Door current control device, door current control method, door current control program, and mechanical parking device

Abstract

To improve safety.SOLUTION: A door energizing control device 80 is applied to a mechanical parking device equipped with a boarding room for at least one of vehicle entry and exit, an entry / exit door at an entrance / exit of the boarding room, and a door drive unit 63 that drives the entry / exit door. The door energizing control device 80 comprises a switch 81 installed in an electric circuit connecting the door drive unit 63 and a power source 100, and a switch control unit 82 that controls the switch 81. The switch control unit 82 opens the switch 81 to shut off power supply to the door drive unit 63 when the entry / exit door is detected to be fully open by an entry / exit door sensor 67.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a door energization control device, a door energization control method, a door energization control program, and a mechanical parking device. [Background technology]

[0002] Various methods have been proposed to ensure safety in mechanical parking devices. For example, Patent Document 1 describes, as an example of a door-closing process, that when the authentication information of a user who performed a first authentication operation matches the authentication information of a user who performed a second authentication operation, a safety check is performed, and then, when a door-closing button is pressed, the entrance door closes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-139401 A Summary of the Invention [Problem to be solved by the invention]

[0004] One of the important challenges is to further improve the safety of mechanical parking equipment and prevent people from being trapped inside the equipment as much as possible.

[0005] The present disclosure aims to provide a door energization control device, a door energization control method, a door energization control program, and a mechanical parking device that can improve safety. [Means for solving the problem]

[0006] A door current control device according to a first aspect of the present disclosure is a door current control device applied to a mechanical parking device including a boarding / deboarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, and a door drive means for driving the entrance / exit door, the door current control device including a switch provided in an electric circuit connecting the door drive means to a power source, and a switch control means for controlling the switch, and when a fully open state of the entrance / exit door is detected, the switch control means opens the switch to cut off the power supply to the door drive means. and determining whether or not the passenger compartment is unoccupied when the switch is open by detecting the full open state of the entrance door, and when it is determined that the passenger compartment is unoccupied, closing the switch and supplying power to the door drive means. do.

[0007] A door current control method according to a second aspect of the present disclosure is a door current control method applied to a mechanical parking device including a boarding / deboarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at an entrance / exit of the boarding / deboarding room, a door drive means for driving the entrance / exit door, and a switch provided in an electric circuit connecting the door drive means to a power source, wherein when a fully open state of the entrance / exit door is detected by a computer, the switch is opened to cut off the power supply to the door drive means. and determining whether or not the passenger compartment is unoccupied when the switch is open by detecting the full open state of the entrance door, and when it is determined that the passenger compartment is unoccupied, closing the switch and supplying power to the door drive means. do.

[0008] A door current control program according to a third aspect of the present disclosure is a door current control program for causing a computer to execute the above-mentioned door current control method.

[0009] A mechanical parking device according to a fourth aspect of the present disclosure comprises a boarding / exiting room for at least one of vehicles entering and exiting the room, an entrance / exit door provided at the entrance / exit of the boarding / exiting room, a door driving means for driving the entrance / exit door, and the door energization control device. Effect of the Invention

[0010] The present disclosure has the effect of improving safety. [Brief description of the drawings]

[0011] [Figure 1] A longitudinal cross-sectional view of a mechanical parking device according to one embodiment of the present disclosure. [Diagram 2]FIG. 1 is a schematic perspective view showing a boarding / deboarding compartment according to an embodiment of the present disclosure. [Diagram 3] 1 is a diagram showing an example of an installation position and detection range of a range sensor in a boarding / deboarding compartment according to an embodiment of the present disclosure, and an example of a monitoring area outside the boarding / deboarding compartment. FIG. [Figure 4] FIG. 2 is a diagram illustrating an example of a configuration of an internal control panel according to an embodiment of the present disclosure. [Diagram 5] FIG. 2 is a diagram illustrating an example of a configuration of an external operation panel according to an embodiment of the present disclosure. [Figure 6] A functional block diagram showing an example of functions provided by a control device of a mechanical parking device according to one embodiment of the present disclosure. [Figure 7] 2 is a functional block diagram illustrating an example of functions of a door current control device according to an embodiment of the present disclosure. FIG. [Figure 8] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 9] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 10] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 11] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 12] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 13] 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. [Figure 14] FIG. 13 is a diagram illustrating an example of an unattended confirmation screen according to an embodiment of the present disclosure. [Figure 15] 4 is a flowchart illustrating an example of a processing procedure of a door current control method executed by a door current control device according to an embodiment of the present disclosure. [Figure 16]This figure shows an example of transitions between an operation lock state, an operation permitted state, an operation locked state, an operation permitted state, a power supply cut-off state to the entrance / exit door, and a power-on state to the entrance / exit door during a warehousing process according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, a door current control device, a door current control method, a door current control program, and a mechanical parking device according to an embodiment of the present disclosure will be described with reference to the drawings. In the embodiment described below, an elevator-type tower-type mechanical parking device will be described as an example of the mechanical parking device of the present disclosure, but is not limited to this example. The mechanical parking device of the present disclosure may be a vertical circulation type, a flat reciprocating type, a horizontal circulation type, a two-tiered type, etc. Also, it may be a conveyor-type or fork-type mechanical parking device that does not use a pallet.

[0013] FIG. 1 is a vertical cross-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 2, and includes a parking tower 5 provided with an entrance / exit gate 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is a boarding / deboarding room 7 for entering and exiting the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor surface of the boarding / deboarding room 7. The turntable 8 is configured such that a rotating plate 10 and a turning drive unit 11 are provided in a concave pit 9 formed on the floor surface of the boarding / deboarding room 7. Note that, in this embodiment, a case where both entry and exit are performed in the boarding / deboarding room 7 is shown, but is not limited to this. For example, the boarding / deboarding room may be different for entry and exit, and a boarding / deboarding room dedicated to entry and a boarding / deboarding room dedicated to exit may be provided. Also, in this embodiment, one boarding / deboarding room is shown, but multiple boarding / deboarding rooms may be provided.

[0014] A vertical ascent passage 13 is formed in the center of the parking tower 5, within which a lift 14 (elevator-like conveyor) is provided so as to be able to ascend and descend. The lift 14 is suspended at its four corners by a number of wire ropes extending downward from a winch (not shown) provided at the top of the parking tower 5, for example, and can ascend and descend within the ascent passage 13 when the winch is activated.

[0015] Meanwhile, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage shelves 17 are provided in multiple levels, one above the other, on either side of the elevator passage 13, and each vehicle storage shelf 17 stores one pallet 18 for loading vehicles. Note that the pillars and other elements of the vehicle storage shelves 17 are omitted from the illustration.

[0016] A transfer mechanism (not shown) is provided on the floor surfaces of the lift 14 and the vehicle storage shelf 17, which enables smooth transfer of an empty pallet 18 or a pallet 18 loaded with a vehicle 2 from the lift 14 to the vehicle storage shelf 17, or from the vehicle storage shelf 17 to the lift 14, when the heights of the two floor surfaces are the same.

[0017] 2 is a schematic perspective view showing the boarding / disembarking room 7. Inside the boarding / disembarking room 7, there is a space in the center where the pallet 18 is placed, and on the wall in front of the entrance door 4, there is a mirror 24 that allows the driver (user) to check the position of the vehicle 2, and an electronic parking position indicator light 25 that provides guidance on "going forward," "stopping," and "backing up."

[0018] Four cameras 35A to 35D are installed in the boarding / de-boarding compartment 7 to capture the interior conditions. In this embodiment, the cameras 35A to 35D are, for example, video cameras, and are attached to different wall surfaces (four surfaces) of the boarding / de-boarding compartment 7. For example, the camera 35A is placed so as to capture the front of the vehicle 2 parked in the boarding / de-boarding compartment 7, the camera 35B is placed at a position to capture the rear of the vehicle 2, the camera 35C is placed at a position to capture the left side of the vehicle 2, and the camera 35D is placed at a position to capture the right side of the vehicle 2. Note that the number of cameras installed is not limited to the above, and it is sufficient that at least one camera is provided.

[0019] An internal detection sensor (internal detection means) 30 (see FIG. 6) for detecting a person (object) in the boarding / de-boarding compartment 7 is provided inside the boarding / de-boarding compartment. The internal detection sensor 30 may include a sensor for detecting a person (object) in each of the front area, right side area, left side area, and rear area of ​​the boarding / de-boarding compartment 7, for example. The internal detection sensor 30 may also include a sensor for detecting the stopping position of the vehicle. The internal detection sensor 30 may also include two range sensors 30A and 30B provided at diagonal positions of the boarding / de-boarding compartment 7.

[0020] FIG. 3 is a diagram showing an example of the installation positions and detection ranges of the range measurement sensors 30A and 30B in the boarding / deboarding compartment 7. The range measurement sensors 30A and 30B output a search wave W, such as a laser beam or ultrasonic wave, which has a property of hitting a target and reflecting, and scan a predetermined angle range in the horizontal direction while receiving the reflected wave, and can calculate the position, size, and shape of the detected object based on the obtained angle information and distance information. Based on the sensor data detected by the range measurement sensors 30A and 30B, the position, size, and shape of the vehicle 2 placed at a specified position on the pallet 18 of the boarding / deboarding compartment 7 can be detected, and vehicle contour data of the vehicle 2 can be obtained. Here, the vehicle contour data may be two-dimensional data of the vehicle, that is, a planar contour shape, or may be three-dimensional data. In addition, the range measurement sensor can detect not only the contour of the vehicle, but also people and the like in the boarding / deboarding compartment.

[0021] The interior detection sensor 30 is a sensor used to check for the absence of a person inside the boarding / deboarding compartment, and is not limited to the above example, and any known sensor can be used as appropriate. The above-mentioned cameras 35A to 35D can also be used as the interior detection sensor 30, and in this case, it is possible to check for the absence of a person inside the boarding / deboarding compartment based on image data acquired by the cameras 35A to 35D. In this embodiment, a case where range measurement sensors 30A and 30B are used as an example of the internal detection sensor 30 will be described. A detection signal from the internal detection sensor 30 is outputted to a sensor control unit 57 (see FIG. 6) and a door current control device 80, which will be described later.

[0022] As shown in FIG. 2, the entrance / exit detection sensor (exit detection means) 32 for detecting the entrance / exit of a person or vehicle from the boarding / de-boarding room 7 is provided at the entrance / exit 3 of the boarding / de-boarding room 7. The entrance / exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance / exit 3 and a pair of sensors 32B provided outside the entrance / exit 3. The sensors 32A and 32B are, for example, sensors of a type that receives a beam transmitted from a transmitter at a receiver. When the beam is blocked by a vehicle 2, a person, or the like, the sensor turns on, and the detection signal is transmitted to a sensor control unit 57 (see FIG. 6) described later.

[0023] The sensor control unit 57 determines that a person or vehicle has exited the boarding / alighting compartment 7 when, for example, the on signals are input from the sensor 32A to the sensor 32B in that order. The sensor control unit 57 also determines that a person or vehicle has entered the boarding / alighting compartment 7 when, for example, the on signals are input from the sensor 32B to the sensor 32A in that order.

[0024] The method of detecting the exit of a person or vehicle from the boarding / alighting compartment 7 is not limited to the above example. For example, instead of the sensor 32A, a sensor for detecting a person in the rear area of ​​the boarding / alighting compartment 7 (a human sensor, an over-detection sensor for determining whether the rear part of the vehicle has exceeded a predetermined stopping position, a range sensor, etc.) or a predetermined sensor installed in the boarding / alighting compartment may be used. 2, the sensors 32A and 32B are provided on the inside and outside of the boarding / deboarding room 7, respectively, with the entrance door 4 in between, but this is not limited to the example. For example, the sensors 32A and 32B may both be provided inside the boarding / deboarding room, or may both be provided outside the boarding / deboarding room.

[0025] Further, the sensor control unit 57 can determine whether a person or a vehicle is entering or exiting based on the detection signal of the entry / exit detection sensor 32. For example, in the case of a person entering or exiting, the on signals are not output from the sensors 32A and 32B at the same time. In contrast, in the case of a vehicle 2 entering or exiting, since the vehicle has a certain length, there is a temporal overlap between the on signals of the sensors 32A and 32B. In this way, it is possible to determine whether a person is entering or exiting or the vehicle 2 is entering or exiting depending on the degree of temporal overlap between the on signals of the sensors 32A and 32B.

[0026] In this embodiment, the entry / exit detection sensor 32 is configured to be capable of detecting entry and exit, but is not limited to this example. For example, it is sufficient to have a configuration capable of detecting at least exit from the boarding / deboarding room 7. One example is a camera 35.

[0027] Further, an internal reception unit (internal reception means) that receives input information for closing the entrance door 4 is provided inside the boarding / alighting compartment 7. This internal reception unit is mainly operated by a user (e.g., a driver). In this embodiment, an internal operation panel 26 is provided as an example of the internal reception unit. As shown in FIG. 2, the internal operation panel 26 may be provided on each of the right and left sides of the boarding / alighting compartment 7. This allows the user to input input information by operating the internal operation panel 26 that is closer to the driver's seat, regardless of whether the vehicle is a right-hand drive vehicle or a left-hand drive vehicle. This makes it possible to increase convenience.

[0028] FIG. 4 is a diagram showing an example of the configuration of the internal operation panel 26. As shown in FIG. 4, the internal operation panel 26 includes an input unit 260 for a user to perform an input operation. The input unit 260 includes, for example, an authentication information input unit for receiving authentication information of a user. In the present embodiment, an IC card reader 261 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, and face image, and a wireless communication unit that receives authentication information via wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.).

[0029] The input unit 260 may also include a close door button 263, a re-enter button 264, etc. The input unit 260 may also include a touch panel 262. The display of the touch panel 262 is controlled by the control device 40 described below, and authentication information read by the IC card reader 261 and information input by operating the close door button 263 and the re-enter button 264 by an operator or the like are output to the control device 40. Instead of the touch panel 262, a display without an input function may also be provided.

[0030] Also, various input screens and guidance may be displayed on the touch panel 262, and various input information may be input from the touch panel 262 according to the displayed guidance. In this case, the IC card reader 261, the close door button 263, and the re-enter button 264 are substituted by buttons displayed on the touch panel. In this way, the method of inputting various information is not limited to the above example, and any known technology may be appropriately adopted.

[0031] In addition, a notification unit (notification means: not shown) may be provided in the boarding / de-boarding compartment to notify the user of information by voice (guidance information for entering and leaving the parking lot, information on the occurrence of an error, etc.) Examples of the notification unit include a speaker and a warning light.

[0032] As shown in Fig. 2, an external reception unit (external reception means) that receives input information for closing the entrance door 4 is provided outside the boarding / deboarding room 7. This external reception unit is operated by, for example, a user, an administrator, a maintenance person, etc. In this embodiment, an external operation panel 22 is provided as an example of the external reception unit. In addition, a monitor 28 is provided near the external operation panel 22 to display real-time images captured by cameras 35A to 35D, which will be described later.

[0033] Fig. 5 is a diagram showing an example of the configuration of the external operation panel 22. As shown in Fig. 5, the external operation panel 22 is housed in a metal housing 43 to protect it from wind and rain and to prevent tampering, and this housing 43 is provided with a lockable lid 44. When an operator operates the external operation panel 22, he or she unlocks the lid 44 and accesses the external operation panel 22.

[0034] The external operation panel 22 includes, for example, an authentication information input unit for receiving authentication information of a user. In the present embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured with, for example, a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, face image, etc., a wireless communication unit that receives authentication information via wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.), etc.

[0035] The external operation panel 22 may also be equipped with a touch panel 45, a speaker 47 for providing audio guidance to an operator (e.g., a user) on how to operate the device, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc.

[0036] The touch panel 45 has both a display function and an input function. For example, various kinds of guide information for allowing the operator to perform operations for entering and leaving the parking lot are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the parking lot. The display on the touch panel 45 is controlled by a control device (parking device control means) 40, which will be described later, and information input by operating the touch panel 45 by the operator or the like is output to the control device 40.

[0037] 2, outside the boarding / deboarding room 7, a warehousing control light 21 having blue and red lamps is provided above the entrance door 4. Also, outside the boarding / deboarding room 7, an external detection sensor (external detection means) 30C that detects people or vehicles in a predetermined monitoring area provided near the entrance door 4 is provided.

[0038] An example of a monitoring area is shown in Fig. 3. Different monitoring areas are set for an internal door closing mode in which the door closing operation is performed by the internal operation panel 26 and an external door closing mode in which the door closing operation is performed by the external operation panel 22. For example, the monitoring area for the internal door closing mode is set to the area K1+K2 in Fig. 3, and the monitoring area for the external door closing mode is set to the area K1 in Fig. 3. In the external door closing mode, the door closing operation is performed by operating the external operation panel 22, so a certain area in front of the external operation panel 22 is excluded from the monitoring range.

[0039] Examples of the external detection sensor 30C include a camera and a range sensor. Examples of the range sensor include a laser scan sensor. Here, in FIG. 2, the external detection sensor 30C is provided at the lower left side of the entrance door 4 when viewed from the front, but the installation position is not limited to this. In other words, the external detection sensor 30C only needs to be placed at a position where it can detect a person or vehicle in a specified monitoring area, and multiple external detection sensors may be provided. In addition, when one sensor is provided, it is preferable to provide it on the opposite side of the entrance door to the external operation panel 22.

[0040] A control device 40 that performs overall control of the mechanical parking device 1 is installed inside or outside the boarding / disembarking compartment 7. The mechanical parking device 1 also includes a door current control device 80 (see FIG. 7) described later.

[0041] FIG. 6 is a functional block diagram showing an example of functions of the control device 40 of the mechanical parking device 1 according to this embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, a communication interface for connecting to a network, and the like. The control device 40 also includes a comprehensive database 52 in which various data required for controlling the mechanical parking device 1 are stored. The comprehensive database 52 stores vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information of persons authorized to use the mechanical parking device 1, and contact information of users, etc. (for example, registered email addresses, etc.). The persons authorized to use the mechanical parking device 1 include users, managers, maintenance personnel, and the like.

[0042] The control device 40 also includes a storage unit 41 for storing necessary data in association with the execution of the later-described entry process and exit process. For example, the storage unit 41 stores a user ID (first authentication information) that has been successfully authenticated in the first user authentication process, the results of scanning by the range finder, the monitoring area, information on various modes, and the like.

[0043] The auxiliary storage device of the control device 40 stores control programs for controlling each mechanism of the mechanical parking device 1, and the CPU reads out the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each unit described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the comprehensive database 52.

[0044] The control programs may be stored in advance in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server or the like that distributes control programs and the like after construction. Alternatively, the programs may be installed via an external storage device. In this way, there is no particular limitation on the method of installing the various programs.

[0045] The control device 40 includes a main control unit 50. In addition to the above-mentioned general database 52, the main control unit 50 is connected to an entrance door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning control unit 62, and the like. The main control unit 50 is also connected to an internal operation panel 26 and an external operation panel 22, allowing two-way communication.

[0046] The entrance door control unit 55 receives an operation command from the main control unit 50 and controls a door drive unit 63 that drives the entrance door 4 to open and close, thereby opening and closing the entrance door 4. The entrance door control unit 55 also receives a position signal of the entrance door 4 from an entrance door sensor 67, and feeds back the information to the main control unit 50. The door drive unit 63 is configured to include, for example, a motor and the like. Note that the door drive unit 63 can employ various known configurations as appropriate.

[0047] The entrance door sensor 67 may, for example, detect full opening and full closing of the entrance door 4 and output a detection signal indicating that (door full open signal, door full closed signal) to the entrance door control unit 55. A known sensor may be appropriately adopted as the entrance door sensor 67. The entrance door sensor 67 may also include one or more sensors. For example, a limit switch or the like is one example of the entrance door sensor 67.

[0048] The conveyor control unit 56 receives an operation command from the main control unit 50 and controls a lift drive unit 64 that drives the lift 14, thereby controlling the raising and lowering of the lift 14 and the loading and unloading of the pallets 18. The conveyor control unit 56 also receives a position signal of the lift 14 from a conveyor position sensor 68 and feeds back the information to the main control unit 50.

[0049] The sensor control unit 57 receives detection signals from the internal detection sensor 30 and the external detection sensor 30C, and outputs the information to the main control unit 50. In addition, the sensor control unit 57 determines whether a person or vehicle has entered or exited based on the detection signal from the entry / exit detection sensor 32, and outputs the determination result to the main control unit 50.

[0050] The camera control unit 58 receives an operation command from the main control unit 50, causes the cameras 35 (35A to 35D) installed inside the boarding / deboarding compartment 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period of time. The image database 59 may be provided inside the general database 52, or on the cloud.

[0051] The vehicle measurement control section 61 receives an operation command from the main control section 50, measures the weight of the vehicle mounted on the lift 14 using the vehicle measuring device 69, and feeds back the information to the main control section 50 via the vehicle weight sensor 73. This vehicle weight information is used for controlling the lift 14, etc.

[0052] The turning control unit 62 receives an operation command from the main control unit 50 and controls the turning drive unit 11 that turns the turntable 8, thereby operating the turntable 8. The turning control unit 62 also receives a turning position signal of the turntable 8 from the turntable position sensor 71, and feeds back the information to the main control unit 50.

[0053] The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55, 56, 57, 58, 61, 62 and input information from the internal operation panel 26 or the external operation panel 22. The main control unit 50 also executes a control program for the entry process and a control program for the exit process based on various information exchanged with the internal operation panel 26 and the external operation panel 22. Note that the detection signals of the internal detection sensor 30, the external detection sensor 30C, 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 above-mentioned sensor control unit 57. This makes it possible to implement more rapid control in response to the detection signals.

[0054] 7 is a diagram showing an example of the configuration of the door current control device 80 according to the present embodiment. As shown in FIG 7, the door current control device 80 includes a switch 81 and a switch control unit (switch control means) 82.

[0055] As shown in FIG. 7, each of the drive units such as the swivel drive unit 11, the lift drive unit 64, and the door drive unit 63 is supplied with power from a power source 100. A swivel drive breaker 101 is provided on the circuit connecting the power source 100 and the swivel drive unit 11, a lift conveyor breaker 102 is provided on the circuit connecting the power source 100 and the lift drive unit 64, and a door drive breaker 103 is provided on the circuit connecting the power source 100 and the door drive unit 63. When an abnormality such as an overcurrent occurs, the swivel drive breaker 101, the lift conveyor breaker 102, and the door drive breaker 103 are activated to cut off the power supply to the swivel drive unit 11, the lift drive unit 64, and the door drive unit 63. In addition, the swivel drive breaker 101, the lift conveyor breaker 102, and the door drive breaker 103 are restored by an operator after the safety is confirmed by an operator, and the power is turned on again.

[0056] A switch 81 is provided on an electric circuit connecting the power source 100 and the door drive unit 63, downstream of the door drive breaker 103, in other words, closer to the door drive unit 63. The switch 81 controls the power supply to the door drive unit 63. The switch 81 is, for example, a mechanical switch that switches between power on and power off to the door drive unit 63, and examples of the switch 81 include a magnet contactor and a magnet switch. The opening and closing of the switch 81 is controlled by a switch control unit 82. The door current control device 80, more specifically, the switch control unit 82, is communicatively connected to the control device 40, more specifically, the main control unit 50. The switch control unit 82 is configured to receive detection signals from the interior detection sensor 30 and the entrance door sensor 67.

[0057] The switch control unit 82 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 transmitting and receiving information to and from other devices, etc. The auxiliary storage device of the switch control unit 82 stores a door current control program for controlling the opening and closing of the switch 81, etc., and the CPU reads out the program stored in the auxiliary storage device into the main memory and executes it to realize various processes described later.

[0058] The door current control program may be stored in advance in an auxiliary storage device such as a ROM when the switch control unit 82 is manufactured, or may be downloaded and installed from a server or the like that distributes the program after construction. Also, the program may be installed via an external storage device. In this way, there is no particular limitation on the method of installing the various programs.

[0059] For example, when the fully open state of the entrance door 4 is detected, the switch control unit 82 opens the switch 81 to cut off the power supply to the door drive unit 63. Specifically, when a signal indicating that the entrance door 4 is fully open is input from the entrance door sensor 67, the switch control unit 82 opens the switch 81 to cut off the power supply to the door drive unit 63.

[0060] In addition, the switch control unit 82, for example, determines whether or not there is anyone inside the boarding / deboarding compartment, and if it determines that there is no one inside, closes the switch 81 and supplies power to the door drive unit 63, in other words, turns on the power. For example, the switch control unit 82 may determine whether or not there is no one inside the passenger compartment based on an output signal from the interior detection sensor 30 for detecting a person inside the passenger compartment. The switch control unit 82 may also determine that there is no one inside the passenger compartment when it receives an unmanned vehicle confirmation completion signal indicating that the user has confirmed that there is no one inside the passenger compartment. In this embodiment, the unmanned vehicle confirmation completion signal is input to the switch control unit 82 via the control device 40, as described below.

[0061] In the present embodiment, the detection signal from the internal detection sensor 30 is directly input to the switch control unit 82 from the internal detection sensor 30, but the present invention is not limited to this configuration. For example, the detection signal from the internal detection sensor 30 may also be input to the switch control unit 82 via the control device 40. In addition, in the present embodiment, the switch control unit 82 is configured by a processor or the like separate from the control device 40, but this is not limited to this example. For example, the control device 40 may have the function of the switch control unit 82.

[0062] In this embodiment, as an example, when no person is detected in a specified monitoring area set within the boarding / deboarding compartment by the internal detection sensor 30 and an unmanned confirmation completion signal is received from the control device 40 indicating that the user has confirmed that there is no one in the boarding / deboarding compartment, the switch control unit 82 determines that there is no one in the boarding / deboarding compartment and closes the switch 81.

[0063] [Warehousing process] Next, an example of a warehousing process executed by the control device 40 at the time of warehousing will be described with reference to the drawings. Figs. 8 to 13 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

[0064] First, when entering the vehicle, the user moves the vehicle 2 in front of the entrance / exit 3, gets off, and heads toward the external operation panel 22. Then, the user unlocks the vehicle 2 with a special key and opens the lid 44 of the housing 43. When the control device 40 detects that the lid 44 has been opened (SA1 in FIG. 8), it causes the touch panel 45 of the external operation panel 22 to display a first user authentication screen (SA2).

[0065] When a user touches an IC card to the IC card reader 46, the user ID (first authentication information) registered in the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs a first user authentication (first authentication) to determine whether or not the person attempting to enter the parking lot is a pre-registered user (SA4). Specifically, the control device 40 accesses the general database 52 and determines whether or not the input user ID is registered. As a result, if the first user authentication is unsuccessful (SA5: NO), a message indicating that the user authentication has failed is displayed on the touch panel 45 to notify the user that the authentication has failed, and then the first user authentication screen is displayed (SA2).

[0066] 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 system is set to an operation permitted state in which input operations are possible from the touch panel 45 of the external operation panel 22 (SA6), the user ID for which the first user authentication was successful is stored in the memory unit 41 (SA7), and a warehousing startup confirmation screen is displayed on the touch panel 45 of the external operation panel 22 (SA8).

[0067] When the start button is pressed on the warehousing start confirmation screen (SA9), the control device 40 sets the vehicle transport mechanism such as the lift 14 and the mechanical mechanisms such as the entrance / exit door 4 to an operation permission state where they can be operated (SA10), and retrieves an empty pallet from the vehicle storage shelf 17. At this time, a warehousing waiting confirmation screen indicating the warehousing waiting state may be displayed on the touch panel 45.

[0068] Next, when the empty pallet arrives at the boarding / exit room 7, the control device 40 displays a door open screen on the touch panel 45 indicating that the entrance door 4 will open (SA11), and opens the entrance door 4. Then, when the entrance door sensor 67 detects that the entrance door 4 is completely open (SA12), the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SA13 in FIG. 9).

[0069] Furthermore, when the entrance door sensor 67 detects that the entrance door 4 is fully open, the entrance door sensor 67 notifies the door power control device 80 (see FIG. 7) of a door full open signal. When the opening / closing switch control unit 82 of the door power control device 80 receives the door full open signal, it opens the opening / closing switch 81. This causes the power supply to the door drive unit 63 to be cut off (ST1). Therefore, even if the control device 40 malfunctions and outputs an erroneous door close signal to the door drive unit 63, it is possible to prevent the entrance door 4 from closing.

[0070] Next, the control device 40 displays an entrance guide screen on the touch panel 45 to prompt the user to enter the vehicle (SA14 in FIG. 9), and further sets the external operation panel 22 to an operation-locked state in which no input is accepted from the touch panel 45 (SA15). This makes it possible to prevent a third party from entering data from the touch panel 45 while the user is away from the external operation panel 22.

[0071] After checking the entrance guide screen, the user gets into vehicle 2, moves vehicle 2 into the boarding / de-boarding compartment, and places vehicle 2 on the empty pallet that has been transported into the boarding / de-boarding compartment. When the internal detection sensor 30 detects that the vehicle has been placed at the designated parking position on the empty pallet (SA16), the control device 40 activates the range sensors 30A and 30B. This scans the outline of the vehicle 2 placed on the pallet. The control device 40 sets the area other than the outline of the vehicle as a monitoring area, and stores it in the memory unit 41 (SA17).

[0072] Next, the control device 40 announces to the user to get off the vehicle, and displays a second user authentication screen on the touch panel of the internal operation panel 26 to prompt the user to input authentication information (SA18). Here, the control device 40 may, for example, issue guidance prompting the user to input authentication information by voice via a speaker, or may notify the vehicle-mounted device via a wireless communication unit when communication with the vehicle-mounted device is possible.

[0073] Next, the control device 40 judges whether or not exit has been detected by the entrance / exit detection sensor 32 (SA19). As a result, if exit has not been detected (SA19: NO), the control device 40 judges whether or not a user ID has been input from the internal operation panel 26 (SA20). As a result, if a user ID has not been input (SA20: NO), the process returns to step SA19. In this manner, the judgment process of steps SA19 and SA20 is repeated until exit is detected by the entrance / exit detection sensor 32 or a user ID is input from the internal operation panel 26.

[0074] As a result, if the entrance / exit detection sensor 32 detects the exit of a person without the user ID being entered into the internal operation panel 26 (SA19: YES), the system transitions to an external door closing mode (SA21) in which the door closing operation is performed from the external operation panel 22. On the other hand, if the user ID is entered into the internal operation panel 26 (SA20: YES), the system transitions to an internal door closing mode (SA22) in which the door closing operation is performed from the internal operation panel 26.

[0075] [External door closed mode] Next, the exterior door closing mode will be described with reference to FIGS. In the external door closed mode, the control device 40 performs guidance to prompt the user to input authentication information on the touch panel 45 of the external operation panel 22. For example, the control device 40 displays a second user authentication screen on the touch panel 45 to prompt the user to input authentication information (SB1 in FIG. 10).

[0076] As a result, when a user or the like touches an IC card to the IC card reader 46 and inputs authentication information (second authentication information) (SB2), the control device 40 performs second user authentication (SB3). In the second user authentication (second authentication), it is determined whether or not the received user ID (second authentication information) is a pre-registered user ID.

[0077] As a result, if the second user authentication is successful (SB4: YES), a verification process is performed to determine whether the user ID (first authentication information) input in the first user authentication is the same as the user ID (second authentication information) input in the second user authentication (SB5). In the verification process, it is determined whether the person who opens the entrance door 4 is the same as the person who closes it. The determination of whether they are the same person is not limited to this example. For example, if the authentication information input in the first user authentication and the authentication information input in the second user authentication have a "predetermined correspondence relationship", it may be determined that they are the same person. For example, authentication information linked to a user ID that has been successfully authenticated in the first user authentication is stored, and if authentication information identical to this authentication information is input in the second user authentication, it may be determined that they are the same person. Examples of authentication information linked to a user ID include a password that is temporarily issued when the first user authentication is successful, and authentication information (e.g., biometric authentication information) that the user further inputs after the first user authentication is successful. In this way, the matching process can be carried out by appropriately using known techniques. If the matching process is successful (SB6: YES), the process proceeds to step SB7.

[0078] On the other hand, if the second user authentication is not successful (SB4: NO) or if the matching process is not successful (SB6: NO), the process returns to step SB1 and the second user authentication screen is displayed. At this time, it is also possible to notify the user that the authentication or matching has failed.

[0079] In step SB7, the control device 40 sets the external operation panel 22 to an operation permitted state. Next, the control device 40 displays an unmanned confirmation screen on the touch panel 45 to prompt the user to confirm that there is no one in the boarding / deboarding compartment, and provides guidance to prompt the user to perform the unmanned confirmation (SB8 in FIG. 11). FIG. 14 shows an example of the unmanned confirmation screen. As shown in FIG. 14, the unmanned confirmation screen displays guidance and the like to prompt the user to confirm that there is no one in the boarding / deboarding compartment using the unmanned confirmation button BT1 and a real-time image displayed on the monitor 28 (see FIG. 2) before operating the unmanned confirmation button BT1.

[0080] When the unmanned confirmation button BT1 is pressed on the unmanned confirmation screen (SB9), the control device 40 transmits an unmanned confirmation completion signal to the door power control device 80 (SB10). Next, the control device 40 displays a door close screen for closing the entrance door 4 on the touch panel 45 of the external operation panel 22 (SB11). On the door close screen, for example, a door close button is displayed, and guidance is displayed that urges the user to check again whether there is anyone in the boarding / deboarding compartment before operating the door close button.

[0081] When the close door button is pressed on this door close screen (SB12), the control device 40 checks whether there is anyone in the boarding / de-boarding compartment based on the detection signal of the interior detection sensor 30 (SB13). Specifically, it determines whether any person is detected in the monitoring area set in step SA17 of FIG. 9. That is, it determines whether any person is detected in the monitoring area excluding the vehicle portion from the interior area of ​​the boarding / de-boarding compartment. At this time, the control device 40 may issue guidance to encourage evacuation from the boarding / de-boarding compartment 7 from an alarm unit such as a speaker.

[0082] As a result, if it is not possible to confirm that there is no occupant in the boarding / deboarding compartment (SB13: NO), the determination is repeated until it is confirmed that there is no occupant. On the other hand, if there is a confirmation that there is no occupant in the boarding / deboarding compartment (SB13: YES), the external detection sensor 30C checks whether there is no occupant in a predetermined monitoring area set outside the boarding / deboarding compartment 7 (SB14). Here, in the external door closing mode, it is assumed that the door closing operation is performed from the external operation panel 22, so the area K1 in Fig. 3 is set as the monitoring area. At this time, the control device 40 may issue guidance to encourage the occupant to evacuate from the monitoring area K1 from an alarm unit such as the speaker 47.

[0083] As a result, if it is not confirmed that there is no occupant in the monitoring area K1 (SB14: NO), the process returns to step SB13, and the determination is repeated until it is confirmed that there is no occupant in the monitoring area set inside and outside the boarding / deboarding compartment. On the other hand, if it is confirmed that there is no occupant in the monitoring area K1 (SB14: YES), the switch control unit 82 (see FIG. 7) closes the switch 81, and power is supplied to the door drive unit 63 (ST2). Details of the opening and closing control of the switch 81 by the switch control unit 82 will be described later.

[0084] Furthermore, when the control device 40 confirms that no one is present in the monitoring area K1 (SB14: YES), it determines that the safety is ensured in and around the entrance door outside the boarding / deboarding room, and starts closing the door (SB15). Then, when the control device 40 detects that the entrance door 4 is fully closed (SB16), it erases the user ID (first authentication information) stored in the memory unit 41 (SB17), and ends the storage process.

[0085] Until the entrance door 4 is completely closed, the control device 40 may continuously check whether there is anyone inside or outside the boarding / deboarding room based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C. At this time, the control device 40 may also issue a guidance for prohibiting entry into the boarding / deboarding room and a guidance for encouraging people to evacuate from the monitored area from an alarm unit such as a speaker 47.

[0086] [Internal door closed mode] Next, the inner closing door mode will be described with reference to FIGS. In the internal closed door mode, the control device 40 performs second user authentication (SC1) using the user ID input from the internal operation panel 26 in step SA20 of Fig. 9. 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.

[0087] As a result, if the second user authentication is successful (SC2: YES), a verification process is then performed to determine whether the user ID (first authentication information) entered in the first user authentication is the same as the user ID (second authentication information) entered in the second user authentication (SC3). The verification process is the same as in the external closed door mode described above, so a description thereof will be omitted. If the verification process is successful (SC4: YES), the process proceeds to step SC5.

[0088] On the other hand, if the second user authentication is not successful (SC2: NO) or if the matching process is not successful (SC4: NO), the process returns to step SC1 and the second user authentication screen is displayed. At this time, it is also possible to notify the user that the authentication or matching has failed.

[0089] In the internal door closing mode, if the second user authentication fails or if the matching process fails, an error determination may be made, operation from the internal operation panel 26 may be disabled, and a transition may be made to an external operation mode using the external operation panel 22. In this case, an announcement may be made through a speaker or the like to the effect that operation from the internal operation panel 26 is not possible and that the door closing operation is to be performed using the external operation panel 22. In this case, the control device 40 may perform processing according to the external door closing mode described above.

[0090] On the other hand, if the matching process is successful in step SC4 (SC4: YES), the control device 40 sets the internal operation panel 26 to an operation-permitted state (SC5), displays an unmanned confirmation screen on the touch panel 262 to allow the user to perform an unmanned check inside the boarding / de-boarding compartment, and provides guidance to the user to perform the unmanned check (SC6).

[0091] When the unmanned confirmation button is pressed on the unmanned confirmation screen (SC7), the control device 40 transmits an unmanned confirmation completion signal to the door power control device 80 (see FIG. 7) (SC8). Next, the control device 40 displays a door close screen for closing the entrance door 4 on the touch panel 262 of the internal operation panel 26 (SC9 in FIG. 13). On the door close screen, for example, guidance is displayed that encourages the user to check again whether there is anyone in the boarding / deboarding compartment before operating the door close button 263.

[0092] When the close door button 263 is pressed by a user (SC10), the control device 40 judges whether or not the exit of a person is detected by the entry / exit detection sensor 32 within a predetermined period of time (SC11). That is, it judges whether or not the user has exited from the boarding / deboarding room 7 within a predetermined period of time after the close door button 263 is pressed. At this time, the control device 40 may issue a guidance from a speaker to promptly exit from the boarding / deboarding room 7.

[0093] As a result, if the exit of a person is not detected within the predetermined period (SC11: NO), the second user authentication screen is displayed again on the touch panel 262 of the internal operation panel 26 (SA18 in FIG. 9). In this case, if the exit of a person is not detected within the predetermined period after the close door button 263 is pressed, an error is determined, operation from the internal operation panel 26 is disabled, and a transition to an external operation mode using the external operation panel 22 may be made. In this case, an announcement may be made through a speaker or the like that operation from the internal operation panel 26 is not possible and that the door closing operation will be performed using the external operation panel 22. In this case, the control device 40 may perform processing according to the external door closing mode described above.

[0094] On the other hand, if exit is detected within a predetermined period after the door close button 263 is pressed (SC11: YES in FIG. 13), it is confirmed whether there is anyone in the boarding / de-boarding compartment based on the detection signal from the interior detection sensor 30 (SC12). Specifically, it is determined whether any person is detected in the monitoring area set in step SA17 in FIG. 9. That is, it is determined whether any person is detected in the monitoring area excluding the vehicle portion from the interior area of ​​the boarding / de-boarding compartment.

[0095] As a result, if it is not possible to confirm that there is no one in the boarding / deboarding compartment (SC12: NO), the determination is repeated until it is confirmed that there is no one in the boarding / deboarding compartment. On the other hand, if there is a confirmation that there is no one in the boarding / deboarding compartment (SC12: YES), the external detection sensor 30C checks whether there is anyone in a predetermined monitoring area set outside the boarding / deboarding compartment 7 (SC13). Here, in the case of the internal closed door mode, it is assumed that the user will not operate the external operation panel 22, so the area K1+K2 in Fig. 3 is set as the monitoring area. At this time, the control device 40 may issue a guidance to encourage the user to evacuate from the monitoring area from an alarm unit such as the speaker 47.

[0096] As a result, if it is not possible to confirm that there is no occupant in the monitoring area K1+K2 (SC13: NO), the process returns to step SC12 and repeats the determination until it is confirmed that there is no occupant in the monitoring area set inside and outside the boarding / deboarding compartment.On the other hand, if it is confirmed that there is no occupant in the monitoring area K1+K2 (SC13: YES), the switch control unit 82 (see FIG. 7) closes the switch 81 and supplies power to the door drive unit 63 (ST2).

[0097] Furthermore, when the control device 40 confirms that there is no one in the monitoring area K1+K2 (SC13: YES), it determines that the safety is ensured in and around the entrance door outside the boarding / deboarding room, and starts closing the door (SC14). Then, when it detects that the entrance door 4 is fully closed (SC15), it erases the user ID (first authentication information) stored in the memory unit 41 (SC16), and ends the storage process.

[0098] Until the entrance door 4 is completely closed, the control device 40 may continuously check whether there is anyone inside or outside the boarding / deboarding room based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C. At this time, the control device 40 may issue a guidance for prohibiting entry into the boarding / deboarding room and a guidance for encouraging evacuation from the monitored area from an alarm unit such as a speaker 47. In addition, in the case of the internal door closing mode, when it is detected that the entrance door 4 is completely closed, the control device 40 may transmit a message indicating that the door has been closed to the information distribution destinations of the user registered in advance.

[0099] Although a series of processing steps for the warehousing process according to this embodiment have been described above, the steps and processing contents are merely examples, and processing can be added, omitted, or the steps can be changed as appropriate.

[0100] For example, in the above-mentioned warehousing process, when an unmanned confirmation input is made from the external operation panel 22, a closed door screen is displayed on the touch panel 45. However, a process for making a safety confirmation be performed before the closed door screen is displayed may be added. For example, before step SB11 in FIG. 11, a safety confirmation screen for making the user make a safety confirmation may be displayed on the touch panel 45, and after the user inputs the safety confirmation, the closed door screen may be displayed. The same applies to the case of the internal closed door mode. That is, before step SC9 in FIG. 13, a safety confirmation screen for making the user make a safety confirmation may be displayed on the touch panel 262, and after the user inputs the safety confirmation, the closed door screen may be displayed. By making the user make a safety confirmation in this way, safety can be improved.

[0101] In addition, the processing procedures for the process for unmanned confirmation, the process for safety confirmation, the process for door closing, the process for second user authentication, and the matching process are not limited to the above examples. For example, the order of these processes can be changed as appropriate. In addition, these processing procedures can be appropriately combined with known processing procedures.

[0102] In the above-mentioned warehousing process, the outside monitoring area (K1, K1+K2 in FIG. 3) is also checked for vacancy, but this process may be omitted. In other words, if the inside detection sensor 30 confirms that there is no one in the vehicle, the door may be closed.

[0103] In the above-mentioned warehousing process, the outline of the vehicle is detected by the range measurement sensors 30A and 30B, and the monitoring area in the boarding / deboarding compartment is set based on the detection result, but this is not limited to the example. For example, since the installation position of the pallet in the boarding / deboarding compartment is fixed, the area excluding the area of ​​the pallet from the entire boarding / deboarding compartment may be set as the monitoring area.

[0104] [Door current control process] Next, an example of a door energization control process executed by the door energization control device 80 during warehousing will be described with reference to the drawings. Fig. 15 is a flowchart showing an example of a process procedure of a door energization control method executed by the door energization control device 80, specifically, the opening / closing switch control unit 82.

[0105] First, when the storage process is started by the control device 40, the switch control unit 82 judges whether or not the entrance door 4 is detected to be fully open by the entrance door sensor 67 (SD1). As a result, if the entrance door 4 is not detected to be fully open (SD1: NO), the switch control unit 82 enters a standby state until the full opening is detected. On the other hand, if the entrance door 4 is detected to be fully open (SD1: YES), the switch control unit 82 opens the switch 81 (SD2). This cuts off the power supply from the power source 100 (see FIG. 7) to the door drive unit 63 (state ST1 in FIG. 8).

[0106] Next, the switch control unit 82 judges whether or not it has received an unmanned vehicle confirmation completion signal from the control device 40 (SD3). As a result, if it has not received an unmanned vehicle confirmation completion signal (SD3: NO), it goes into a standby state until it receives an unmanned vehicle confirmation completion signal. On the other hand, if it has received an unmanned vehicle confirmation completion signal (SD3: YES), it then judges whether or not the monitoring area is unmanned (SD4). For example, the switch control unit 82 judges whether or not a person (object) has been detected in the monitoring area set in step SA17 of FIG. 9 based on the detection signal of the interior detection sensor 30, and also judges whether or not a person (object) has been detected in the monitoring area K1 (external door closed mode) or the monitoring area K1+K2 (internal door closed mode) set outside the boarding / deboarding room 7.

[0107] As a result, if a person is detected in the monitoring area (SD4: NO), the system goes into a standby state until no person is detected. On the other hand, if no person is detected in the monitoring area (SD4: YES), in other words, if it is confirmed that no one is present in the monitoring area inside or outside the boarding / disembarking room, the switch control unit 82 closes the switch 81 (SD5) and ends this process. As a result, power is supplied to the door drive unit 63, the entrance door 4 is powered on (ST2 state in Figs. 11 and 13), and the door can be closed.

[0108] The above-described process steps and process contents of the door current control process are merely examples, and processes can be added, omitted, or the process steps can be changed as appropriate. For example, after determining that the monitoring area inside and outside the boarding / deboarding room is unoccupied based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C, it may be determined whether or not an unoccupied confirmation completion signal has been received.

[0109] In addition, the conditions for closing the switch are not limited to the above example. For example, the switch 81 may be closed when either one of the following conditions is met: when it is determined that the monitoring area is unoccupied based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C, or when an unoccupied confirmation completion signal is received. In this case, either the process of confirming that the unattended confirmation completion signal has been received (SD3) or the process of confirming whether the monitored area is unattended (SD4) may be omitted.

[0110] In addition, in the case where both unattended confirmation and safety confirmation are performed in the warehousing process, it may be determined whether or not a safety confirmation completion signal has been received instead of the unattended confirmation completion signal. Also, it may be determined whether or not a door close instruction signal has been received instead of the unattended confirmation completion signal.

[0111] Fig. 16 is a diagram showing an example of transitions among the operation locked state, operation permitted state, driving locked state, driving permitted state, power supply cut-off state of the entrance door 4, and power on state of the entrance door 4 in the above-mentioned storage process. As shown in Fig. 16, the operation locked state and driving locked state are maintained until the first authentication is successful. In this state, if the first authentication is performed and successful, the state changes from the operation locked state to the operation permitted state. When a start command is input in the operation permitted state, the state changes to the operation permitted state, a call process is performed, and when the lift arrives at the boarding / deboarding room, a door opening process is performed and the entrance door 4 opens.

[0112] When the entrance door 4 is fully opened, the switch 81 is opened, cutting off the power supply to the entrance door 4. This reliably prevents the entrance door 4 from closing during the period when there is a possibility that users or the like may enter the boarding / deboarding compartment. Furthermore, when the entrance door 4 is fully open, the operation permitted state changes to an operation locked state, and the operation permitted state changes to an operation locked state. This makes it impossible to operate the mechanical parking device, and it becomes impossible to accept input operations from the touch panel 45 of the external operation panel 22.

[0113] In this state, the user gets into the vehicle and moves it onto the pallet. After that, the user leaves the boarding / deboarding compartment and moves again to the external operation panel 22. Since the operation is locked while the user is performing the warehousing operation, it is possible to prevent a third party from performing an input operation on the external operation panel 22.

[0114] Next, the second authentication is performed, and if the second authentication is successful, the operation lock state is changed to the operation permission state. In this operation permission state, unmanned confirmation and door closing instruction are performed, and further, when unmannedness in the monitoring area is confirmed by the internal detection sensor 30 and the external detection sensor 30C, the switch 81 is turned on to supply power to the entrance door 4, and the power is turned on. This makes it possible to close the entrance door 4 after confirming safety. Furthermore, the operation lock state is changed to the operation permission state. Then, when a door closing instruction is input in the operation permission state, a door closing process is performed, and the operation permission state is changed to the operation lock state. Then, when the door closing process is completed and the entrance door 4 is fully closed, the operation permission state is changed to the operation permission state in which the lift etc. can be raised and lowered, and the storage process is started. Then, when the storage process is completed, the operation permission state is changed to the operation lock state, and the state before the first authentication is performed is returned to.

[0115] [Shipping process] The leaving process is the same as the various processes in the entering process described above, except that screens specialized for entering, such as the entering start confirmation screen, the entering guide screen, etc., are changed to screens specialized for leaving, such as the leaving start confirmation screen, the leaving guide screen, etc., that in the pallet calling process, an empty pallet is called when entering, whereas a pallet with a vehicle placed on it is called when leaving, and that the monitoring area in which the interior detection sensor 30 checks for unattended vehicles is set to the entire area inside the boarding / departure compartment. Therefore, detailed explanations will be omitted here.

[0116] In this embodiment, as shown in Fig. 4, a re-entry button 264 is provided on the internal operation panel 26. This re-entry button 264 is a button for re-entering a vehicle that has been once called from the hangar in the internal door closed mode. This re-entry button 264 is a button that can be operated when inputting a door closing command (SC10 in Fig. 13) in the internal door closed mode. When the re-entry button 264 is pressed when leaving the garage, the subsequent processing is also carried out in the same manner as when entering the garage, except that the monitoring area when detecting an unoccupied person in the boarding / de-boarding compartment is an area excluding the outline of the vehicle in the boarding / de-boarding compartment, as in the case of entering the garage. Other than that, it is the same, and description thereof will be omitted here.

[0117] In addition, the method of controlling door current by the door current control device 80 when the vehicle leaves the warehouse is the same as when the vehicle enters the warehouse, so a detailed description thereof will be omitted here.

[0118] As described above, according to the door current control device, door current control method, door current control program, and mechanical parking device of this embodiment, a switch 81 is provided in the electrical circuit connecting the door drive unit 63 and the power source 100, and when the fully open state of the entrance / exit door 4 is detected, the switch 81 is opened to cut off the power supply to the door drive unit 63.

[0119] It is possible to reliably prevent the entrance door 4 from closing during the period when there is a possibility that users or the like will enter the boarding / deboarding compartment. That is, according to this embodiment, since the power supply itself to the door drive unit 63 that drives the entrance door 4 is cut off, it is possible to more reliably prevent the entrance door 4 from closing compared to the case where the closing operation of the entrance door 4 is stopped by software processing. This makes it possible to further improve safety.

[0120] The present disclosure has been described above using the above embodiment, but the technical scope of the present disclosure is not limited to the scope described in the above embodiment. Various changes or improvements can be made to the above embodiment without departing from the gist of the disclosure, and forms with such changes or improvements are also included in the technical scope of the present disclosure. In addition, the flow of the warehousing process, warehousing process, and door current control process described in the above embodiment is one example, and it is possible to delete unnecessary steps, add new steps, or change the order of processes without departing from the gist of the present disclosure.

[0121] For example, the entrance door 4 is described as an upward opening door, but is not limited thereto. For example, the entrance door 4 may be a horizontal opening door or a downward opening door (a type that is stored in the ground).

[0122] In addition, although the internal operation panel 26 has been described as an example of the internal reception unit (internal reception means), the present invention is not limited to this example. For example, the internal reception unit (internal reception means) may be realized as a wireless communication unit, and may be configured to receive various input information input from a mobile terminal carried by the user in the wireless communication unit, thereby allowing input of authentication information, input of unmanned confirmation, input of safety confirmation, input of door closing instruction, etc. Also, an in-vehicle device may be used instead of the mobile terminal. Examples of the mobile terminal include a smartphone, a tablet terminal, and a remote controller.

[0123] In addition, in each of the above-mentioned embodiments, the case where the external operation panel 22 and the internal operation panel 26 are controlled by the control device 40 is exemplified, but the present invention is not limited to this example. For example, an operation panel control device may be provided for each of the external operation panel 22 and the internal operation panel 26, and the above-mentioned processing may be realized by the exchange of information between the operation panel control device and the control device 40. In this case, for example, the storage processing and collation processing of authentication information (user ID) performed by the control device 40 may be executed by the operation panel control device provided for each of the external operation panel 22 and the internal operation panel 26. In other words, the device configuration related to the specific control system for realizing the above-mentioned warehousing processing and warehousing processing is not limited to the above-mentioned configuration, and various configurations may be realized by taking into consideration known technologies.

[0124] The door energization control device, the door energization control method, the door energization control program, and the mechanical parking device described in each of the embodiments described above can be understood, for example, as follows.

[0125] A door current control device (80) according to a first aspect of the present disclosure is a door current control device applied to a mechanical parking device (1) including a boarding / deboarding room (7) for entering and / or exiting a vehicle, an entrance / exit door (4) provided at the entrance / exit of the boarding / deboarding room, and a door drive means (63) for driving the entrance / exit door, and includes a switch (81) provided in an electric circuit connecting the door drive means and a power source (100), and a switch control means (82) for controlling the switch, and when the switch control means detects that the entrance / exit door is fully open, it opens the switch to cut off the power supply to the door drive means.

[0126] This can reliably prevent the entrance door from closing during the period when there is a possibility that users or the like may enter the boarding / deboarding compartment. In other words, since the power supply itself to the door drive means that drives the entrance door is cut off, it is possible to more reliably prevent the entrance door from closing compared to the case where the closing operation of the entrance door is stopped by software processing. This can further improve safety.

[0127] In the door current control device (80) according to a second aspect of the present disclosure, in the first aspect, the opening / closing switch control means may determine whether or not there is anyone in the passenger compartment, and when it is determined that there is no one in the passenger compartment, close the opening / closing switch and supply power to the door drive means.

[0128] This makes it possible to close the entrance door only after confirming safety.

[0129] In the door current control device (80) according to a third aspect of the present disclosure, in the above-mentioned second aspect, the open / close control means may determine whether or not the inside of the passenger compartment is unoccupied based on an output signal from an interior detection means (30) for detecting a person in the passenger compartment.

[0130] This makes it possible to close the boarding / deboarding compartment door after confirming that no one is inside the compartment.

[0131] In the door current control device (80) according to a fourth aspect of the present disclosure, in the above-mentioned second aspect, the opening and closing switch control means may determine that there is no one in the boarding / deboarding compartment when it receives an unmanned confirmation completion signal indicating that a user has confirmed that there is no one in the boarding / deboarding compartment.

[0132] This makes it possible to close the boarding / deboarding compartment door after confirming that no one is inside the compartment.

[0133] A door current control method according to a fifth aspect of the present disclosure is a door current control method applied to a mechanical parking device (1) including a boarding / deboarding room (7) for at least one of vehicle entry and exit, an entrance / exit door (4) provided at the entrance / exit of the boarding / deboarding room, a door drive means (63) for driving the entrance / exit door, and a switch (81) provided in an electrical circuit connecting the door drive means and a power source (100), in which, when a fully open state of the entrance / exit door is detected, a computer opens the switch to cut off the power supply to the door drive means.

[0134] This makes it possible to reliably prevent the entrance door from closing during the period when there is a possibility that users or the like may enter the boarding / deboarding compartment, thereby making it possible to prevent people from being trapped inside the boarding / deboarding compartment.

[0135] A door current control program according to a sixth aspect of the present disclosure is a door current control program for causing a computer to execute the above door current control method.

[0136] This makes it possible to reliably prevent the entrance door from closing during the period when there is a possibility that users or the like may enter the boarding / deboarding compartment, thereby making it possible to prevent people from being trapped inside the boarding / deboarding compartment.

[0137] A mechanical parking device (1) according to a seventh aspect of the present disclosure includes a boarding / de-boarding room (7) for at least one of vehicle entry and exit, an entrance / exit door (4) provided at the entrance / exit of the boarding / de-boarding room, a door driving means (63) for driving the entrance / exit door, and the door electrification control device according to the first aspect described above.

[0138] This makes it possible to reliably prevent the entrance door from closing during the period when there is a possibility that users or the like may enter the boarding / deboarding compartment, thereby making it possible to prevent people from being trapped inside the boarding / deboarding compartment.

[0139] In the mechanical parking device (1) according to an eighth aspect of the present disclosure, in the above seventh aspect, the door current control device (80) may determine whether or not there is anyone in the boarding / de-boarding compartment, and if it determines that there is no one in the compartment, close the switch (81) and supply power to the door drive means.

[0140] This makes it possible to close the boarding / deboarding compartment door after confirming that no one is inside the compartment.

[0141] The mechanical parking device (1) according to the ninth aspect of the present disclosure may be configured in the above-mentioned eighth aspect to include an internal detection means (30) for detecting a person inside the boarding / de-boarding compartment, and the door current control device (80) may determine whether or not the boarding / de-boarding compartment is empty based on an output signal from the internal detection means.

[0142] It is then possible to close the boarding / deboarding compartment door after confirming that no one is inside the compartment.

[0143] The mechanical parking device (1) according to the tenth aspect of the present disclosure, in the seventh or eighth aspect described above, may include a parking device control means (40) that controls the door drive means, and the door current control device (80) may be configured to be able to communicate with the parking device control means.

[0144] By providing a door current control device as a separate component from the parking device control means, it is possible to improve safety.

[0145] In the mechanical parking device (1) according to an eleventh aspect of the present disclosure, in the above tenth aspect, the door current control device (80) may determine that there is no one in the boarding / de-boarding space when it receives an unmanned confirmation completion signal from the parking device control means (40) indicating that the user has confirmed that there is no one in the boarding / de-boarding space.

[0146] It is then possible to close the boarding / deboarding compartment door after confirming that no one is inside the compartment.

[0147] The mechanical parking device (1) according to the twelfth aspect of the present disclosure, in the above-mentioned eighth aspect, is provided with an internal detection means (30) for detecting a person in the boarding / de-boarding space, and a parking device control means (40) for controlling the door drive means (63), and the door power control device (80) may determine that there is no person in the boarding / de-boarding space and close the switch (81) when the internal detection means does not detect a person in the boarding / de-boarding space and when the door power control device (80) receives an unmanned confirmation completion signal from the parking device control means indicating that the user has confirmed that there is no person in the boarding / de-boarding space.

[0148] In this way, since the unoccupied state is determined based on both the signal from the internal detection means and the user's unoccupied state, it is possible to further improve safety.

[0149] The mechanical parking device (1) according to the 13th aspect of the present disclosure, in the above-mentioned 11th or 12th aspect, may include an external receiving means (22) provided outside the boarding / deboarding compartment for receiving input information from a user, and the parking device control means (40) may output the unattended confirmation completion signal to the door current control device (80) when input information indicating that the user has confirmed that there is no one in the boarding / deboarding compartment is received by the external receiving means.

[0150] Since users input information through an external reception means provided outside the boarding / disembarking compartment, safety can be improved.

[0151] The mechanical parking device (1) according to the 14th aspect of the present disclosure, in the above 11th or 12th aspect, is provided with an internal receiving means (26) provided in the boarding / de-boarding compartment for receiving input information from a user, and the parking device control means (40) outputs the unattended confirmation completion signal to the door current control device (80) when input information indicating that the user has confirmed that there is no one in the boarding / de-boarding compartment is received by the internal receiving means.

[0152] Since the user can input the input information to the internal reception means provided in the boarding / de-boarding compartment, it is possible to improve convenience. [Explanation of symbols]

[0153] 1: Mechanical parking system 3: Entrance and exit gate 4: Entrance door 7: Boarding and disembarking area 17: Vehicle storage shelf 18: Palette 22: External operation panel 26: Internal operation panel 28: Monitor 30: Internal detection sensor (internal detection means) 30A: Range finder 30B: Range finder 30C: External detection sensor (external detection means) 32: Entry / exit detection sensor 35: Camera 40: Control device (parking device control means) 41: Storage section 45: Touch panel 46: IC card reader 47: Speaker 50: Main control unit 52: Comprehensive Database 55: Entrance door control unit 57: Sensor control unit 58: Camera control unit 59: Image Database 63: Door drive unit (door drive means) 67: Entrance door sensor 80: Door power control device 81: Switchgear 82: Switch control unit (switch control means) 100: Power supply 101: Swivel drive breaker 102: Lift conveyor breaker 103: Door drive breaker 260: Input section 261: IC card reader 262: Touch panel 263: Door close button 264: Restock button

Claims

1. A door current control device applied to a mechanical parking device including a boarding / deboarding room for entering and exiting at least one of a vehicle, an entrance / exit door provided at an entrance / exit of the boarding / deboarding room, and a door driving means for driving the entrance / exit door, a switch provided in an electric circuit connecting the door driving means and a power source; a switch control means for controlling the switch; Equipped with The open / close control means is a door current control device that, when it detects that the entrance door is fully open, opens the open / close to cut off the power supply to the door drive means, and when it detects that the entrance door is fully open and the open / close control means is in the open state, determines whether or not there is anyone in the boarding / deboarding compartment, and when it determines that there is no one in the compartment, closes the open / close and supplies power to the door drive means.

2. 2. A door current control device according to claim 1, wherein the opening and closing switch control means determines whether or not the interior of the passenger compartment is unoccupied based on an output signal from an interior detection means for detecting a person in the passenger compartment.

3. 2. The door current control device according to claim 1, wherein the opening and closing control means determines that there is no one in the passenger compartment when it receives an unoccupied confirmation completion signal indicating that a user has confirmed that there is no one in the passenger compartment.

4. A door current control method applied to a mechanical parking device including a boarding / deboarding room for entering and exiting a vehicle, an entrance door provided at an entrance of the boarding / deboarding room, a door drive means for driving the entrance door, and a switch provided in an electric circuit connecting the door drive means to a power source, The computer When the fully open state of the entrance door is detected, the door switch is opened to cut off the power supply to the door drive means, and when the fully open state of the entrance door is detected and the switch is open, it is determined whether or not there is anyone in the boarding / deboarding compartment, and when it is determined that there is no one in the compartment, the door switch is closed and power is supplied to the door drive means.

5. A door current control program for causing a computer to execute the door current control method according to claim 4.

6. A boarding and disembarking room for at least one of entering and leaving the vehicle; An entrance door provided at the entrance of the boarding / deboarding room; A door driving means for driving the entrance door; The door current control device according to claim 1 , A mechanical parking device comprising:

7. A mechanical parking device as described in claim 6, wherein the door power control device determines whether or not there is anyone in the boarding / de-boarding compartment, and if it determines that there is no one in the compartment, closes the switch and supplies power to the door drive means.

8. An internal detection means for detecting a person in a boarding / deboarding compartment is provided, The mechanical parking device according to claim 7, wherein the door current control device determines whether or not there is anyone inside the boarding / de-boarding compartment based on an output signal from the internal detection means.

9. A parking device control means for controlling the door driving means, The mechanical parking system according to claim 6, wherein the door current control device is configured to be able to communicate with the parking system control means.

10. The mechanical parking device described in claim 9, wherein the door current control device determines that there is no one in the boarding / de-boarding space when it receives an unmanned confirmation completion signal from the parking device control means, indicating that the user has confirmed that there is no one in the boarding / de-boarding space.

11. An internal detection means for detecting a person in the boarding / deboarding compartment; a parking device control means for controlling the door driving means; Equipped with The mechanical parking device described in claim 7, wherein the door current control device determines that there is no one in the boarding / deboarding compartment and closes the switch when the internal detection means does not detect a person in the boarding / deboarding compartment and receives an unmanned confirmation completion signal from the parking device control means indicating that the user has confirmed that there is no one in the boarding / deboarding compartment.

12. An external reception means is provided outside the boarding / disembarking room and receives input information from a user; The mechanical parking device as described in claim 10, wherein the parking device control means outputs the unmanned confirmation completion signal to the door current control device when input information indicating that a user has confirmed that no one is present in the boarding / de-boarding space is received by the external receiving means.

13. An internal reception means is provided in the boarding / deboarding compartment and receives input information from a user, The mechanical parking device as described in claim 10, wherein the parking device control means outputs the unmanned confirmation completion signal to the door current control device when input information indicating that a user has confirmed that no one is present in the boarding / de-boarding space is received by the internal receiving means.

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