Mechanical parking device and its control method and program

Abstract

To ensure safety and improve convenience when closing a door.SOLUTION: The mechanical parking device includes a loading / unloading room 7 that performs at least one of entering and leaving a vehicle, an entrance / exit door 4 provided at the entrance / exit of the loading / unloading room 7, an internal reception unit that is provided in the loading / unloading room 7 and that accepts input information for closing the entrance / exit door 4, and a control device 40 which performs door closing processing for closing the entrance / exit door after the input information is accepted by the internal reception unit and it is confirmed that no one is in the loading / unloading room 7. The input information is information input by a user performing a predetermined operation on an input unit. An internal operation panel 26 is given as an example of the internal reception unit.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a mechanical parking device, a control method thereof, and a program thereof. [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] In conventional mechanical parking systems, a control panel is provided outside the boarding / disembarking area, and users operate this control panel to input authentication information for closing the doors and to close the doors. However, in recent years, there has been a growing need to simplify the door-closing process and improve convenience.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a mechanical parking device, a control method and a program for the same that can ensure safety while improving convenience when closing the doors. [Means for solving the problem]

[0006] A mechanical parking device according to a first aspect of the present disclosure includes a boarding / deboarding room where at least one of a vehicle enters and leaves the room, an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, an internal reception means provided in the boarding / deboarding room and receiving input information for closing the entrance / exit door, and a control means for performing a door closing process to close the entrance / exit door after the input information is received by the internal reception means and after it is confirmed that no one is present in the boarding / deboarding room, the input information is information input by a user performing a predetermined operation on an input unit. The input information includes door closing instruction information for instructing the entrance door to be closed. It is a mechanical parking device. A mechanical parking device according to a second aspect of the present disclosure comprises a boarding / de-boarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at the entrance / exit of the boarding / de-boarding room, an internal reception means provided within the boarding / de-boarding room for receiving input information for closing the entrance / exit door, and a control means for performing a door closing process to close the entrance / exit door after the input information is received by the internal reception means and it is confirmed that no one is in the boarding / de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, the input information is authentication information of the user, and the control means is a mechanical parking device in which the authentication information matches or has a predetermined correspondence with the authentication information of the user input before the entrance / exit door is opened, and after it is confirmed that no one is in the boarding / de-boarding room, it performs the door closing process. A mechanical parking device according to a third aspect of the present disclosure includes a boarding / deboarding room where at least one of vehicles enters and leaves the room, an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, an internal reception means provided within the boarding / deboarding room and receiving input information for closing the entrance / exit door, a control means that performs a door closing process for closing the entrance / exit door after the input information is received by the internal reception means and it is confirmed that no one is present within the boarding / deboarding room, an external reception means provided outside the boarding / deboarding room and receiving information for closing the opened entrance / exit door, and a control means that is provided outside the boarding / deboarding room and receiving information for closing the opened entrance / exit door. and an external detection means for detecting a person or vehicle in a specified monitoring area provided near the entrance / exit door, the input information being information input by a user performing a specified operation on an input unit, and the control means, when a person or vehicle is detected by the external detection means during the door closing process, stops the closing operation of the entrance / exit door or drives the entrance / exit door in reverse, thereby making the monitoring area different between when the input information is accepted by the internal acceptance means and when the input information is accepted by the external acceptance means.

[0007] The present disclosure four The present invention relates to a method for controlling a mechanical parking device, the method comprising: an internal reception means provided in the boarding / deboarding compartment; A control method for a mechanical parking device comprising: Via the internal reception means A computer executes a step of receiving input information for closing the entrance door, and a step of performing a door closing process for closing the entrance door after the input information is received and it is confirmed that there is no person in the boarding / deboarding compartment, and the input information is information input by a user performing a predetermined operation on an input unit. The input information includes door closing instruction information for instructing the entrance door to be closed. A method for controlling a mechanical parking device. A control method for a mechanical parking device according to a fifth aspect of the present disclosure is a control method for a mechanical parking device that includes a boarding / de-boarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at the entrance / exit of the boarding / de-boarding room, and an internal reception means provided within the boarding / de-boarding room, wherein a computer executes the following steps: a step of receiving input information for closing the entrance / exit door via the internal reception means; and a step of performing a door closing process to close the entrance / exit door after the input information is received and it is confirmed that no one is in the boarding / de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, the input information is authentication information of the user, and the authentication information matches or has a predetermined correspondence with the authentication information of the user input before the entrance / exit door is opened, and the door closing process is performed after it is confirmed that no one is in the boarding / de-boarding room. A control method for a mechanical parking device according to a sixth aspect of the present disclosure is a control method for a mechanical parking device including a boarding / de-boarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at the entrance / exit of the boarding / de-boarding room, an internal reception means provided within the boarding / de-boarding room, and an external reception means provided outside the boarding / de-boarding room, the control method including the steps of: receiving input information for closing the entrance / exit door via the internal reception means or the external reception means; and performing a door closing process for closing the entrance / exit door after the input information is received and it is confirmed that no one is present within the boarding / de-boarding room. A method for controlling a mechanical parking device in which a computer executes a process of detecting a presence or absence of a person or vehicle in a predetermined monitoring area near the entrance door during the door closing process, and a process of stopping the closing operation of the entrance door or reversing the entrance door when a person or vehicle is detected in a predetermined monitoring area near the entrance door, wherein the input information is information input by a user performing a predetermined operation on an input unit, and the monitoring area is set to a different area when the input information is accepted by the internal accepting means and when the input information is accepted by the external accepting means.

[0008] The present disclosure seven A control program for a mechanical parking device according to the embodiment is a control program for causing a computer to execute the above-mentioned control method for a mechanical parking device. Effect of the Invention

[0009] According to the present disclosure, it is possible to ensure safety and improve convenience when closing the door. [Brief description of the drawings]

[0010] [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 the functions of a control system of a mechanical parking device according to one embodiment of the present disclosure. [Figure 7] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 8] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 9] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 10] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 11] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 12] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 13] 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. [Figure 14] 13 is a flowchart showing an example of a processing procedure for a shipping process according to an embodiment of the present disclosure. [Figure 15] 13 is a flowchart showing an example of a processing procedure for a shipping process according to an embodiment of the present disclosure. [Figure 16]13 is a flowchart showing an example of a processing procedure for a shipping process according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a mechanical parking device and a control method and program thereof according to each embodiment of the present disclosure will be described with reference to the drawings. In the embodiments 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 the present disclosure 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.

[0012] 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.

[0013] A vertical ascent / descent 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 15 extending downward from a winch (not shown) provided, for example, at the top of the parking tower 5, and can ascend and descend within the ascent / descent passage 13 when the winch is activated.

[0014] 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.

[0015] 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.

[0016] 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."

[0017] 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.

[0018] An internal detection sensor (internal detection means) 30 (see FIG. 6) for detecting a person 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 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 a stopping position of the vehicle. The internal detection sensor 30 may also include two range sensors 30A, 30B provided at diagonal positions of the boarding / de-boarding compartment 7.

[0019] 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.

[0020] 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 camera can also be used as a substitute for the interior detection sensor 30, and in this case, the absence of a person inside the boarding / deboarding compartment can be confirmed based on image data acquired by the camera. A sensor signal from the internal detection sensor 30 is transmitted to a sensor control unit 57 (see FIG. 6) which will be described later.

[0021] The entrance / exit detection sensor (exit detection means) 32 for detecting the entrance / exit of a person or vehicle from the entrance / exit room 7 is provided at the entrance / exit room 7. The entrance / exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance / exit room 3 and a pair of sensors 32B provided outside the entrance / exit room 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 is turned on, and the sensor signal is transmitted to a sensor control unit 57 (see FIG. 6) described later.

[0022] 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.

[0023] 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, a sensor for detecting a person in the rear area of ​​the boarding / alighting compartment 7 may be used instead of the sensor 32A. In addition, in FIG. 2, the sensors 32A and 32B are provided on the inside and outside of the boarding / alighting compartment 7, respectively, with the entrance door 4 in between, but the method is not limited to this example. For example, the sensors 32A and 32B may both be provided inside the boarding / alighting compartment, or may both be provided outside the boarding / alighting compartment.

[0024] Further, the sensor control unit 57 can determine whether a person has entered or exited or a vehicle has entered or exited based on the sensor signal from 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 has entered or exited or a vehicle 2 has entered or exited depending on the degree of temporal overlap between the on signals of the sensors 32A and 32B.

[0025] 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.

[0026] An internal reception unit 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 the user (e.g., the 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.

[0027] 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.).

[0028] 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.

[0029] 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.

[0030] 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.

[0031] An external reception unit (external reception means) that receives input information for closing the entrance door 4 is provided outside the boarding / disembarking room 7. This external reception unit is operated by, for example, a user, a manager, a maintenance worker, etc. In this embodiment, an external operation panel 22 is provided as an example of the external reception unit.

[0032] 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.

[0033] 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.

[0034] The external operation panel 22 also includes 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.

[0035] The touch panel 45 has both a display function and an input function. For example, various kinds of guidance information for performing operations for entering and leaving the warehouse are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the warehouse. The display on the touch panel 45 is controlled by the control device 40, which will be described later, and information input by operating the touch panel 45 by the operator or the like is output to the control device 40. A monitor 28 is provided near the external operation panel 22 for displaying real-time images captured by cameras 35A to 35D, which will be described later.

[0036] Furthermore, outside the boarding / disembarking compartment 7, a warehousing control light 21 equipped with blue and red lamps is provided above the entrance / exit door 4. Further, outside the boarding / deboarding room 7, an external detection sensor (external detection means) 30C that detects a person or vehicle in a predetermined monitoring area provided near the entrance door 4 is provided. 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.

[0037] 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.

[0038] A control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding / disembarking room 7.

[0039] FIG. 6 is a functional block diagram of the control system 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.

[0040] 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 state of an error flag, the results of scanning by the range finder sensor, information on various modes, and the like.

[0041] 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.

[0042] 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.

[0043] 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 drive 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.

[0044] The entrance door control unit 55 receives an operation command from the main control unit 50 to open and close the entrance door 4, and receives a position signal of the entrance door 4 from the entrance door sensor 67 to feed back the information to the main control unit 50. The entrance door sensor 67 may detect whether the entrance door 4 is fully open or fully closed, and output a sensor signal indicating this to the entrance door control unit 55.

[0045] The conveyor control unit 56 receives operational commands from the main control unit 50 to raise and lower the lift 14 and load and unload the pallets 18, and receives a position signal of the lift 14 from the conveyor position sensor 68 and feeds that information back to the main control unit 50.

[0046] The sensor control unit 57 receives sensor 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 sensor signal from the entry / exit detection sensor 32, and outputs the determination result to the main control unit 50.

[0047] 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.

[0048] 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.

[0049] The turning drive control unit 62 receives an operation command from the main control unit 50 to operate the turning drive unit 11 (turntable 8), 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.

[0050] 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 sensor signals from 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 sensor signals.

[0051] [Warehousing process] Next, the warehousing process executed by the control device 40 at the time of warehousing will be described with reference to the drawings. Figs. 7 to 13 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

[0052] First, when entering the vehicle, the user moves the vehicle 2 in front of the entrance / exit 3, gets off, and heads to 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. 7), it causes the touch panel 45 of the external operation panel 22 to display a first user authentication screen (SA2).

[0053] 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).

[0054] 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).

[0055] 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.

[0056] Next, when the empty pallet arrives at the boarding / exit room 7, the control device 40 displays on the touch panel 45 a door open screen indicating that the entrance door 4 will open (SA11), and opens the entrance door 4. Then, when the entrance door 4 is completely opened (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. 8).

[0057] Next, the control device 40 displays an entrance guide screen on the touch panel 45 to prompt the user to enter the vehicle (SA14), 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.

[0058] 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 a sensor signal from internal detection sensor 30 detects that the vehicle has been placed at the designated parking position on the empty pallet (SA16), control device 40 activates range measurement sensors 30A and 30B. This scans the outline of vehicle 2 placed on the pallet. Control device 40 sets the area other than the outline of the vehicle as a monitoring area, and stores it in memory unit 41 (SA17).

[0059] 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.

[0060] 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.

[0061] As a result, if the user inputs the user ID into the internal operation panel 26 (SA20: YES), the system transitions to an internal door close mode (SA21) in which the door is closed from the internal operation panel 26. On the other hand, if the user ID is not input into the internal operation panel 26 and the entry / exit detection sensor 32 detects the exit of a person (SA19: YES), the system transitions to an external door close mode in which the door is closed from the external operation panel 22 (SA22).

[0062] Next, the inner closing door mode will be described with reference to FIG. In the internal closed door mode, the control device 40 performs second user authentication (SB1) using the user ID input from the internal operation panel 26 in step SA20 of Fig. 8. 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. As a result, if the second user authentication is successful (SB2: 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 (SB3). 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 (SB4: YES), the process proceeds to step SB5.

[0063] On the other hand, if the second user authentication is not successful (SB2: NO) or if the matching process is not successful (SB4: 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.

[0064] In step SB5, the control device 40 sets the internal operation panel 26 to an operation permitted state (SB5) and is in a standby state until the door closing button 263 is pressed. Then, when the door closing button 263 is pressed by the user (SB6), the control device 40 judges whether or not the entry / exit detection sensor 32 detects the intrusion of a person into the boarding / alighting compartment 7 (SB7). As a result, if the intrusion of a person is detected (SB7: YES), the control device 40 returns to step SB1 and performs the subsequent processing again. On the other hand, if the intrusion of a person is not detected (SB7: NO), the control device 40 judges whether or not the entry / exit detection sensor 32 detects the exit of a person (SB8). That is, it judges whether or not the driver has exited the boarding / alighting compartment 7. As a result, if the exit of a person is detected (SB8: YES), the control device 40 performs the door closing process (SB9), erases the user ID stored in the storage unit 41 (SB10), and ends the processing. When the close door button 263 is pressed, a guidance to promptly exit the boarding / deboarding room 7 may be given through a speaker.

[0065] Next, the door closing process executed in step SB9 will be described with reference to Fig. 10. Fig. 10 is a flow chart showing an example of the procedure of the door closing process. In the door closing process, the control device 40 starts a timer (SC1). Next, it is determined whether a predetermined period of time has elapsed since the timer was started (SC2), and if not (SC2: NO), it is confirmed whether there is anyone in the boarding / deboarding compartment based on a sensor signal from the interior detection sensor 30 (SC3). Specifically, it is determined whether any person is detected in the monitoring area set in step SA17 of FIG. 8. At this time, the control device 40 may issue guidance to evacuate from the boarding / deboarding compartment from an alarm unit such as a speaker.

[0066] As a result, if it is confirmed that there is no one in the boarding / deboarding compartment (SC3: YES), the external detection sensor 30C checks whether there is anyone in a predetermined monitoring area set outside the boarding / deboarding compartment 7 (SC4). Since the internal closed door mode is set here, the area K1+K2 in Fig. 3 is set as the monitoring area. At this time, the control device 40 may issue a guidance message encouraging the user to evacuate from the monitoring area from an alarm unit such as the speaker 47.

[0067] As a result, if it is confirmed that there is no one in the monitoring area (SC4: YES), it is determined that the safety is ensured in the boarding / deboarding room and in the vicinity of the entrance / exit door outside the boarding / deboarding room, and the control device 40 starts closing the door. Specifically, the control device 40 resets the timer (SC5) and starts closing the door (SC6).

[0068] Then, until the entrance door 4 is completely closed, the control device 40 continuously checks whether there is anyone inside or outside the boarding / deboarding room based on the sensor signals from the internal detection sensor 30 and the external detection sensor 30C (SC7: YES). At this time, the control device 40 may 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 the speaker 47.

[0069] When the internal detection sensor 30 and the external detection sensor 30C detect no person and it is detected that the entrance / exit door 4 is completely closed (SC8: YES), the control device 40 starts the storage process to store the vehicle 2 in the storage shelf, and also sends a message indicating that the door has been closed to the information distribution destination of the user registered in advance (SC9), and ends the door closing process.

[0070] On the other hand, if it is determined in step SC2 that the predetermined period has elapsed (SC2: YES), that is, if no occupant is confirmed to be present inside or in the specified monitoring area outside the boarding / alighting compartment even after the predetermined period has elapsed since the timer was started, error processing is performed (SC10). Furthermore, if a person is detected by the internal detection sensor 30 or the external detection sensor 30C between the time the entrance door 4 starts to close and the time it is completely closed (SC7: NO), the entrance door 4 is reversed and opened (SC11), and error processing is performed (SC12).

[0071] Next, the error processing executed in the above steps SC10 and SC12 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing an example of the procedure of the error processing. In error processing, the control device 40 turns on an error flag (SD1) and notifies the user identified from the user ID stored in the storage unit 41 and various related parties (e.g., the parking lot manager, maintenance personnel) of the error (SD2). In this way, when an error occurs, not only the user but also the manager and maintenance personnel are notified, making it possible for recovery operations to be performed promptly.

[0072] Next, the control device 40 invalidates the input operation from the internal operation panel 26, and switches to an external door closing mode in which the door closing operation is performed from the external operation panel 22 (SD3). In other words, when an error occurs, the door closing operation cannot be performed via the internal operation panel 26, and the door closing operation can be performed only from the external operation panel 22.

[0073] [External door closed mode] Next, the exterior door closing mode executed in step SA22 in Fig. 8 and step SD3 in Fig. 11 will be described with reference to Fig. 12. Fig. 12 is a flowchart showing an example of a processing procedure of the exterior door closing mode. As described above, the external door closing mode is executed when a user who has entered the parking lot exits the parking lot 7 without performing the door closing operation inside the parking lot (step SA22 in FIG. 8), or when an error occurs when the door closing operation is performed from the internal operation panel 26 (step SD3 in FIG. 11). Furthermore, when an error occurs, not only the user who opened the door but also the manager or maintenance staff will have the authority to perform the door closing operation. The exterior door closing mode will be described below with reference to Figs.

[0074] 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 causes the touch panel 45 to display a second user authentication screen (SF1).

[0075] 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) (SF2), the control device 40 performs second user authentication (SF3). This second user authentication is the same as the second authentication process (SB1 in FIG. 9) in the internal closed door mode. As a result, if the second user authentication fails (SF4: NO), the process returns to step SF1 and the second user authentication screen is displayed again. At this time, a notification that the authentication has failed may be displayed.

[0076] On the other hand, if the second authentication process is successful (SF4: YES), the control device 40 judges whether or not the error flag is on (SF5). As a result, if the error flag is off (SF5: NO), a matching process is performed (SF6). That is, it is judged whether or not the user ID (first authentication information) input in the first user authentication and the user ID (second authentication information) input in the second user authentication are the same or have a predetermined relationship. As a result, if the matching process is successful (SF7: YES), the process proceeds to step SF9.

[0077] On the other hand, if the verification process is not successful (SF7: NO), the process returns to step SF1 and the second user authentication screen is displayed. At this time, it is also possible to notify the user that the verification has failed.

[0078] On the other hand, in step SF5, if the error flag is on (SF5: YES), it is determined whether the operator has operation authority, such as an administrator or maintenance person, based on the authentication information entered in step SF2 (SF8). As a result, if the operator does not have administrator authority (SF8: NO), the process returns to step SF1 and the second user authentication screen is displayed. On the other hand, if the operator has operation authority (SF8: YES), the process proceeds to step SF9.

[0079] In step SF9, the control device 40 sets the external operation panel 22 to an operation permitted state and waits until the close door button is pressed. Then, when the close door button is pressed by a user or the like (SF10), it then determines whether or not intrusion of a person into the boarding / deboarding compartment 7 has been detected (SF11). As a result, if intrusion of a person has been detected (SF11: YES), the process returns to step SF1 and causes the second user authentication screen to be displayed again.

[0080] On the other hand, if no human intrusion is detected (SF11: NO), the door closing process is performed (SF12), the user ID stored in the memory unit 41 is erased, the error flag is reset (OFF) (SF13), and the storage process is terminated. The door closing process executed in step SF12 is different in that the monitored area set outside the boarding / deboarding compartment 7 is area K1, and the other processes are the same as those shown in FIG.

[0081] [Shipping process] Next, the retrieval processing executed by the control device 40 according to this embodiment will be described with reference to Fig. 14 to Fig. 16. Fig. 14 to Fig. 16 are flowcharts showing an example of the procedure of the retrieval processing executed by the control device 40.

[0082] The process up to the door opening in the unloading process is the same as SA1 to SA12 in the unloading process described above, except that a pallet with a vehicle placed on it, rather than an empty pallet, is called into the boarding / de-boarding room 7, and so a detailed explanation will be omitted here. In step SA12, when the entrance door 4 is fully opened, the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SG13 in FIG. 14).

[0083] Next, the control device 40 activates the range measurement sensors 30A and 30B. This causes the contour of the vehicle 2 placed on the pallet to be scanned (SG14). The control device 40 stores the contour data of the vehicle in the storage unit 41.

[0084] Next, an exit guidance screen that prompts the user to exit is displayed on the touch panel 45 (SG15), and further, an operation lock state is established in which no input is accepted from the touch panel 45 of the external operation panel 22 (SG16). This makes it possible to prevent a third party from inputting information from the touch panel 45 while the user is away from the external operation panel 22. Having checked the exit guidance screen, the user enters the boarding / de-boarding room 7.

[0085] Next, the control device 40 displays a second user authentication screen on the touch panel 262 of the internal operation panel 26, and prompts the user to input authentication information (SG17). Here, the control device 40 may, for example, issue a guidance prompting the user to input authentication information by voice via a speaker.

[0086] Next, the control device 40 determines whether or not exit has been detected by the entrance / exit detection sensor 32 (SG18). As a result, if exit has not been detected (SG18: NO), it determines whether or not a user ID has been input from the internal operation panel 26 (SG19). As a result, if a user ID has not been input (SG19: NO), the process returns to step SG18. In this manner, the determination process of steps SG18 and SG19 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.

[0087] As a result, if the user inputs the user ID into the internal operation panel 26 (SG19: YES), the system goes into internal door close mode (SG20), in which the door closing operation is performed from the internal operation panel 26. On the other hand, if the user ID is not input into the internal operation panel 26 and the exit of a vehicle (in the case of leaving the facility) or person (in the case of re-entering the facility) is detected by the entry / exit detection sensor 32 (SG18: YES), the system goes into external door close mode, in which the door closing operation is performed from the external operation panel 22 (SG21).

[0088] Next, the inner closing door mode will be described with reference to Fig. 15. Fig. 15 is a flowchart showing an example of a processing procedure in the inner closing door mode.

[0089] In the internal closed door mode, the control device 40 performs second user authentication (SH1) using the user ID input from the internal operation panel 26. In the second user authentication (second authentication), it is determined whether or not the received user ID (second authentication information) is a user ID that has been registered in advance. As a result, if the second user authentication is successful (SH2: YES), a comparison process is then performed (SH3) to determine whether the user ID (first authentication information) entered in the first user authentication and the user ID (second authentication information) entered in the second user authentication are the same or have a predetermined relationship. As a result, if the comparison process is successful (SH4: YES), the process proceeds to step SH5.

[0090] On the other hand, if the second user authentication is not successful (SH2: NO) or if the verification process is not successful (SH4: NO), the process returns to step SH1 and the second user authentication screen is displayed. At this time, it is also possible to notify the user that the authentication or verification has failed.

[0091] In step SH5, the control device 40 sets the internal operation panel 26 to an operation permitted state and waits until the close door button 263 or the re-enter button 264 is pressed (SH6, SH7: NO). Then, when the close door button 263 is pressed by the user (SH6: YES), the control device 40 sets the entire area inside the boarding / deboarding compartment as a monitoring area (SH8) and proceeds to step SH10.

[0092] On the other hand, when the re-enter button 264 is pressed by the user (SH7: YES), the control device 40 sets the entire area of ​​the boarding / de-boarding compartment excluding the outline of the vehicle scanned in step SG14 of Figure 14 as the monitoring area (SH9), and proceeds to step SH10.

[0093] Next, the control device 40 judges whether or not intrusion of a person into the boarding / deboarding room 7 is detected (SH10). As a result, if intrusion of a person is detected (SH10: YES), the process returns to step SH1 and causes the second user authentication screen to be displayed again on the touch panel. On the other hand, if the entry of a person is not detected (SH10: NO), it is determined whether or not the exit of a person is detected (SH11 in FIG. 16). At this time, if the close door button 263 is pressed, the control device 40 determines whether or not the exit of a vehicle is detected, and if the re-enter button 264 is pressed, it determines whether or not the exit of a person is detected. As a result, if the exit of a person or vehicle is detected (SH11: YES), the control device 40 performs the door closing process (SH12), erases the user ID stored in the memory unit 41 (SH13), and ends the exit process.

[0094] The door closing process executed in the exit process differs in that the monitoring area when checking whether there is anyone in the boarding / de-boarding compartment is the monitoring area set in step SH8 or SH9. The other processing is the same as the door closing process executed in the entry process described above, so detailed explanations are omitted.

[0095] In addition, the external door closing mode (SG21 in Figure 14) executed in the unloading process is similar to the processing procedure of the external door closing mode executed in the above-mentioned loading process (Figures 12 to 13), so a detailed explanation will be omitted here.

[0096] As described above, the mechanical parking device and its control method and program according to this embodiment allow the user to perform the door closing operation from within the boarding / deboarding room 7. This allows the entrance / exit door 4 to be automatically closed after the user leaves the boarding / deboarding room 7, improving convenience. In addition, the door closing process is performed while checking whether there is anyone inside the boarding / deboarding compartment and whether there is anyone in a monitoring area outside the boarding / deboarding compartment, so safety can be ensured.

[0097] Although the present disclosure has been described above using the above embodiment, the technical scope of the present disclosure is not limited to the scope described in the above embodiment. Various modifications or improvements can be made to the above embodiment without departing from the gist of the disclosure, and the forms with such modifications or improvements are also included in the technical scope of the present disclosure. As an example, the following modification is given.

[0098] Although an upward opening door has been described as an example of the entrance door 4, the present invention is not limited to this. For example, the entrance door 4 may be a door that opens horizontally or a door that opens downward (a type that is stored in the ground).

[0099] 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 may be realized as a wireless communication unit, and may be configured such that the authentication information and the door close instruction are input by receiving information such as authentication information and a door close instruction input from a mobile terminal carried by the user in the wireless communication unit. 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.

[0100] 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 has been 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.

[0101] Furthermore, in the above embodiment, when an error occurs, the user, the administrator, or the maintenance personnel is notified. However, instead of or in addition to this, the following aspects may be provided. For example, an external gate may be provided in the passage through which vehicles exiting the boarding / disembarking room 7 pass, and the control device 40 may permit the opening of the external gate after the entrance / exit door 4 is fully closed. By adopting such an embodiment, users can be made to stay near the mechanical parking device 1 until the entrance / exit door 4 is fully closed. The configuration of the external gate is not particularly limited, and known technology may be adopted. Examples include a fence-like structure and a rod-like structure. It is sufficient that the external gate is configured so that vehicles cannot pass through unless it is opened.

[0102] Also, a notification unit (notification means) that notifies an error may be provided near the external gate or in a passage through which a vehicle passes after exiting the boarding / disembarking room 7. Examples of the notification unit include a warning light, a speaker, and a display. According to the above embodiment, when an error such as forgetting to close the door occurs, it is possible to have the user quickly return to the boarding / deboarding room 7 and perform recovery work.

[0103] In addition, the flow of the inventory processing and shipping processing described in the above embodiment is just an example, and it is possible to delete unnecessary steps, add new steps, or rearrange the processing order within the scope that does not deviate from the gist of this disclosure. As an example, the following modified example is given.

[0104] For example, for the process leading up to opening the entrance door 4, known technology can be applied.

[0105] It is possible to omit the processing relating to the second user authentication in Fig. 9 (for example, SB1 to SB2) because if the matching processing is successful, the current operator is automatically registered as a user.

[0106] It is possible to omit steps SB5 and SB6 in Fig. 9. In this way, pressing the door close button can be omitted, and the process may proceed to door close processing through verification processing or authentication processing.

[0107] In addition, an unmanned confirmation button may be further provided on the internal operation panel 26, and a process may be added in which the user himself / herself performs a check to see if there is anyone in the boarding / de-boarding compartment and presses the unmanned confirmation button between the time of the matching process in Figure 9 and the time the close door button is pressed.

[0108] In step SB8 of FIG. 9, if exit is not detected within a predetermined period after the matching process is successful or after the close door button is pressed, the process may return to step SB1 and user authentication, etc. may be performed again.

[0109] The processes of steps SC1 to SC5 in Fig. 10 can be omitted. Also, instead of these processes, the door closing may be started after it is confirmed that no one is present in a predetermined monitoring area inside and outside the boarding / deboarding room.

[0110] 10, different responses may be taken depending on whether a person is detected inside the boarding / deboarding compartment or in a monitoring area provided outside the boarding / deboarding compartment. For example, when a person is detected in a monitoring area outside the boarding / deboarding compartment, the closing operation of the entrance / exit door 4 may be temporarily stopped, and when it is confirmed that there is no person in the monitoring area, the closing operation of the entrance / exit door 4 may be resumed. In this way, when a person is detected in a monitoring area outside the boarding / deboarding compartment, the person is not trapped inside the compartment, so that the smooth operation of the mechanical parking device 1 may be prioritized over ensuring safety.

[0111] The vehicle contour scan performed in step SG14 in FIG. 14 can be performed at any timing from when the pallet carrying the vehicle arrives inside the boarding / deboarding compartment until the entrance door 4 is completely opened.

[0112] In step SH11 of FIG. 16, if exit is not detected within a specified period after the matching process is successful or after the close door button or re-enter button is pressed, the process may return to step SH1 and user authentication, etc., may be performed again.

[0113] The mechanical parking device and the control method and program thereof described in each of the embodiments described above can be understood, for example, as follows.

[0114] The mechanical parking device (1) according to the present disclosure includes a boarding / deboarding room (7) for entering and exiting at least one of a vehicle (2), an entrance / exit door (4) provided at the entrance / exit of the boarding / deboarding room, an internal reception means (26) provided in the boarding / deboarding room and receiving input information for closing the entrance / exit door, and a control means (40) for performing a door closing process for closing the entrance / exit door after the input information is received by the internal reception means and it is confirmed that no one is present in the boarding / deboarding room. The input information is information input by a user performing a predetermined operation on an input unit (260).

[0115] According to the mechanical parking device of the present disclosure, the boarding / deboarding compartment is provided with an internal reception means for receiving input information for closing the entrance / exit door. Here, the input information is information input by the user performing a predetermined operation on the input unit, so the user can indicate his / her intention to close the door. Then, after the input information is received by this internal reception means and it is confirmed that there is no one in the boarding / deboarding compartment, the control means performs a door closing process to close the entrance / exit door. This allows the user to perform the operation to close the door from within the boarding / deboarding compartment. As a result, the entrance / exit door is automatically closed after the user exits the boarding / deboarding compartment, thereby improving convenience. In addition, the entrance door is closed only after it is confirmed that there is no one in the boarding / deboarding compartment, so safety can be ensured.

[0116] The mechanical parking device (1) disclosed herein is equipped with an exit detection means (32) that detects that a person or vehicle has exited the boarding / disembarking area, and the control means may perform the door closing process after the input information is accepted by the internal receiving means and the exit of a person or vehicle is detected by the exit detection means.

[0117] Since the door closing process is performed after the exit of a person or vehicle is detected by the exit detection means, it is possible to ensure higher safety.

[0118] In the mechanical parking device (1) disclosed herein, the internal reception means may further receive re-entry instruction information instructing a re-entry or exit instruction information instructing an exit from the input unit (260) during the exit process, and when the re-entry instruction information is input, the control means may start a door closing process when the input information is accepted by the internal reception means and it is detected that a person has exited from the boarding / alighting space, and when the exit instruction information is input, the control means may start a door closing process when the input information is accepted by the internal reception means and it is detected that a vehicle has exited from the boarding / alighting space.

[0119] In the case of leaving the facility, the user can instruct whether to leave or re-enter the facility. In addition, in the case of leaving the facility, the user gets into the vehicle in the boarding / alighting compartment and drives the vehicle to leave the compartment. On the other hand, in the case of re-entering the facility, the user leaves the compartment without getting into the vehicle in the boarding / alighting compartment. In this way, since the method of leaving the parking lot and re-entering the facility are different, it is possible to determine the consistency between the instruction input by the user and the exit state by determining whether a person or a vehicle has left the parking lot between leaving and re-entering the facility.

[0120] The mechanical parking device (1) of the present disclosure is equipped with an internal detection means (30) that detects a person within the boarding / exiting compartment, and the control means may stop the closing operation of the entrance / exit door or reverse the operation of the entrance / exit door when a person is detected by the internal detection means during the door closing process.

[0121] The doors are closed while checking to see if there is anyone in the boarding / deboarding compartment, ensuring safety.

[0122] The mechanical parking device (1) of the present disclosure may be equipped with an internal detection means (30) for detecting a person within the boarding / de-boarding compartment, and the control means may perform the door closing process when the input information is accepted by the internal receiving means and no person is detected by the internal detection means.

[0123] Since the entrance door starts to close after it is confirmed that no one is present in the boarding / deboarding compartment, safety can be ensured.

[0124] In the mechanical parking device (1) according to the present disclosure, the input unit may be provided on an internal operation panel provided in the boarding / de-boarding compartment.

[0125] According to this aspect, input information for closing the entrance door is input from an input unit provided on an internal operation panel provided in the boarding / deboarding compartment.

[0126] In the mechanical parking device (1) according to the present disclosure, the input unit may be provided in a mobile terminal carried by a user or an on-board device installed in the vehicle.

[0127] According to this aspect, input information for closing the entrance door is input from an input unit provided in a mobile terminal carried by a user or an in-vehicle device. The input information is received by an internal reception means provided in the boarding / exiting compartment via a wireless communication line. In this case, the internal reception means is realized by a wireless communication unit.

[0128] In the mechanical parking device (1) of the present disclosure, the input information is user authentication information, and the control means may perform the door closing process after the authentication information matches or has a predetermined correspondence with the user authentication information input before the entrance / exit door is opened and after it is confirmed that there is no one in the boarding / exit area.

[0129] According to this aspect, it is possible to permit the door to be closed only when the authentication information of the same person who opened the entrance door is input.

[0130] In the mechanical parking device (1) according to the present disclosure, the input information is, for example, door closing instruction information.

[0131] According to this aspect, the door closing process is performed after the door closing instruction information is received and it is confirmed that there is no one in the boarding / de-boarding compartment.

[0132] The mechanical parking device (1) according to the present disclosure may be provided with an alarm means for issuing a guidance message encouraging a person to evacuate from the boarding / alighting area before the entrance / exit door is closed.

[0133] According to this aspect, it is possible to allow users in the boarding / deboarding compartment to quickly exit the compartment.

[0134] The mechanical parking device (1) according to the present disclosure may include an external reception means (22) provided outside the boarding / disembarking compartment for receiving input information for closing the entrance / exit door.

[0135] According to this aspect, the user can input the input information from inside or outside the boarding / alighting room.

[0136] The mechanical parking device (1) of the present disclosure is provided with an external detection means (30C) for detecting a person or vehicle in a predetermined monitoring area outside the boarding / exiting room and provided near the entrance / exit door, and the control means may stop the closing operation of the entrance / exit door or reverse the entrance / exit door when a person or vehicle is detected by the external detection means during the door closing process.

[0137] According to this aspect, the door is closed while checking whether there is anyone in a specified monitoring area provided outside the boarding / disembarking compartment, so that safety can be ensured.

[0138] The mechanical parking device (1) according to the present disclosure may be provided with an alarm means for issuing a guidance message encouraging a person to evacuate from the monitored area before the entrance / exit door is closed.

[0139] According to this aspect, it is possible to quickly evacuate passengers who are in a specified monitoring area provided outside the boarding / deboarding compartment.

[0140] The mechanical parking device (1) of the present disclosure includes an external receiving means (22) provided outside the boarding / alighting room for receiving information for closing the open entrance / exit door, and an external detection means (30C) for detecting a person or vehicle in a predetermined monitoring area provided outside the boarding / alighting room near the entrance / exit door, and when a person or vehicle is detected by the external detection means during the door closing process, the control means may stop the closing operation of the entrance / exit door or reverse the entrance / exit door, and may make the monitoring area different between when the input information is received by the internal receiving means and when the input information is received by the external receiving means.

[0141] According to this aspect, it is possible to set an appropriate monitoring area depending on whether the input information is received by the internal receiving means or the external receiving means.

[0142] The mechanical parking device (1) according to the present disclosure may be provided with a notification means for notifying a user of the result of the door closing process performed by the control means.

[0143] According to this aspect, the user can know the result of the door closing process.

[0144] In the mechanical parking device (1) of the present disclosure, if an error occurs in the door closing process, the control means may refuse to accept the input information by the internal acceptance means.

[0145] According to this aspect, if an error occurs in the door closing process, input information is accepted only by the external accepting means.

[0146] The mechanical parking device (1) of the present disclosure may include an external gate provided in an exit path through which vehicles exiting the boarding / de-boarding compartment pass, and the control means may allow the external gate to be opened after the entrance / exit door is fully closed.

[0147] According to this aspect, the user can be made to stay near the mechanical parking device until the entrance door is fully closed. As a result, for example, if the user forgets to close the entrance door, the user can be made to quickly return to the boarding / deboarding area to perform recovery work.

[0148] The mechanical parking device (1) of the present disclosure is provided with an alarm means provided in an exit path through which vehicles exiting the boarding / disembarking compartment pass, and the alarm means may be configured to alarm an abnormality if an error occurs in the door closing process.

[0149] According to this aspect, the user can be promptly notified that an error has occurred during the door closing process.

[0150] The control method for a mechanical parking device (1) disclosed herein is a control method for a mechanical parking device (1) equipped with a boarding / de-boarding room (7) for at least one of entering and exiting a vehicle, and an entrance / exit door (4) provided at the entrance / exit of the boarding / de-boarding room, in which a computer executes a process of receiving input information for closing the entrance / exit door, which is provided in the boarding / de-boarding room, and a process of performing a door closing process for closing the entrance / exit door after the input information is received and it is confirmed that no one is present in the boarding / de-boarding room, and the input information is information input by a user performing a specified operation on an input unit.

[0151] The control program for the mechanical parking device (1) according to the present disclosure is a control program for the mechanical parking device for causing a computer to execute the above-mentioned control method for the mechanical parking device. [Explanation of symbols]

[0152] 1: Mechanical parking system 2: Vehicle 3: Entrance and exit gate 4: Entrance door 5: Parking tower 7: Boarding and disembarking area 18: Palette 22: External operation panel (external reception means) 26: Internal operation panel (internal reception means) 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 (exit detection means) 32A: Sensor 32B: Sensor 40: Control device (control means) 41: Storage section 45: Touch panel 46: IC card reader 47: Speaker 48: Emergency stop button 50: Main control unit 52: Comprehensive Database 55: Entrance door control unit 56: Conveyor control unit 57: Sensor control unit 67: Entrance door sensor 260: Input section (input means) 261: IC card reader 262: Touch panel 263: Door close button 264: Restock button

Claims

1. 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; an internal reception means provided in the boarding / deboarding compartment and configured to receive input information for closing the entrance door; a control means for performing a door closing process for closing the entrance door after the input information is received by the internal reception means and after it is confirmed that no one is present in the boarding / deboarding compartment; Equipped with the input information is information input by a user performing a predetermined operation on an input unit, A mechanical parking device in which the input information includes door closing instruction information that instructs the entrance / exit door to be closed.

2. An exit detection means for detecting that a person or a vehicle has exited from the boarding / alighting compartment is provided, A mechanical parking device as described in claim 1, wherein the control means performs the door closing processing after the input information is accepted by the internal receiving means and the exit of a person or vehicle is detected by the exit detection means.

3. The internal reception means further receives, during the retrieval process, re-entry instruction information instructing re-entry or retrieval instruction information instructing retrieval from the input unit, The mechanical parking device of claim 2, wherein the control means starts a door closing process when the re-entry instruction information is input, when the input information is accepted by the internal reception means and when it is detected that a person has exited the boarding / de-boarding space, and starts a door closing process when the exit instruction information is input, when the input information is accepted by the internal reception means and when it is detected that a vehicle has exited the boarding / de-boarding space.

4. An internal detection means for detecting a person in the boarding / deboarding compartment is provided, A mechanical parking device as described in any one of claims 1 to 3, wherein the control means stops the closing operation of the entrance / exit door or drives the entrance / exit door in a reverse direction when a person is detected by the internal detection means during the door closing process.

5. An internal detection means for detecting a person in the boarding / deboarding compartment is provided, A mechanical parking device as described in any one of claims 1 to 3, wherein the control means performs the door closing process when the input information is accepted by the internal receiving means and no person is detected by the internal detection means.

6. The mechanical parking device according to claim 5 , wherein the control means stops the closing operation of the entrance door or drives the entrance door in a reverse direction when a person is detected by the internal detection means during the door closing process.

7. The mechanical parking device according to any one of claims 1 to 6, wherein the input unit is provided on an internal operation panel provided in a boarding / disembarking compartment.

8. The mechanical parking device according to any one of claims 1 to 7, wherein the input unit is provided in a mobile terminal carried by a user or an on-board device installed in the vehicle.

9. 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; an internal reception means provided in the boarding / deboarding compartment and configured to receive input information for closing the entrance door; a control means for performing a door closing process for closing the entrance door after the input information is received by the internal reception means and after it is confirmed that no one is present in the boarding / deboarding compartment; Equipped with the input information is information input by a user performing a predetermined operation on an input unit, The input information is user authentication information, The control means of this mechanical parking device performs the door closing process after the authentication information matches or has a predetermined correspondence with the user's authentication information entered before the entrance / exit door was opened and after it has been confirmed that there is no one in the boarding / exit area.

10. The mechanical parking device according to any one of claims 1 to 9, further comprising an alarm means for issuing a guidance message encouraging evacuations from the boarding / alighting area before the entrance / exit door is closed.

11. A mechanical parking device as described in any one of claims 1 to 10, further comprising an external reception means provided outside the boarding / disembarking compartment for receiving input information for closing the entrance / exit door.

12. An external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding / disembarking room and near the entrance / exit door is provided, A mechanical parking device as described in any one of claims 1 to 11, wherein the control means stops the closing operation of the entrance / exit door or reverses the entrance / exit door when a person or vehicle is detected by the external detection means during the door closing process.

13. A mechanical parking device as described in any one of claims 1 to 12, further comprising an alarm means for notifying a user of the result of the door closing process performed by the control means.

14. 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; an internal reception means provided in the boarding / deboarding compartment and configured to receive input information for closing the entrance door; a control means for performing a door closing process for closing the entrance door after the input information is received by the internal receiving means and after it is confirmed that no one is present in the boarding / deboarding compartment; An external reception means is provided outside the boarding / deboarding room and receives information for closing the opened entrance door; an external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding / disembarking room and in the vicinity of the entrance / exit door; Equipped with the input information is information input by a user performing a predetermined operation on an input unit, The control means stops the closing operation of the entrance door or drives the entrance door in a reverse direction when a person or a vehicle is detected by the external detection means during the door closing process, A mechanical parking device in which the monitoring area is different when the input information is received by the internal receiving means and when the input information is received by the external receiving means.

15. The mechanical parking device according to claim 14, further comprising an alarm means for notifying a user of the result of the door closing process performed by the control means.

16. A mechanical parking device as described in any one of claims 1 to 15, wherein if an error occurs in the door closing process, the control means refuses to accept the input information by the internal acceptance means.

17. An external gate is provided in an exit path through which a vehicle exiting the boarding / alighting room passes, The mechanical parking device according to any one of claims 1 to 16, wherein the control means permits the opening of the external gate after the entrance / exit door is fully closed.

18. A notification means is provided in an exit path through which a vehicle exiting the boarding / alighting room passes, A mechanical parking device as described in any one of claims 1 to 17, wherein the notification means notifies of an abnormality when an error occurs during the door closing process.

19. A control method for a mechanical parking device including a boarding / de-boarding room for entering and exiting at least one of a vehicle, an entrance / exit door provided at an entrance / exit of the boarding / de-boarding room, and an internal reception means provided within the boarding / de-boarding room, receiving input information for closing the entrance door via the internal receiving means; performing a door closing process for closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding / deboarding compartment; The computer executes the input information is information input by a user performing a predetermined operation on an input unit, A method for controlling a mechanical parking device, wherein the input information includes door closing instruction information that instructs closing the entrance / exit door.

20. A method for controlling a mechanical parking device comprising a boarding / de-boarding room for at least one of entering and exiting a vehicle, an entrance / exit door provided at an entrance / exit of the boarding / de-boarding room, and an internal reception means provided within the boarding / de-boarding room, receiving input information for closing the entrance door via the internal receiving means; performing a door closing process for closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding / deboarding compartment; The computer executes the input information is information input by a user performing a predetermined operation on an input unit, The input information is user authentication information, A control method for a mechanical parking device that performs the door closing process after the authentication information matches or has a predetermined correspondence with the user's authentication information entered before the entrance / exit door is opened and after it is confirmed that no one is in the boarding / exit area.

21. A method for controlling a mechanical parking device comprising: a boarding / de-boarding room for at least one of entering and exiting a vehicle; an entrance / exit door provided at an entrance / exit of said boarding / de-boarding room; an internal reception means provided within said boarding / de-boarding room; and an external reception means provided outside said boarding / de-boarding room, receiving input information for closing the entrance door via the internal receiving means or the external receiving means; performing a door closing process for closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding / deboarding compartment; a step of stopping the closing operation of the entrance door or driving the entrance door in a reverse direction when a person or a vehicle is detected in a predetermined monitoring area provided near the entrance door during a door closing process; The computer executes the input information is information input by a user performing a predetermined operation on an input unit, A control method for a mechanical parking device, in which the monitoring area is set to a different area when the input information is received by the internal receiving means and when the input information is received by the external receiving means.

22. A control program for a mechanical parking device for causing a computer to execute the control method for a mechanical parking device according to any one of claims 19 to 21.

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