocked by the object.

[0003] For example, Patent Document 1 discloses a diagnostic method for a photoelectric sensor that emits light from a light projecting unit of the photoelectric sensor in a predetermined blinking pattern, compares the blinking pattern of the light received by the light receiving unit with the predetermined blinking pattern, and determines an abnormality of the photoelectric sensor based on the comparison result. According to the diagnostic method disclosed in Patent Document 1, for example, even when the light receiving unit of the photoelectric sensor to be diagnosed detects light other than the light emitted from the light projecting unit paired with this light receiving unit, it can be determined that there is an abnormality in the photoelectric sensor.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In recent years, vehicles using LEDs for headlights and other lighting have become widespread. LEDs emit light with the same wavelength as the light used in photoelectric sensors. As a result, when a vehicle enters or exits a passenger compartment with the LED headlights or other lighting on, the photoelectric sensor's light-receiving element may mistakenly detect the LED light, potentially leading to a sensor malfunction. In such cases, from a safety perspective, it is necessary to accurately determine whether the malfunction is due to a sensor malfunction or a false detection.

[0006] This disclosure is made in view of these circumstances and aims to provide a sensor diagnostic system, a sensor diagnostic method, a sensor diagnostic program, and a mechanical parking device that can improve the accuracy of fault diagnosis of photoelectric sensors. [Means for solving the problem]

[0007] One aspect of the present disclosure is a sensor diagnostic system applicable to a mechanical parking system comprising a passenger compartment for entering and exiting vehicles, and a photoelectric sensor for detecting the entry and exit of objects into and out of the passenger compartment, the system comprising: a first diagnostic means for diagnosing the photoelectric sensor based on the detection result of the photoelectric sensor at the time of entry or exit; a guidance means for guiding a user to enter and exit the passenger compartment when an abnormality of the photoelectric sensor is detected by the first diagnostic means; and a second diagnostic means for determining a malfunction of the photoelectric sensor based on the detection result of the photoelectric sensor when the user enters and exits in accordance with the guidance of the guidance means.

[0008] One aspect of this disclosure is a mechanical parking system equipped with the above-mentioned sensor diagnostic system.

[0009] One aspect of the present disclosure is a sensor diagnostic method applicable to a mechanical parking system comprising a passenger compartment for entering and exiting vehicles, and a photoelectric sensor for detecting the entry and exit of objects into and out of the passenger compartment, wherein a computer performs the following steps: a first diagnostic step of diagnosing the photoelectric sensor based on the detection result of the photoelectric sensor at the time of entry or exit; a guidance step of guiding the user to enter and exit the passenger compartment if an abnormality of the photoelectric sensor is detected in the first diagnostic step; and a second diagnostic step of determining a malfunction of the photoelectric sensor based on the detection result of the photoelectric sensor due to the user entering and exiting in accordance with the guidance in the guidance step.

[0010] One aspect of this disclosure is a sensor diagnostic program for causing a computer to function as the sensor diagnostic system described above. [Effects of the Invention]

[0011] According to this disclosure, the accuracy of fault diagnosis of photoelectric sensors can be improved. [Brief explanation of the drawing]

[0012] [Figure 1] This is a longitudinal cross-sectional view of a mechanical parking device according to one embodiment of the present disclosure. [Figure 2] This is a perspective view showing a passenger compartment according to one embodiment of the present disclosure. [Figure 3] This figure shows the installation location of an entry / exit detection sensor according to one embodiment of the present disclosure. [Figure 4] This figure illustrates the counting timing of object detection in an entry / exit detection sensor according to one embodiment of the present disclosure. [Figure 5] This is a perspective view of an operation panel according to one embodiment of the present disclosure. [Figure 6] This is a functional configuration diagram showing an example of the functions of a parking control device according to one embodiment of the present disclosure. [Figure 7] This is a flowchart showing the procedure for receiving goods according to one embodiment of the present disclosure. [Figure 8] It is a flowchart showing the procedure of the warehousing process according to an embodiment of the present disclosure. [Figure 9] It is a flowchart showing the procedure of the warehousing process according to an embodiment of the present disclosure. [Figure 10] It is a flowchart showing the procedure of the warehousing process according to an embodiment of the present disclosure. [Figure 11] It is a diagram showing an example of an unattended confirmation screen according to an embodiment of the present disclosure. [Figure 12] It is a diagram showing an example of an entrance guidance screen according to an embodiment of the present disclosure. [Figure 13] It is a diagram showing an example of a door closing screen in the case of manual mode according to an embodiment of the present disclosure. [Figure 14] It is a diagram for explaining another example of the count timing of object detection of an entrance / exit detection sensor according to an embodiment of the present disclosure. [Figure 15] It is a schematic external view of the boarding and alighting room of a birth-type mechanical parking device according to Modification Example 6 of the present disclosure. [Figure 16] It is a schematic plan view of the boarding and alighting room of a mechanical parking device according to Modification Example 6 of the present disclosure.

Mode for Carrying Out the Invention

[0013] Hereinafter, a sensor diagnosis system, a sensor diagnosis method, a sensor diagnosis program, and a mechanical parking device according to an embodiment of the present disclosure will be described with reference to the drawings. In one embodiment of the present disclosure, an elevator-type tower-type mechanical parking device will be exemplified and described as the mechanical parking device of the present disclosure.

[0014] FIG. 1 is a longitudinal sectional view of a mechanical parking device 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating a plurality of vehicles, and includes a parking tower 5 provided with an entrance / exit 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is a landing 7 for entering and exiting vehicles, and a turntable 8 for changing the direction of the vehicle is installed on its floor surface. The turntable 8 has a configuration in which a swivel plate 10 and a swivel drive unit 11 are provided in a concave pit 9 formed on the floor surface of the landing 7. In addition, in the present embodiment, a case where both warehousing and outwarehousing are performed in the landing 7 is shown, but it is not limited to this. For example, the landing may be made different for warehousing and outwarehousing, and a configuration may be provided with a warehousing-only landing and an outwarehousing-only landing. Further, in the present embodiment, one landing is shown, but a plurality of landings may be provided.

[0015] A vertical lifting passage 13 is formed at the center of the parking tower 5, and a lift 14 (vehicle conveying means) is provided in this so as to be able to move up and down. The lift 14 is suspended at its four corners by a plurality of wire ropes 19 extending downward from a winch (not shown) provided, for example, at the upper part of the parking tower 5, and can move up and down in the lifting passage 13 when the winch is activated.

[0016] On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the lifting passage 13. The vehicle storage shelves 17 are provided in a multi-layered manner vertically so as to sandwich the lifting passage 13, and one pallet 18 for loading a vehicle is accommodated in each vehicle storage shelf 17. Note that the columns and the like of the vehicle storage shelves 17 are not shown.

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

[0018] Figure 2 is a perspective view showing the passenger compartment 7. Inside the passenger compartment 7, there is a space in the center where a pallet 18 is placed, and on the wall in front of the entrance / exit door 4, there is a mirror 24 for the driver (user) to check the position of the vehicle, and an illuminated stopping position indicator light 25 that provides guidance for "forward," "stop," and "reverse."

[0019] The passenger compartment 7 is equipped with four cameras 35A to 35D to photograph the interior. In this embodiment, cameras 35A to 35D are, for example, video cameras, and each is mounted on a different wall (4 sides) of the passenger compartment 7. The number of cameras to be installed is not limited to the above; at least one camera is sufficient.

[0020] The passenger compartment 7 is equipped with an internal detection sensor (internal detection means) 30 (see Figure 6) for detecting objects such as people, animals, and obstacles inside the passenger compartment. The internal detection sensor 30 may include sensors for detecting people (objects) in each of the following areas of the passenger compartment 7: the front area, the right side area, the left side area, and the rear area. Known sensors can be appropriately used as these sensors. Examples include motion sensors and photoelectric sensors. The internal detection sensor 30 may also include a vehicle presence sensor for detecting that a vehicle is inside the passenger compartment, and a vehicle position detection sensor for detecting the vehicle's stopped position. Furthermore, the internal detection sensor 30 may include, for example, two range sensors 30A and 30B located diagonally opposite each other in the passenger compartment 7.

[0021] Furthermore, the cameras 35A to 35D mentioned above can be used as the internal detection sensor 30. In this case, it is possible to confirm that the passenger compartment is unoccupied based on the image data acquired by the cameras 35A to 35D. The internal detection sensor 30 is used to check for unoccupied conditions inside the passenger compartment 7 and is not limited to the various sensors described above. The various sensors described above may be used in combination, or other known sensors may be used as appropriate. The detection signal from the internal detection sensor 30 is configured to be transmitted to the main control unit 50 via, for example, the sensor control unit 57 (see Figure 6). Furthermore, an entrance / exit door sensor 65 (see Figure 6) is provided near the entrance / exit door 4 in the passenger compartment 7.

[0022] Furthermore, an entry / exit detection sensor 32 is provided at the entrance / exit 3 of the passenger compartment 7 to detect the entry and exit of objects (people, vehicles, etc.) into or out of the passenger compartment 7. In this embodiment, the case in which three entry / exit detection sensors 32a, 32b, and 32c are provided is illustrated, but it is not limited to this. For example, it is sufficient to provide at least one entry / exit detection sensor 32. In the following, when it is necessary to distinguish between the entry / exit detection sensors, they will be referred to as entry / exit detection sensors 32a, 32b, and 32c, and when it is not necessary to distinguish between them, they will simply be referred to as entry / exit detection sensor 32.

[0023] Figure 3 shows the installation positions of the entry / exit detection sensors 32a, 32b, and 32c according to this embodiment. For example, entry / exit detection sensor 32a is installed at a height of 300 mm from the floor, entry / exit detection sensor 32b is installed at a height of 700 mm from the floor, and entry / exit detection sensor 32c is installed at a height of 1100 mm from the floor. In addition, entry / exit detection sensors 32a and 32c are installed on the front yard side relative to the entry / exit door 4, and entry / exit detection sensor 32b is installed on the passenger compartment side relative to the entry / exit door 4. Note that the installation positions of the entry / exit detection sensors 32 are examples only and are not limited to these.

[0024] The entry / exit detection sensor 32 is a photoelectric sensor. That is, each entry / exit detection sensor 32a, 32b, and 32c is equipped with a light-emitting unit and a light-receiving unit. The entry / exit detection sensor 32 detects an object by detecting that the light emitted from the light-emitting unit is blocked by an object and the light-receiving unit was unable to receive the light.

[0025] For example, as shown in Figure 4, the entry / exit detection sensor 32 is a light-on sensor that outputs an ON signal when light is received by the light-receiving unit and an OFF signal when light from the light-emitting unit is blocked by an object and the light-receiving unit is unable to receive light. Furthermore, the sensor control unit 57 (see Figure 6), which will be described later, performs a count at the timing when the detection signal of the entry / exit detection sensor 32 switches from OFF to ON.

[0026] Furthermore, the passenger compartment may be equipped with an information unit (notification means: not shown) for notifying users of information (guidance information for entering and leaving the depot, error information, etc.) by voice. Examples of the notification unit include speakers and warning lights.

[0027] Outside the passenger compartment 7, an entry control light 21 with blue and red lamps is installed above the entry / exit door 4. Also outside the passenger compartment 7, an operation panel 22 is installed to receive input information for closing the entry / exit door 4. The operation panel 22 is operated by, for example, users, administrators, maintenance personnel, etc. A monitor 28 for displaying real-time images captured by cameras 35A to 35D is installed near the operation panel 22. In addition, the passenger compartment 7 is equipped with an emergency door 6 for workers to enter and exit in case of emergencies or during maintenance.

[0028] Figure 5 is a perspective view of the control panel 22 of the mechanical parking system 1. The control panel 22 is housed in a metal casing 43, for example, to protect it from wind and rain and to prevent vandalism. The casing 43 is equipped with a lockable cover 44. When a user operates the control panel 22, they unlock the cover 44 and open it to access the control panel 22. Alternatively, the cover 44 may be automatically unlocked when the user approaches, for example, by a dedicated remote control carried by the user.

[0029] The control panel 22 is equipped with a touch panel 45, an IC card reader 46, a speaker 47 for providing voice instructions to users on how to operate the system, and an emergency stop button 48 for emergency stopping the operation of the mechanical parking system 1. Furthermore, the control panel 22 may be equipped with a motion sensor to detect whether or not there is a person in front of it.

[0030] The touch panel 45 combines display and input functions. For example, the touch panel 45 displays various guidance information for performing parking entry and exit operations (guidance means). The display on the touch panel 45 is controlled by the parking control device 40, which will be described later.

[0031] The IC card reader 46 reads the user ID from the IC card that stores user authentication information (hereinafter referred to as "user ID") that can identify an individual user. The IC card is held by a user, administrator, maintenance company, etc., who has been registered in advance.

[0032] Furthermore, a parking control device 40 for controlling the mechanical parking system 1 is provided inside or outside the passenger compartment 7. Figure 6 is a functional configuration diagram showing an example of the functions of the parking control device 40 for controlling the mechanical parking system 1 according to this embodiment. The parking control device 40 is, for example, an information processing device and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, a communication interface for connecting to a network, and the like. The parking control device 40 also includes a comprehensive database 52 that stores various data necessary for controlling the mechanical parking system 1. The comprehensive database 52 stores information such as the vehicle occupancy status, pallet shape type, vehicle storage shelf shape type, and user IDs, which are identification information of multiple users permitted to use the mechanical parking system 1. Furthermore, the parking control device 40 includes a storage unit 41 that stores the user ID (first authentication information) of the user who has been successfully authenticated when the first user authentication process is successful.

[0033] The auxiliary storage device of the parking control device 40 stores control programs and other information for controlling each mechanism of the mechanical parking device 1. The CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each part described later. In executing the programs, the CPU also refers to and uses various data stored in the integrated database 52.

[0034] The control program described above may be pre-stored in an auxiliary storage device such as ROM during the manufacturing of the parking control device 40, or it may be downloaded and installed from a server that distributes control programs after installation. It may also be installed via an external storage device. Thus, there are no particular limitations on the method of installing the various programs.

[0035] The parking control device 40 includes a main control unit 50. In addition to the comprehensive database 52 mentioned above, the main control unit 50 is connected to an entrance / exit door control unit 55, a transporter control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning control unit 62, and the like. Furthermore, an operation panel 22 is connected to the main control unit 50, enabling two-way communication.

[0036] The entry / exit door control unit 55 receives an operation command from the main control unit 50 and controls the door drive unit 63, which drives the entry / exit door 4 to open and close, thereby opening and closing the entry / exit door 4. The entry / exit door control unit 55 also receives a position signal of the entry / exit door 4 from the entry / exit door sensor 65 and feeds this information back to the main control unit 50. The door drive unit 63 is configured, for example, with a motor or the like. Various known configurations can be appropriately adopted for the door drive unit 63.

[0037] The entry / exit door sensor 65 includes, for example, a door fully open detection sensor that detects when the entry / exit door 4 is fully open, and a door fully closed detection sensor that detects when the entry / exit door 4 is fully closed. Any known sensor can be appropriately used as the entry / exit door sensor 65. Examples of door fully open detection sensors and door fully closed detection sensors include limit switches.

[0038] The door fully open detection sensor outputs a fully open detection signal (e.g., an ON signal) when the door is fully open, and outputs a fully open release signal (e.g., an OFF signal) when the entry / exit door 4 is not fully open. The door fully closed detection sensor outputs a fully closed detection signal (e.g., an ON signal) when the door is fully closed, and outputs a fully closed release signal (e.g., an OFF signal) when the entry / exit door 4 is not fully closed.

[0039] The conveyor control unit 56 controls the raising and lowering of the lift 14 and the loading and unloading of the pallets 18 by controlling the lift drive unit 64, which drives the lift 14, in response to an operation command from the main control unit 50. The conveyor control unit 56 also receives a position signal of the lift 14 from the conveyor position sensor 68 and feeds this information back to the main control unit 50.

[0040] The sensor control unit 57 receives the detection signal from the internal detection sensor 30 and outputs that information to the main control unit 50. Furthermore, the sensor control unit 57 counts the number of times a person or vehicle enters or leaves based on the detection signal from the entry / exit detection sensor 32, and outputs the count value to the main control unit 50. Specifically, as shown in Figure 4, it counts the number of times each detection signal switches from off to on based on the detection signals from each entry / exit detection sensor 32a, 32b, and 32c. In addition, the sensor control unit 57 resets the count when a count reset command is input from the main control unit 50.

[0041] The camera control unit 58 receives an operation command from the main control unit 50 and causes the cameras 35 (35A~35D) installed inside the passenger compartment 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period. The image database 59 may be located inside the integrated database 52 or on the cloud.

[0042] The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the weight of the vehicle mounted on the lift 14 using the vehicle measuring instrument 69, and feeds back this weight information to the main control unit 50. This weight information is used for controlling the lift 14, etc.

[0043] The rotation control unit 62 receives an operation command from the main control unit 50, operates the rotation drive unit 11 (turntable 8), receives a rotation position signal of the turntable 8 from the turntable position sensor 71, and feeds that information back to the main control unit 50.

[0044] The main control unit 50 operates the mechanical parking system 1 based on feedback from each control unit 55, 56, 57, 58, 61, and 62, and input information from the control panel 22. The main control unit 50 also executes the control programs for vehicle entry and exit, which will be described later, to perform vehicle entry and exit processing, and controls the display on the touch panel 45 on the control panel 22, performs user authentication processing, controls the call of the lift 14, and controls the opening and closing of the entry and exit doors 4. Furthermore, the main control unit 50 is equipped with a sensor diagnostic system 60 that diagnoses the entry / exit detection sensors 32 (32a to 32c), as will be described later. The function of the sensor diagnostic system 60 is realized by executing control programs for incoming and outgoing inventory processing. Furthermore, the detection signals from the internal detection sensor 30 and the entry / exit detection sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the sensor control unit 57 described above. This makes it possible to perform faster control in response to the detection signals. In this case, the main control unit 50 will also count the number of times the entry / exit detection sensor 32 has detected an object.

[0045] [Inbound processing] Next, the parking entry process performed by the parking control device 40 at the time of entry will be explained with reference to the figures. Figures 7 to 10 are flowcharts showing the procedure of the parking entry process performed by the parking control device 40.

[0046] First, when entering the parking lot, the user moves their vehicle in front of the entrance / exit gate 3, gets out of the vehicle, and approaches the control panel 22. Then, they unlock the lock with a special key and open the cover 44 of the housing 43. When the parking control device 40 detects that the cover 44 has been opened (SA1 in Figure 7), it displays the first user authentication screen on the touch panel 45 of the control panel 22 (SA2).

[0047] When a user touches their IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the parking control device 40. When the user ID is entered (SA3), the parking control device 40 performs first user authentication (first authentication) to determine whether the person attempting to enter the parking lot is a pre-registered user (SA4). Specifically, the parking control device 40 determines whether the entered user ID is registered in the comprehensive database 52. If the first user authentication fails as a result (SA5:NO), the user is notified of the authentication failure by displaying a message indicating user authentication failure on the touch panel 45, and then the first user authentication screen is displayed (SA2).

[0048] On the other hand, if the first user authentication is successful (SA5:YES), that is, if the user ID is registered in the comprehensive database 52, the user ID for which the first user authentication was successful is stored in the storage unit 41 (SA6), and a call process is performed to retrieve an empty pallet from the vehicle storage rack 17 (SA7).

[0049] Next, when an empty pallet arrives at the loading / unloading compartment 7, the parking control device 40 opens the loading / unloading door 4. Then, when the loading / unloading door 4 is fully open (SA8), the parking control device 40 locks the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the loading / unloading door 4).

[0050] Next, the parking control device 40 resets the sensor counts of each of the entry / exit detection sensors 32a to 32c (SA9), and locks the operation so that it does not accept input from the touch panel 45 of the control panel 22 (SA10 in Figure 8). This prevents a third party from inputting from the touch panel 45 while the user is away from the control panel 22.

[0051] Next, the user boards the vehicle, moves the vehicle into the passenger compartment, places the vehicle on the empty pallet that has been transported into the passenger compartment, disembarks, exits the passenger compartment 7, and returns to the control panel 22. Next, the parking control device 40 displays a second user authentication screen on the touch panel 45 of the control panel 22 (SA11).

[0052] When a user who has confirmed the second user authentication screen touches their IC card to the IC card reader 46, the user ID (second authentication information) registered on the IC card is read and transmitted to the parking control device 40 (SA12). Upon receiving the user ID, the parking control device 40 performs the second user authentication (SA13). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a user ID that has been registered in advance, and a verification process is performed to determine whether the user ID (first authentication information) entered in the first user authentication and the user ID (second authentication information) entered in the second user authentication are the same. In this way, the second user authentication determines whether the user who operated the control panel 22 has the authority to operate the control panel 22, and whether the subsequent input operations are performed by the same user who instructed the parking entry start operation.

[0053] Furthermore, in the second user authentication (second authentication), only a comparison process between the user ID entered in the first user authentication, in other words, the user ID stored in the memory unit 41, and the user ID entered in the second user authentication may be performed. This is because if the second authentication information is the same as the first authentication information, the second authentication information can also be interpreted as a pre-registered user ID, and it can be determined that the user has the authority to operate the control panel 22.

[0054] If the second user authentication fails (SA14:NO), return to step SA11 and display the second user authentication screen. At this point, you may also choose to notify the user that authentication failed. Furthermore, if the second user authentication is successful (SA14: YES), the parking control device 40 diagnoses the entry / exit detection sensors 32a, 32b, and 32c based on their respective count values ​​(number of detections) (SA16: first diagnostic means).

[0055] Specifically, the parking control device 40 determines an abnormality if the count values ​​of each entry / exit detection sensor 32a, 32b, and 32c are below a preset threshold. After the count of the entry / exit detection sensor 32 is reset, there are two instances of entry and exit to the boarding / exiting room 7: the vehicle entering the boarding / exiting room 7 (first time) and the user exiting after the vehicle has been placed on the pallet (second time). Therefore, the count value of the entry / exit detection sensor 32 should be two or more. The reason for specifying two or more is to consider the possibility that, for example, when a user exits, their luggage, or the movement of their feet or arms may block the light from the photoelectric sensor multiple times.

[0056] If any of the entry / exit detection sensors 32a, 32b, and 32c have a count value of less than 2, it is determined to be abnormal (SA16: YES), and the process proceeds to step SA30 (Figure 10). The processing after step SA30 will be described later.

[0057] On the other hand, if the count values ​​of the entry / exit detection sensors 32a, 32b, and 32c are all 2 or more, it is determined that there is no abnormality (SA16:NO), and the control panel 22 is set to the operation permission state (SA17 in Figure 9). Next, the parking control device 40 displays an unoccupied confirmation screen on the touch panel 45 to allow the user to confirm that the passenger compartment is unoccupied, and provides guidance to the user to perform the unoccupied confirmation (SA18). Figure 11 shows an example of one screen of the unoccupied confirmation screen. As shown in Figure 11, the unoccupied confirmation screen displays guidance prompting the user to confirm that the passenger compartment is unoccupied using the real-time image displayed on the monitor 28 and then touch their IC card.

[0058] On the unmanned verification screen, when a user places their IC card over the IC card reader 46 and the touch of the IC card is detected, an unmanned verification completion signal is transmitted to the parking control device 40 (SA19). At this time, the user ID registered on the IC card may also be read. When the parking control device 40 receives a signal indicating that the unoccupied area has been confirmed, it displays a safety confirmation screen on the touch panel 45 (SA20) prompting the user to perform a final safety check. The safety confirmation screen displays guidance such as prompting the user to visually confirm that the passenger compartment is unoccupied before touching their IC card.

[0059] When the touch of the IC card is detected on the safety confirmation screen (SA21), a safety confirmation completion signal is transmitted to the parking control device 40. Upon receiving the safety confirmation completion signal, the parking control device 40 displays the door closed screen on the touch panel 45 (SA22).

[0060] The closing screen displays guidance such as, "The door will be closed. Please confirm that the passenger compartment is empty before touching your IC card." When the IC card touch is detected on this closing screen (SA23), a closing signal is sent to the parking control device 40. Upon receiving the closing signal, the parking control device 40 closes the entrance / exit door 4 (SA24). Once the closing operation of the entrance / exit door 4 is complete, the parking control device 40 transports the pallet on which the vehicle is placed using the lift 14 and stores it in the vehicle storage rack 17. After the closing operation of the entrance / exit door 4 is complete, the parking control device 40 enters an operation lock state (SA25), erases the user ID (first authentication information) stored in the memory unit (SA26), and terminates the parking process. Furthermore, once the user confirms that the entry / exit doors are completely closed, they close the cover 44 of the control panel 22, lock it, and then move away from the control panel 22.

[0061] Next, Figure 10 will explain the process when an abnormality is determined in the first sensor diagnosis in step SA15 of Figure 8 (SA16: YES). In this case, the parking control device 40 resets the count values ​​of each entry / exit detection sensor 32a, 32b, and 32c (SA30). Subsequently, the parking control device 40 displays an indoor guidance screen on the touch panel 45 of the control panel 22 to guide the user in entering and exiting the boarding / exiting room 7 (SA31: guidance means). Figure 12 shows an example of one screen of the indoor guidance screen. As shown in Figure 12, the indoor guidance screen displays guidance prompting the user to enter and exit the boarding / exiting room 7, such as, "There is a possibility of sensor failure. Please enter and exit the boarding / exiting room again." Alternatively, guidance may be provided to move to the vicinity of the pallet 18 and then exit in order to ensure that the user enters the boarding / exiting room.

[0062] The user follows the guidance, enters the boarding / alighting room 7, then exits the boarding / alighting room 7 and returns to the control panel 22. Subsequently, the parking control device 40 displays a second user authentication screen on the touch panel 45 of the control panel 22 and performs the second user authentication again (SA32~SA35). If the second user authentication is successful (SA35: YES), the parking control device 40 performs a second sensor diagnosis, which is a second diagnosis of the entry / exit detection sensors 32a, 32b, and 32c, based on the count values ​​of each sensor (SA36: second diagnostic means).

[0063] Specifically, an abnormality is determined if the count value of each entry / exit detection sensor 32a, 32b, and 32c is below a preset threshold. That is, in step SA30, after the count of the entry / exit detection sensor 32 is reset, there are two instances of entry and exit to the passenger compartment 7 by a user: entry (1st time) and exit (2nd time). Therefore, the parking control device 40 determines whether there are any sensors among the entry / exit detection sensors 32a, 32b, and 32c with a count value of less than 2. If, as a result, there are no sensors with a count value of less than 2 (SA37: NO), it is determined that there is no sensor malfunction and the process proceeds to step SA17 (see Figure 9). As a result, the processes from step SA17 onwards described above are performed, and the parking process is completed.

[0064] On the other hand, if there is a sensor with a count value of less than 2, that sensor is determined to be faulty (SA37:YES), and the system switches to manual mode (SA38). If a fault is detected in the entry / exit detection sensor 32, the system may also notify the operator of the mechanical parking system 1 of the sensor fault.

[0065] The manual mode is a mode in which the entry / exit door 4 is closed manually. The procedure for closing the door in manual mode is almost the same as the procedure in steps SA17 to SA26 shown in Figure 9, but the processing in steps SA22 to SA24 related to closing the door is different. Specifically, in the door closing screen display in step SA22, for example, as shown in Figure 13, a message such as "Please continuously touch the IC card" is displayed. In other words, in manual mode, the entry / exit door 4 closes while the IC card is detected by the IC card reader 46, and when the IC card can no longer be detected by the IC card reader 46, the closing operation of the entry / exit door 4 stops (hold-to-run). Thus, in manual mode, the user needs to keep holding the IC card over the IC card reader 46 until the entry / exit door 4 is closed. When the entry / exit door 4 is detected to be fully closed, the operation panel 22 is locked (SA25), the user ID is erased from the memory (SA26), and the entry process is completed.

[0066] Please note that the above-described series of receiving procedures and processing details are merely examples, and additional or omitted steps can be added or omitted as needed.

[0067] For example, for the processes in steps SA2 to SA8 and SA17 to SA26 in Figure 7, any known processing procedures can be adopted as appropriate. Furthermore, although the input operations to the control panel 22 in the above-described receiving process were performed without contact, this is not the only option. For example, contact-type input operations such as pressing a button may also be employed.

[0068] Furthermore, while we have explained the receiving process, the basic processing flow for the outbound process is the same. In other words, the outbound process is basically carried out according to the procedure shown in Figures 7 to 10. The difference between the receiving and outbound processes is that in the receiving process, empty pallets move when the doors are opened and pallets with vehicles on them move when the doors are closed, whereas in the outbound process, pallets with vehicles on them move when the doors are opened and empty pallets move when the doors are closed.

[0069] As described above, this embodiment provides the following effects and advantages. Based on the detection results of the entry / exit detection sensor 32 at the time of entry or exit, a diagnosis of the entry / exit detection sensor 32 is performed (first diagnostic means). If an abnormality of the entry / exit detection sensor 32 is detected in this first sensor diagnosis, guidance is provided to the user to guide them in entering and exiting the passenger compartment (guidance means), allowing the user to re-enter the passenger compartment and then exit. Based on the detection results of the entry / exit detection sensor 32 at that time, the abnormality of the entry / exit detection sensor 32 is diagnosed again (second diagnostic means).

[0070] For example, if an abnormality is detected during the first sensor diagnosis, it is possible that the entry / exit detection sensor 32 is making a false reading due to the influence of LED lamps or other components installed on the vehicle. Therefore, if an abnormality is detected during the first sensor diagnosis, the user is allowed to enter and exit the passenger compartment 7, and a second sensor diagnosis is performed based on the detection results of the entry / exit detection sensor 32 at that time. If an abnormality is also detected during the second sensor diagnosis, it is diagnosed as a sensor malfunction, the system is switched to manual mode, and the sensor malfunction is notified to the operating company of the mechanical parking system 1. This makes it possible to distinguish between false sensor readings due to the influence of LEDs used in the vehicle's headlights, etc., and actual sensor malfunctions, thereby improving the accuracy of fault diagnosis for the entry / exit detection sensor 32 (photoelectric sensor).

[0071] [Variation 1] In the embodiment described above, the case in which a light-on photoelectric sensor is used as the entry / exit detection sensor 32, as shown in Figure 4, was illustrated as an example, but the embodiment is not limited to this. For example, as shown in Figure 14, a dark-on photoelectric sensor may be used as the entry / exit detection sensor 32. As shown in Figure 15, the dark-on photoelectric sensor outputs an off signal when light is received by the light-receiving unit, and an on signal when light from the light-emitting unit is blocked by an object and the light-receiving unit is unable to receive light. In this case, the sensor control unit 57 counts at the timing when the detection signal of the entry / exit detection sensor 32 switches from on to off.

[0072] [Variation 2] In the embodiment described above, the entry guidance screen in step SA31 (see Figure 10) provides guidance to the user to guide them in entering and exiting the passenger compartment. In this case, for example, an input operation button (input operation means) may be installed inside the passenger compartment, and the user may be guided to press this input operation button. By having the user perform an input operation on the input operation button in this way, the user can be reliably guided to the location where the input operation button is installed. This makes it possible to reliably block the light from the light-emitting part of the entry / exit detection sensor 32 twice. As a result, the reliability of the second sensor diagnosis can be increased.

[0073] [Example 3] In the embodiment described above, fault diagnosis was performed based on the count value of the entry / exit detection sensor 32 from the time the full opening of the entry / exit door 4 was detected until a predetermined operation was performed on the control panel 22, but the embodiment is not limited to this. For example, when a vehicle enters a depot, fault diagnosis may be performed based on the count value of the entry / exit detection sensor 32 from the time the vehicle is placed on the pallet 18 in the passenger compartment 7 until a predetermined input operation is performed on the control panel 22. In this case, the count value of the entry / exit detection sensor 32 is reset when it is detected that a vehicle has been placed on the pallet 18. As a method for determining whether or not a vehicle has been placed on the pallet, measurement results from the vehicle measuring instrument 69, image processing based on the image signal from the camera 35, etc., can be used.

[0074] Furthermore, as mentioned above, a predetermined input operation to the control panel 22 is the input operation of a user ID for second user authentication. Alternatively, the predetermined input operation may be an operation input for unattended confirmation (step SA19 in Figure 9), an operation input for safety confirmation (step SA21), etc. In this case, the first sensor diagnosis will be performed after these input operations have been performed. Also, in the first sensor diagnosis, since only user exits need to be detected, the threshold for detecting an anomaly will be less than 1. That is, an anomaly in the sensor is determined when there is an entry / exit detection sensor 32 with a count value of less than 1. In this way, by starting the count of the entry / exit detection sensor 32 after the vehicle has moved into the passenger compartment 7, the influence of false detections by the LED mounted on the vehicle can be eliminated. This makes it possible to omit, for example, a second fault diagnosis.

[0075] [Variation 4] Alternatively, instead of the above modified example 3, an input operation button (input operation means) for user input may be provided inside the passenger compartment, and fault diagnosis may be performed based on the count value of the entry / exit detection sensor 32 from the time an input operation is made on the input operation button until a predetermined operation is made on the control panel 22 during vehicle entry. The input operation button may be provided for sensor malfunction diagnosis, or, in the case of a mechanical parking system where an input operation button is installed inside the passenger compartment, that input operation button can be used for this purpose as well. Examples of input operation buttons in this case include an unoccupied confirmation button to check that the passenger compartment is unoccupied. In this case, when a user performs an input operation on the input operation button installed inside the passenger compartment, the count of the entry / exit detection sensor 32 is reset.

[0076] Furthermore, examples of predetermined operations on the control panel 22 include inputting a user ID (SA12 in Figure 8), inputting an operation for unattended operation confirmation (step SA19 in Figure 9), and inputting an operation for safety confirmation (step SA21). In this embodiment, since only user exits need to be detected in the first sensor diagnosis, the threshold for detecting an anomaly is less than one. That is, an anomaly is determined when there is an entry / exit detection sensor 32 with a count value of less than 1.

[0077] When entering a parking area, in order for a user to operate the input buttons located inside the passenger compartment, the user must first stop the vehicle at a designated position within the compartment. Therefore, this configuration eliminates the influence of false detections caused by the vehicle's LEDs. This makes it possible, for example, to omit a second fault diagnosis.

[0078] [Variation 5] Furthermore, when a vehicle is being taken out of storage, if the number of detections by the entry / exit detection sensor 32 from the time the entry / exit door 4 is opened until the vehicle moves from its designated position in the passenger compartment 7 is less than a predetermined number, it may be determined that there is an abnormality. For example, when a vehicle is being taken out of storage, the count value of the entry / exit detection sensor 32 is reset when the entry / exit door 4 is fully opened by the door full-open detection sensor provided in the entry / exit door sensor 65, or when the entry / exit door 4 is released from full closure by the door full-close detection sensor provided in the entry / exit door sensor 65. Then, a first sensor diagnosis is performed based on the count value at the time it is detected that the vehicle has moved off the pallet. The detection of a vehicle moving off the pallet can be determined, for example, based on the measurement results of the vehicle measuring instrument 69 or the image signal from the camera 35.

[0079] During vehicle departure, the sensor detection period is defined as the time from when the entry / exit door 4 opens until the vehicle moves from its designated position (e.g., on the pallet). As a result, in the first sensor diagnosis, only the entry of a user needs to be detected, and the threshold for detecting an anomaly is less than one. In other words, a sensor anomaly is determined when there is an entry / exit detection sensor 32 with a count value of less than 1. According to this embodiment, the influence of false detections caused by LEDs mounted on the vehicle can be eliminated. As a result, for example, it becomes possible to omit a second fault diagnosis.

[0080] [Variation 6] In the embodiments described above, an elevator-type tower mechanical parking system was used as an example for the mechanical parking system 1, but the invention is not limited to this example. For example, the mechanical parking system 1 of this disclosure may be a vertical circulation system, a planar reciprocating system, a horizontal circulation system, a multi-layer circulation system, a two-tier system, or the like. Furthermore, although the aforementioned entry / exit door 4 was described as being fully open and fully closed, it is not limited to this. For example, the entry / exit door 4 could be a gate that moves up and down to a height that makes it difficult for a person to climb over. In this case, the entry / exit detection sensor 32 could be a climb-over prevention sensor or the like. Also, the entry / exit door 4 could open and close in other ways, such as opening sideways.

[0081] Furthermore, the mechanical parking system 1 may be a planar reciprocating type mechanical parking system that transfers vehicles by a conveyor 102, as illustrated in Figures 15 and 16. Figure 15 is a schematic external view of the boarding / alighting compartment 7 of a berth-type mechanical parking system 110, and Figure 16 is a schematic plan view of the boarding / alighting compartment 7 of the mechanical parking system 110. As shown in Figures 15 and 16, the berth 100, which is also the boarding / alighting compartment 7, is attached to the lift lifting room 101. A partition door 104 is provided between the berth 100 and the lift lifting room 101. In addition, in the berth 100, an entry / exit detection sensor 32 (32a, 32b) for detecting vehicle entry is provided near the vehicle entrance / exit where vehicles enter. The sensor diagnostic system 60 according to this embodiment may be applied to diagnose faults of this entry / exit detection sensor 32.

[0082] In a berth-type mechanical parking system 110, for example, when entering a parking space, the user parks the vehicle at a designated stopping position in the berth 100, disembarks, and moves to the parking area SP through the automatic door 134. After that, a predetermined input operation (user authentication, unmanned confirmation, etc.) is performed on the control panel 130 located in the parking area SP, and once safety within the berth 100 is confirmed, the partition door 104 opens, and the vehicle is moved to the lift room 101 by the conveyor 102.

[0083] In this type of berth system, the entry / exit detection sensor 32 does not detect the movement of users, so the threshold for determining an abnormality is less than one time. Thus, the number of times the light of the entry / exit detection sensor 32 is blocked during entry and exit differs depending on the structure and operation of the mechanical parking system. For this reason, it is necessary to set the thresholds for the first sensor diagnosis and the second sensor diagnosis to appropriate values ​​for each mechanical parking system. Note that berth-type mechanical parking systems are publicly known, as detailed in publications such as Japanese Patent No. 6868148, so a detailed explanation will be omitted.

[0084] [Variation 7] In the embodiments described above, the case in which the control panel 22 is controlled by the parking control device 40 is illustrated, but the invention is not limited to this example. For example, an operation panel control device may be provided on the operation panel 22, and the processing according to the above embodiment and its variations may be realized through the exchange of information between the operation panel control device and the parking control device 40. In this case, the operation panel control device may be made to switch between an operation permission state and an operation lock state.

[0085] Although the present disclosure has been described above using embodiments and modifications, the technical scope of this disclosure is not limited to the scope described in the embodiments above. Various modifications or improvements can be made to the embodiments without departing from the gist of the disclosure, and such modified or improved forms are also included in the technical scope of this disclosure. Furthermore, it is possible to combine the above-described modifications as appropriate. Furthermore, the inbound and outbound processing flows described in the above embodiments are merely examples, and it is possible to remove unnecessary steps, add new steps, or change the processing order without departing from the spirit of this disclosure.

[0086] The mechanical parking device, its control method, and control program described in each embodiment above can be understood, for example, as follows.

[0087] A sensor diagnostic system (60) according to a first aspect of the present disclosure is a sensor diagnostic system (60) applied to a mechanical parking device (1,110) which includes an entry / exit compartment (7,100) for entering and exiting a vehicle, and photoelectric sensors (32,32a~32c) for detecting the entry and exit of objects into the entry / exit compartment, and comprises a first diagnostic means (SA15) that diagnoses the photoelectric sensors based on the detection results of the photoelectric sensors at the time of entry or exit, a guidance means (SA31) that guides the user to enter and exit the entry / exit compartment when an abnormality of the photoelectric sensors is detected by the first diagnostic means (SA16:YES), and a second diagnostic means (SA36) that determines a malfunction of the photoelectric sensors based on the detection results of the photoelectric sensors due to the user entering and exiting in accordance with the guidance.

[0088] According to the above embodiment, it is possible to distinguish between sensor erroneous detections caused by the influence of LEDs used in vehicle headlights, etc., and sensor malfunctions, thereby improving the accuracy of photoelectric sensor fault diagnosis.

[0089] In the sensor diagnostic system (60) according to a second aspect of the present disclosure, in the first aspect, the mechanical parking device is provided with an input operation means located inside the passenger compartment, and the guidance means provides guidance to prompt an input operation to the input operation means.

[0090] According to the above embodiment, by having the user perform an input operation on the input operation means, the user can be reliably guided to the location where the input operation button is installed. This makes it possible to reliably block the light from the photoelectric sensor's light-emitting part twice (entry and exit). As a result, the reliability of the second diagnostic means can be increased.

[0091] A sensor diagnostic system (60) according to a third aspect of the present disclosure, in the first or second aspect, the mechanical parking device comprises an operation panel provided outside the passenger compartment and an entry / exit door, and the first diagnostic means determines that there is an abnormality if the number of detections by the photoelectric sensor from the time the entry / exit door is opened until a predetermined operation is performed on the operation panel is less than a predetermined number.

[0092] According to the above embodiment, the first diagnostic means diagnoses the photoelectric sensor based on the number of detections by the photoelectric sensor after the vehicle has moved into the passenger compartment, thus eliminating the influence of false detections caused by LEDs mounted on the vehicle.

[0093] A sensor diagnostic system (60) according to a fourth aspect of the present disclosure, in the first or second aspect, the mechanical parking device includes an operation panel provided outside the passenger compartment, and the first diagnostic means determines that there is an abnormality if, at the time of parking, the number of detections by the photoelectric sensor from the time the vehicle is placed in a predetermined position in the passenger compartment until a predetermined operation is performed on the operation panel is less than a predetermined number.

[0094] According to the above embodiment, since the photoelectric sensor is diagnosed based on the number of detections by the photoelectric sensor after the vehicle has moved into the passenger compartment, the influence of false detections caused by LEDs mounted on the vehicle can be eliminated.

[0095] A sensor diagnostic system (60) according to a fifth aspect of the present disclosure, in the first or second aspect, the mechanical parking device comprises an operation panel provided outside the passenger compartment and an input operation means provided inside the passenger compartment, wherein the first diagnostic means determines that there is an abnormality when, at the time of parking, the number of detections of the photoelectric sensor from the time an input operation is performed on the input operation means until a predetermined operation is performed on the operation panel is less than a predetermined number of times.

[0096] When entering a parking area, in order for a user to operate the input buttons located inside the passenger compartment, the user must first stop the vehicle at a designated position within the passenger compartment. Therefore, according to the above configuration, the influence of false detections by LEDs installed in the vehicle can be eliminated.

[0097] A sensor diagnostic system (60) according to a sixth aspect of the present disclosure, in the first or second aspect, the mechanical parking device comprises an operating panel provided outside the passenger compartment and an entry / exit door provided in the passenger compartment, and the first diagnostic means determines that there is an abnormality when, at the time of exit, the number of detections by the photoelectric sensor from the time the entry / exit door is opened until the vehicle moves from a predetermined position in the passenger compartment is less than a predetermined number.

[0098] According to the above embodiment, the photoelectric sensor is diagnosed based on the number of detections when a user moves into the passenger compartment in order to have the vehicle depart, thus eliminating the influence of false detections caused by LEDs installed in the vehicle.

[0099] A mechanical parking device (1) according to the seventh aspect of this disclosure comprises a sensor diagnostic system (60) described in any of the first to sixth aspects.

[0100] A sensor diagnostic method according to the eighth aspect of this disclosure is a sensor diagnostic method applied to a mechanical parking system (1) comprising a passenger compartment (7,100) for entering and exiting a vehicle, and photoelectric sensors (32,32a~32c) for detecting the entry and exit of objects into and out of the passenger compartment, wherein a computer performs a first diagnostic step (SA15) to diagnose the photoelectric sensors based on the detection results of the photoelectric sensors at the time of entry or exit; a guidance step (SA31) to guide the user to enter and exit the passenger compartment if an abnormality of the photoelectric sensors is detected in the first diagnostic step (SA16:YES); and a second diagnostic step (SA36) to determine a malfunction of the photoelectric sensors based on the detection results of the photoelectric sensors due to the user entering and exiting in accordance with the guidance.

[0101] A mechanical parking device (1) according to the ninth aspect of this disclosure is a sensor diagnostic program for causing a computer to function as a sensor diagnostic system (60) according to any of the first to sixth aspects described above. [Explanation of symbols]

[0102] 1: Mechanical parking system 3: Inlet / Outlet 4: Inbound / Outbound Doors 5: Parking Tower 6: Emergency door 7: Passenger compartment 8: Turntable 9: Pit 10: Swivel plate 11: Swivel drive unit 13: Elevator Passage 14: Lift 17: Vehicle storage rack 18: Palette 19: Wire rope 21: Warehousing control light 22: Control panel 24: Mirror 25: Parking position indicator light 28: Monitor 30: Internal detection sensor 30A: Range sensor 30B: Range Sensor 32: Entry / exit detection sensor (photoelectric sensor) 32a: Entry / exit detection sensor (photoelectric sensor) 32b: Entry / exit detection sensor (photoelectric sensor) 32c: Entry / exit detection sensor (photoelectric sensor) 35: Camera 35A: Camera 35B: Camera 35C: Camera 35D: Camera 40: Parking control device 41: Storage section 43: Cabinet 44: Lid 45: Touch panel 46: IC card reader 47: Speaker 48: Emergency stop button 50: Main control unit 52: Comprehensive Database 55: Inbound / Outbound Door Control Unit 56: Conveyor Control Unit 57: Sensor Control Unit 58: Camera Control Unit 59: Image Database 60: Sensor diagnostic system 61: Vehicle Measurement Control Unit 62: Swivel Control Unit 63: Door drive unit 64: Lift drive unit 65: Inbound / Outbound Door Sensor 68: Conveyor position sensor 69: Vehicle measuring instruments 71: Turntable position sensor 100: Birth 101: Lift room 102: Conveyor 104: Compartment Door 110: Mechanical parking system

Claims

1. A sensor diagnostic system applied to a mechanical parking system comprising a passenger compartment for entering and exiting vehicles, and a photoelectric sensor for detecting the entry and exit of objects into the passenger compartment, A first diagnostic means that diagnoses the photoelectric sensor based on the detection result of the photoelectric sensor at the time of entry or exit from storage, When the first diagnostic means detects an abnormality in the photoelectric sensor, a guidance means is provided to guide the user to enter or exit the passenger compartment. A second diagnostic means for determining a malfunction of the photoelectric sensor based on the detection result of the photoelectric sensor due to the user entering or leaving in accordance with the guidance means, A sensor diagnostic system equipped with these features.

2. The mechanical parking device is equipped with an input operation means located inside the passenger compartment. The sensor diagnostic system according to claim 1, wherein the guidance means provides guidance to prompt input operations on the input operation means.

3. The mechanical parking system comprises an operating panel located outside the passenger compartment and an entrance / exit door. The sensor diagnostic system according to claim 1, wherein the first diagnostic means determines that there is an abnormality if the number of detections by the photoelectric sensor from the time the loading / unloading door is opened until a predetermined operation is performed on the control panel is less than a predetermined number.

4. The mechanical parking system is equipped with an operating panel located outside the passenger compartment. The sensor diagnostic system according to claim 1, wherein the first diagnostic means determines that there is an abnormality if the number of detections by the photoelectric sensor from the time the vehicle is placed in a predetermined position in the passenger compartment until a predetermined operation is performed on the control panel is less than a predetermined number of times when the vehicle is parked in the parking area.

5. The mechanical parking device comprises an operating panel located outside the passenger compartment and an input operating means located inside the passenger compartment. The sensor diagnostic system according to claim 1, wherein the first diagnostic means determines that there is an abnormality if, at the time of receiving the goods, the number of detections by the photoelectric sensor from the time an input operation is performed on the input operation means until a predetermined operation is performed on the control panel is less than a predetermined number of times.

6. The mechanical parking system comprises an operating panel located outside the passenger compartment and an entry / exit door located inside the passenger compartment. The sensor diagnostic system according to claim 1, wherein the first diagnostic means determines that there is an abnormality when, at the time of departure, the number of detections by the photoelectric sensor from the time the entry / exit door is opened until the vehicle moves from a predetermined position in the passenger compartment is less than a predetermined number.

7. A mechanical parking device comprising the sensor diagnostic system according to any one of claims 1 to 6.

8. A sensor diagnostic method applicable to a mechanical parking system comprising a passenger compartment for entering and exiting vehicles, and a photoelectric sensor for detecting the entry and exit of objects into the passenger compartment, A first diagnostic step in which the photoelectric sensor is diagnosed based on the detection result of the photoelectric sensor at the time of entry or exit from storage, If an abnormality is detected in the photoelectric sensor during the first diagnostic step, a guidance step is provided to guide the user to enter or exit the passenger compartment. A second diagnostic step determines a malfunction of the photoelectric sensor based on the detection results of the photoelectric sensor when the user enters or exits in accordance with the guidance step, A sensor diagnostic method performed by a computer.

9. A sensor diagnostic program for causing a computer to function as a sensor diagnostic system according to any one of claims 1 to 6.

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