Bicycle Parking System

Abstract

To reduce labor in storing a bicycle and stably hold the bicycle without user intervention.SOLUTION: A transport device comprising a conveyance device 4 and a transport machine 5 is a transport device for gripping the front wheel of a bicycle and moving the bicycle in the front-back direction, wherein a placing part having a guide part capable of moving the bicycle in the front-back direction, a gripping part constituted to be moved in the front-back direction on the placing part and grips the front wheels from both sides of the front wheels in the width direction by moving in the width direction of the front wheels; and the gripping part has a first-shaped part that grips the front wheel in the width direction from the rear side to the front side of the axle, below the axle of the front wheel.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport device and a bicycle parking system. [Background technology]

[0002] Devices for holding bicycles when transporting them in mechanical bicycle parking lots are disclosed, for example, in Patent Documents 1 and 2. The clamp device disclosed in Patent Document 1 holds the lower half of the bicycle's front wheel and the front wheel axle by clamping them in the direction of the axle with a clamp piece. The bicycle held by this clamp piece is pulled into a transfer table, which transports it to a storage shelf and stores it there. The bicycle parking device disclosed in Patent Document 2 holds the bicycle by clamping the front side of the axle of the front wheel or the side below the axle of the front wheel with a clamp piece in the direction of the axle, and transports the bicycle with the front wheel held to a storage section. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-292661 [Patent Document 2] Japanese Patent Application Publication No. 9-328923 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in the case of a bicycle in which the hub axle of the front wheel is fixed to the front fork by a quick release or in the case of a bicycle with a disc brake on the front wheel, the device disclosed in Patent Document 1 makes it difficult to stably hold the front wheel because the clamp piece comes into contact with the quick release or disc brake device and clamps the front wheel asymmetrically on the left and right. The bicycle parking device disclosed in Patent Document 2 clamps the front side of the axle of the front wheel or the lower side of the axle of the front wheel, rather than the axle, so the clamp piece does not come into contact with the quick release or disc brake device and can stably hold the front wheel. However, the bicycle parking device disclosed in Patent Document 2 uses a stopper to restrict the entry position of the front wheel of the bicycle when entering the parking lot, and a sensor installed in the stopper detects the tip of the tire to operate the clamp piece to grip the front wheel, so the user must move the front wheel to the position of the stopper, which makes it time-consuming to enter the parking lot, and also makes it difficult to automate the parking lot because the user must support the bicycle until the front wheel is gripped.

[0005] The present invention has been made in consideration of the above, and aims to provide a transport device that reduces the effort required for storing bicycles and can stably hold bicycles without the intervention of the user, and a bicycle parking system equipped with the same. [Means for solving the problem]

[0006] A transport device according to one aspect of the present invention is a transport device that grips the front wheel of a bicycle and moves the bicycle in a fore-and-aft direction, and has a loading section having a guide section that allows the bicycle to move in the fore-and-aft direction, and a gripping section that is configured to be movable in the fore-and-aft direction on the loading section and moves in the width direction of the front wheel to grip the front wheel from both sides in the width direction, and the gripping section has a first shaped section that grips the front wheel in the width direction below the axle of the front wheel, from rear to front of the axle.

[0007] In the conveying device of the present invention, the gripping portion may have a second shaped portion that, when gripping the front wheel, grips the front wheel from below to above the axle, forward of the axle of the front wheel.

[0008] The bicycle parking system of the present invention comprises any one of the above-mentioned transport devices, a storage / retrieval section having a positioning unit for positioning the rear wheel of a bicycle at a predetermined position and in which an area is formed for storing and retrieving the bicycle, a storage shelf in which bicycles are stored and having a positioning unit for positioning the rear wheel of the bicycle at a predetermined position, a lifting device for raising and lowering the transport device, and a control unit for controlling the transport device and the lifting device, wherein the control unit controls the transport device to grasp the front wheel of the bicycle, the rear wheel of which has been positioned on the storage shelf or the storage / retrieval section, and then controls the lifting device to raise the transport device and raise the front wheel, thereby moving the bicycle onto the storage section.

[0009] The bicycle parking system of the present invention has a sensor that detects the front wheel and a memory unit that stores the position of the front wheel detected by the sensor, and the control unit may be configured to alert of an abnormality if the position of the front wheel detected by the sensor while the bicycle is moving is outside a specified range from the stored position. Effect of the Invention

[0010] According to the present invention, the effort required for storing a bicycle can be reduced and the bicycle can be held stably without the user's intervention. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a vertical cross-sectional view of a bicycle parking facility according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing the loading / unloading section. [Diagram 3] FIG. 3 is a horizontal cross-section of the hangar. [Figure 4] FIG. 4 is a side view of the transfer device. [Diagram 5]FIG. 5 is a diagram showing a main part of the transfer device. [Figure 6] FIG. 6 is a diagram showing a main part of the transfer device. [Figure 7] FIG. 7 is a block diagram showing the control system of the bicycle parking facility. [Figure 8] FIG. 8 is a flowchart showing the process of registering a bicycle. [Figure 9] FIG. 9 is a diagram showing the operation when a bicycle is moved between the loading / unloading section and the carrier. [Figure 10] FIG. 10 is a diagram showing a bicycle held by the transfer device. [Figure 11] FIG. 11 is a diagram showing a bicycle held by the transfer device. [Figure 12] FIG. 12 is a flow chart showing the process of storing a bicycle in a locker. [Figure 13] FIG. 13 shows the operation when a bicycle is moved between the carrier and the storage shelf. [Figure 14] FIG. 14 is a flow chart showing the process of removing a bicycle from a storage facility. [Figure 15] FIG. 15 shows front wheels of different sizes being gripped. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. In addition, in the description of the drawings, the same or corresponding elements are appropriately assigned the same reference numerals. Furthermore, it should be noted that the drawings are schematic, and the dimensional relationship of each element may differ from the actual one. There may be parts in which the dimensional relationship and ratio differ between the drawings. In addition, XYZ coordinate axes are appropriately shown in the drawings, and directions are explained using them. In the space shown by the XYZ coordinate axes, the direction in which the X component increases is called the +X direction, and the direction in which the X component decreases is called the -X direction. Similarly, the Y and Z components are also defined as the +Y direction, the -Y direction, the +Z direction, and the -Z direction.

[0013] [Embodiment] 1 is a vertical cross-sectional view of a bicycle parking facility 1000 according to an embodiment of the present invention. The bicycle parking facility 1000, which is an example of a bicycle parking system, is a so-called above-ground cylindrical bicycle parking facility, and includes an entrance / exit section 1 and a locker 2. The entrance / exit section 1 is a location where bicycle B is placed when a user enters bicycle B into the bicycle parking facility 1000 or when bicycle B leaves the bicycle parking facility 1000, and is provided on the first floor of the bicycle parking facility 1000.

[0014] FIG. 2 is a diagram showing the loading / unloading section 1. The loading / unloading section 1 includes a door 11, a guide groove 12, and a positioning groove 13. The door 11 is driven by a door drive unit 14 (not shown) to open and close when the bicycle B is loaded into the storage 2 and when it is unloaded from the storage 2. The door 11 is also opened and closed when the bicycle B is scanned by a process described later. The guide groove 12 is a groove that guides the rear wheel of the bicycle B when the bicycle B is pulled into the carrier 5 described later and when the bicycle B is pushed out of the carrier 5 into the loading / unloading section 1. The positioning groove 13 is a groove into which the rear wheel of the bicycle B is inserted when the bicycle B is loaded, unloaded, and scanned. The positioning groove 13 has a depth and width that support the rear wheel of the bicycle B so that the bicycle B can stand on its own without the user having to support the bicycle B.

[0015] The entry / exit section 1 also includes an antenna 201, a card reader 202, a display unit 203, an entry button 204, and a measurement button 205. The antenna 201 is an antenna for communicating with an IC tag 301 attached to bicycle B. The card reader 202 is a device that reads information recorded on an IC card 302 owned by a user of the bicycle parking facility 1000. The display unit 203 is, for example, a liquid crystal display device, and displays various information to the user of the bicycle parking facility 1000. The entry button 204 is a button that is operated by the user when entering bicycle B into the storage facility 2. The measurement button 205 is a button that is operated when scanning bicycle B.

[0016] The storage shed 2 is a storage shed that stores bicycles B in multiple tiers. FIG. 3 shows a horizontal cross-sectional view of the storage shed 2. In this embodiment, the storage shed 2 has a cylindrical space and is provided with multiple tiers of storage shelves 3 in the vertical direction, and the storage shelves 3 are arranged radially in each of the multiple tiers. The storage shelves 3 are shelves that store bicycles B, and have guide rails that guide and accommodate the front and rear wheels of bicycles B. In this embodiment, bicycles B that satisfy all of the following conditions can be stored in the storage shelves 3: total length of 1400 mm to 1900 mm, total width of 650 mm to 650 mm, total height of 1250 mm to 1250 mm, rear basket height of 1250 mm to 1250 mm, front basket width of 500 mm to 500 mm, tire size of 18 inches to 28 inches, and tire width of 20 mm to 55 mm. Note that these conditions are merely examples, and other sizes may be used for the overall length, overall width, overall height, rear basket height, front basket width, rear basket width, tire size, and tire width. Although not shown, the guide rail of the storage shelf 3 is provided with a positioning portion for positioning the rear wheel of bicycle B at a predetermined position. The positioning portion is configured with a different shape (e.g., groove depth, step portion, etc.) from the guide rail.

[0017] Returning to FIG. 1, the bicycle parking facility 1000 is equipped with a transfer device 4, a carrier 5, a lifting device 6, and a turning device 7 as components for transporting the bicycle B.

[0018] The transfer device 4 can move in the forward and backward directions of the bicycle B by a motor and a moving mechanism (not shown), and is a device that draws the bicycle B onto the carrier 5 and pushes the bicycle B out from the carrier 5. When the bicycle B is stored in the storage shed 2, the transfer device 4 draws the bicycle B in the loading / unloading section 1 onto the carrier 5. When the carrier 5 with the bicycle B drawn in is moved to the corresponding position of the storage shelf 3 by the lifting device 6, the transfer device 4 holding the bicycle B pushes the bicycle B on the carrier 5 to the corresponding storage shelf 3. When the bicycle B is unloaded from the storage shed 2, the transfer device 4 draws the bicycle B, whose rear wheel is positioned in the positioning section of the storage shelf 3, onto the carrier 5. When the carrier 5 with the bicycle B drawn in is lowered to the position of the loading / unloading section 1 by the lifting device 6, the transfer device 4 holding the bicycle B pushes the bicycle B on the carrier 5 to the loading / unloading section 1.

[0019] FIG. 4 is a side view of the transfer device 4. Also, FIG. 5 and FIG. 6 are views of the main parts of the transfer device 4 related to gripping the bicycle B from above. The pair of gripping parts 41a, 41b are members that grip the front wheel of the bicycle B from the width direction of the front wheel. As is clear from the above view in conjunction with FIG. 10 showing the state in which the bicycle is being gripped, the metal gripping parts 41a, 41b have a second gripping part 412 that is longitudinally in the Z-axis direction and that pinches the front side of the axle of the front wheel, and a first gripping part 411 that is continuous with the second gripping part 412, that is longitudinally in the X-axis direction, that pinches the front wheel from the rear side of the axle to the front side below the axle of the front wheel. The first gripping part 411 is an example of a first shaped part, and the second gripping part 412 is an example of a second shaped part. Grip portion 41a has elastic body 413 on the +Y direction side, and grip portion 41b has elastic body 413 on the -Y direction side. Elastic body 413 is a plate-like elastic and flexible rubber formed into the shape of grip portions 41a and 41b, and comes into contact with the front wheel of bicycle B when gripping the front wheel.

[0020] Arm 42a is a member that supports gripping portion 41a, and arm 42b is a member that supports gripping portion 41b. Arm 42a is connected to gripping portion 41a with a bolt (not shown), and arm 42b is connected to gripping portion 41b with a bolt (not shown). Arm 42a has a plate-shaped connecting portion 47a that extends in the horizontal direction, and arm 42b has a plate-shaped connecting portion 47b that extends in the horizontal direction. Connecting portions 47a and 47b are connected to link mechanism 43 with bolts and nuts.

[0021] The shafts 45a, 45b are metallic shafts that guide the bushings 46a, 46b. The shafts 45a, 45b are arranged vertically in line along the Y-axis direction and pass through the arms 42a, 42b. The shafts 45a, 45b are inserted into the bushings 46a, 46b. The bushing 46a is connected to the arm 42a with a bolt and nut (not shown), and the bushing 46b is connected to the arm 42b with a bolt and nut (not shown).

[0022] The link mechanism 43 is connected to the connecting portions 47a and 47b and the drive portion 44. The link mechanism 43 is driven by the drive portion 44 to move the arms 42a and 42b in the Y-axis direction.

[0023] Driving unit 44 includes a servo motor and a reducer, and drives link mechanism 43. When the servo motor of driving unit 44 is rotated so that link mechanism 43 becomes linear, arm 42a connected to link mechanism 43 at connecting portion 47a is guided by bushing 46a and moves in the -Y direction along shafts 45a and 45b, and arm 42b connected to link mechanism 43 at connecting portion 47b is guided by bushing 46b and moves in the +Y direction along shafts 45a and 45b. As a result, the distance between gripping portion 41a and gripping portion 41b in the Y-axis direction increases, as shown in FIG. 5. In addition, when the driving unit 44 drives the link mechanism 43 so that the link mechanism 43 bends, the arm 42a connected to the link mechanism 43 at the connecting portion 47a is guided by the bushing 46a and moves in the +Y direction along the shafts 45a and 45b, and the arm 42b connected to the link mechanism 43 at the connecting portion 47b is guided by the bushing 46b and moves in the -Y direction along the shafts 45a and 45b. As a result, the distance in the Y-axis direction between the gripping portions 41a and 41b becomes narrower as shown in Fig. 6. The driving unit 44, the link mechanism 43, the shafts 45a and 45b, the bushings 46a and 46b, the connecting portions 47a and 47b, and the arms 42a and 42b function as a driving unit that moves the gripping portions 41a and 41b.

[0024] The encoder 48 detects the rotation angle of a servo motor included in the driving unit 44. The sensor 49 is, for example, a three-dimensional range sensor used in 3D-LiDAR (light detection and ranging) technology. The sensor 49 scans the bicycle B from in front of the bicycle B.

[0025] Returning to FIG. 1, the carrier 5 is a device on which the bicycle B is placed in the bicycle parking facility 1000. The transfer device 4 is movable on the carrier 5 in a direction in which the bicycle B is pulled in and in a direction in which the bicycle B is pushed out (the front-rear direction of the bicycle). The carrier 5 is an example of a loading section on which the bicycle B is placed, and has a guide rail 5a in which the front and rear wheels of the bicycle B are accommodated, as shown in FIGS. 9 and 13. The guide rail 5a is an example of a guide section on which the bicycle B can move in the front-rear direction. When the bicycle B is stored in the storage shed 2, the bicycle B that is pulled in from the loading / unloading section 1 by the transfer device 4 is placed on the guide rail 5a of the carrier 5, and when the bicycle B is unloaded from the storage shed 2, the bicycle B that is pulled in from the storage shelf 3 by the transfer device 4 is placed on the guide rail 5a of the carrier 5. The transfer device 4 and the carrier 5 constitute a transport device that transports the bicycle B.

[0026] The lifting device 6 is a device that raises and lowers the carrier 5. When bicycle B is stored in the storage shed 2, the lifting device 6 raises the carrier 5 carrying bicycle B to the level of the storage shelf 3 designated for bicycle B on the first floor of the bicycle parking facility 1000. When bicycle B is removed from the storage shed 2, the lifting device 6 moves to the level of the storage shelf 3 where bicycle B to be removed is stored, and lowers the carrier 5 carrying bicycle B to the first floor.

[0027] The turning device 7 is a device that rotates the carrier 5. When the bicycle B is stored or removed, the turning device 7 rotates the carrier 5 clockwise or counterclockwise as viewed from above so that the guide rail 5a of the carrier 5 and the guide rail of the storage shelf 3 are aligned.

[0028] FIG. 7 is a block diagram showing a control system of the bicycle parking facility 1000. The communication unit 110 is a communication interface that communicates via a communication network. The communication unit 110 communicates with a management device (not shown) via the communication network. The management device is a computer device operated by the administrator of the bicycle parking facility 1000. The control unit 100 includes a calculation unit and a storage unit. The calculation unit is composed of, for example, a central processing unit (CPU) or a field-programmable gate array (FPGA), or both a CPU and an FPGA. The storage unit includes, for example, a portion composed of a read only memory (ROM), a portion composed of a random access memory (RAM), and a portion composed of a non-volatile memory that stores data in a rewritable manner. The portion composed of the ROM stores various programs and data used by the calculation unit to perform calculation processing. The RAM is used to store a working space when the calculation unit performs calculation processing and the results of the calculation processing of the calculation unit. The non-volatile memory stores, in the non-volatile memory, for example, the location of the storage shelf 3 storing the user's bicycle B, the width of the front wheel of bicycle B, and the position of the front wheel of bicycle B, in association with identification information that uniquely identifies the user of the bicycle parking facility 1000.

[0029] The control unit 100 controls the transfer device 4, the lifting device 6, the swivel device 7, the door driving unit 14, the display unit 203, etc., by the CPU executing the programs stored in the ROM. The control unit 100 also executes various processes described below based on information acquired from the IC tag 301 by the antenna 201, information acquired from the IC card 302 by the card reader 202, operation of the entry button 204, and operation of the measurement button 205. The functions of the control unit 100 are realized as functional units by the CPU reading and executing the programs from the ROM.

[0030] Next, an example of the operation when registering bicycle B will be described. FIG. 8 is a flow chart showing the flow of the process for registering bicycle B of a user when starting to use the bicycle parking facility 1000. Also, FIG. 9 is a diagram showing the operation when moving bicycle B between the loading / unloading section 1 and the carrier 5. When starting to use the bicycle parking facility 1000, a user places the front wheel of bicycle B in the guide groove 12, sets the rear wheel in the positioning groove 13 as shown in FIG. 9(a), and operates the measurement button 205. When the user operates the measurement button 205, the control unit 100 starts the process shown in FIG. 8.

[0031] First, the control unit 100 controls the door drive unit 14 to open the door 11, and moves the transfer device 4 to a predetermined position in the loading / unloading unit 1 as shown in Fig. 9(b) (step S101). The predetermined position is, for example, a position at a predetermined distance from the positioning groove 13 toward the door 11. When moving the transfer device 4 to the loading / unloading unit 1, the control unit 100 controls the lifting device 6 to adjust the vertical height of the transfer device 5 so that, for example, the upper end of the guide rail 5a of the transfer device 5 and the upper end of the guide groove 12 are at the same height.

[0032] Next, the control unit 100 controls the transfer device 4 to grip the front wheel of the bicycle B with the gripping units 41a and 41b (step S102). Specifically, the control unit 100 controls the drive unit 44 to drive the link mechanism 43. When the link mechanism 43 is driven, the arm 42a moves in the +Y direction along the shafts 45a and 45b, and the arm 42b moves in the -Y direction along the shafts 45a and 45b, and the elastic bodies 413 provided on the gripping units 41a and 41b grip the front wheel. FIG. 10 is a view of the bicycle B gripped by the transfer device 4 from the -Y direction to the +Y direction, and FIG. 11 is a view of the bicycle B gripped by the transfer device 4 from the +Z direction to the -Z direction. Here, the front wheel of the bicycle B is gripped on the front side of the axle and the lower side of the axle, so that the front wheel can be gripped stably. 10, because gripping parts 41a, 41b grip the front wheel at a position away from the axle and avoid the area around the axle, even if bicycle B is equipped with a quick release or disc brake, elastic body 413 does not come into contact with the quick release or disc brake device, and the front wheel can be stably gripped. Furthermore, because gripping parts 41a, 41b move horizontally, the front wheel can be stably gripped in both the vertical and horizontal directions.

[0033] Next, the control unit 100 judges whether the width of the front wheel held by the transfer device 4 is within a predetermined range (step S103). Here, the control unit 100 detects the width of the front wheel based on the detection result of the encoder 48. The control unit 100 may also detect the width of the front wheel from the measurement result of the sensor 49. If the detected width of the front wheel is not within the predetermined range (NO in step S103), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S114) and issues a warning to the user (step S115).

[0034] Here, the control unit 100 determines that the width of the front wheel is not within a predetermined range, for example, if the width of the front wheel is less than 20 mm or more than 55 mm. When the front wheel is released, the control unit 100 controls the drive unit 44 to drive the link mechanism 43. When the link mechanism 43 is driven, the arm 42a moves in the -Y direction along the shafts 45a and 45b, and the arm 42b moves in the +Y direction along the shafts 45a and 45b, releasing the front wheel that was being gripped by the elastic body 413 provided in the gripping units 41a and 41b. When warning the user, the control unit 100 displays on the display unit 203 that the bicycle B cannot be stored in the bicycle parking facility 1000.

[0035] If the detected width of the front wheel is within a predetermined range (YES in step S103), the control unit 100 judges whether the position of the front wheel is within a predetermined range (step S104). Specifically, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and judges whether the position of the front wheel in the X-axis direction is within a predetermined range from the sensor 49. Here, if the total length of bicycle B is less than 1400 mm or more than 1900 mm, the detected position of the front wheel in the X-axis direction is outside the predetermined range. If the position of the front wheel is not within the predetermined range (NO in step S104), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S114) and issues a warning to the user (step S115).

[0036] If the position of the front wheel is within a predetermined range (YES in step S104), the control unit 100 controls the transfer device 4 to start moving the bicycle B onto the carrier 5 (step S105). Here, the control unit 100 first controls the lifting device 6 as shown in FIG. 9(c) to raise the carrier 5 from when the transfer device 4 gripped the front wheel. As a result, the front wheel of the bicycle B leaves the guide groove 12 and becomes suspended in the air. Next, the control unit 100 moves the transfer device 4 to above the carrier 5 as shown in FIG. 9(d) to pull the bicycle B onto the carrier 5. The front wheel of the bicycle B does not rotate because it is gripped by the transfer device 4, but because it is suspended in the air when it is moved from the loading / unloading section 1 onto the carrier 5, the bicycle B can be moved onto the carrier 5 with less resistance without dragging the front wheel.

[0037] Next, the control unit 100 judges whether the position of the front wheel has moved until the movement of bicycle B onto the carrier 5 is completed (step S106). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and judges whether the position of the front wheel in the X-axis direction has moved from the position detected in step S104. If the position of the front wheel has moved (YES in step S106), the control unit 100 controls the transfer device 4 to move bicycle B from the carrier 5 to the loading / unloading section 1 (step S113), releases the front wheel of bicycle B (step S114), and issues a warning to the user (step S115).

[0038] If the position of the front wheel has not moved (NO in step S106), the control unit 100 judges whether the movement of the bicycle B onto the carrier 5 has been completed (step S107). If the movement of the bicycle B onto the carrier 5 has not been completed (NO in step S107), the control unit 100 returns the process flow to step S106. If the movement of the bicycle B onto the carrier 5 has been completed (YES in step S107), the control unit 100 controls the transfer device 4 to start the movement of the bicycle B from the carrier 5 to the loading / unloading section 1 (step S108). Next, the control unit 100 judges whether the position of the front wheel has moved until the movement of the bicycle B to the loading / unloading section 1 is completed (step S109). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and judges whether the position of the front wheel in the X-axis direction has moved from the position detected in step S104. If the position of the front wheel has moved (YES in step S109), the control unit 100 controls the transfer device 4 to release the front wheel of the bicycle B (step S114) and issues a warning to the user (step S115).

[0039] If the position of the front wheel has not moved (NO in step S109), the control unit 100 judges whether the movement of the bicycle B to the loading / unloading unit 1 has been completed (step S110). If the movement of the bicycle B to the loading / unloading unit 1 has not been completed (NO in step S110), the control unit 100 returns the process flow to step S109. If the movement of the bicycle B to the loading / unloading unit 1 has been completed (YES in step S110), the control unit 100 controls the transfer device 4 to release the front wheel of the bicycle B (step S111). Next, the control unit 100 records the width of the front wheel detected in step S103 and the position of the front wheel detected in step S104 in the memory unit (step S112). Here, the width and position of the front wheel are recorded in association with the identification information stored in the IC tag 301 attached to the bicycle B.

[0040] Next, an example of the operation when storing bicycle B in storage 2 will be described. FIG. 12 is a flow chart showing the flow of processing when storing bicycle B in storage 2. When storing bicycle B in storage 2, the user places the front wheel of bicycle B in guide groove 12, sets the rear wheel in positioning groove 13 as shown in FIG. 9(a), and operates the store button 204. When the user operates the store button 204, the control unit 100 starts the processing shown in FIG. 12. Note that the positioning groove 13 here constitutes a positioning portion for positioning the rear wheel of bicycle B at a given position, similar to that provided in the guide rail of storage shelf 3, and is configured with a different shape (e.g. groove depth, step portion, etc.) from the guide groove 12.

[0041] First, the control unit 100 acquires the identification information recorded in the IC tag 301 via the antenna 201 (step S201). Next, the control unit 100 controls the door drive unit 14 to open the door 11, and moves the transfer device 4 to a predetermined position in the loading / unloading unit 1 as shown in FIG. 9(b) in the same manner as in step S101 (step S202).

[0042] Next, the control unit 100 controls the transfer device 4 in the same manner as in step S102 to grip the front wheel of bicycle B with the gripping units 41a and 41b (step S203). Next, the control unit 100 judges whether the width of the front wheel gripped by the transfer device 4 is within a predetermined range (step S204). The method of judgment in this step S204 is the same as in step S103. If the detected width of the front wheel is not within the predetermined range (NO in step S204), the control unit 100 controls the transfer device 4 in the same manner as in step S114 to release the front wheel of bicycle B (step S224) and issues a warning to the user (step S225). In step S225, the control unit 100 warns the user on the display unit 203 that bicycle B cannot be stored in the bicycle parking facility 1000.

[0043] If the detected front wheel width is within a predetermined range (YES in step S204), the control unit 100 judges whether the detected front wheel width is within a predetermined range from the registered front wheel width (step S205). Here, the control unit 100 acquires the front wheel width stored in the memory unit in association with the identification information acquired in step S201. If the front wheel width detected in step S204 is not within the predetermined range from the front wheel width acquired from the memory unit (NO in step S205), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S224) and issues a warning to the user (step S225).

[0044] If the width of the front wheel detected in step S204 is within a predetermined range from the width of the front wheel obtained from the memory unit (YES in step S205), the control unit 100 detects the position of the front wheel and judges whether the detected position of the front wheel is within a predetermined range (step S206). The method of judgment in this step S206 is the same as in step S104. If the position of the front wheel is not within the predetermined range (NO in step S206), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S224) and issues a warning to the user (step S225).

[0045] If the position of the front wheel is within a predetermined range (YES in step S206), the control unit 100 judges whether the detected position of the front wheel is within a predetermined range from the registered position of the front wheel (step S207). Here, the control unit 100 acquires the position of the front wheel stored in the memory unit in association with the identification information acquired in step S201. If the position of the front wheel detected in step S206 is not within a predetermined range from the position of the front wheel acquired from the memory unit (NO in step S207), the control unit 100 notifies the user via the display unit 203 that the bicycle B has been reset in the positioning groove 13 (step S217). Next, the control unit 100 controls the transfer device 4 to release the front wheel of the bicycle B (step S218), and moves the transfer device 4 from the loading / unloading unit 1 onto the carrier 5 (step S219).

[0046] If the detected front wheel position is within a predetermined range from the registered front wheel position (YES in step S207), the control unit 100 controls the transfer device 4 to move bicycle B onto the carrier 5 in the same manner as in step S105 (step S208). Here, bicycle B moves onto the carrier 5 as shown in Figs. 9(c) and 9(d). Here, the control unit 100 first controls the lifting device 6 to raise the carrier 5 from when the transfer device 4 grasped the front wheel as shown in Fig. 9(c). As a result, the front wheel of bicycle B leaves the guide groove 12 and is suspended in the air. Next, the control unit 100 moves the transfer device 4 to above the carrier 5 as shown in Fig. 9(d), and pulls bicycle B onto the carrier 5.

[0047] When the control unit 100 has finished moving bicycle B onto the carrier 5, it starts moving the carrier 5 to the position of the storage shelf 3 stored in the memory unit in association with the identification information acquired in step S201 (step S209). Here, the control unit 100 searches for storage shelves 3 in which bicycle B is not stored, and determines, according to a predetermined rule, a storage shelf 3 in which bicycle B will be stored, from among the storage shelves 3 in which bicycle B is not stored, and controls the lifting device 6 to raise the carrier 5 to the step of the determined storage shelf 3.

[0048] The control unit 100 judges whether the position of the front wheel has moved until the movement of the carrier 5 is completed (step S210). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and judges whether the position of the front wheel in the X-axis direction has moved from the position detected in step S206. If the position of the front wheel has moved (YES in step S210), the control unit 100 controls the lifting device 6 to stop the movement of the carrier 5 (step S220) and notifies the management device (step S221). In step S221, the control unit 100 transmits a notification to the management device informing the management device that an abnormality has occurred in the storage of, for example, bicycle B. The management device that receives this notification reports that an abnormality has occurred in the storage of, for example, bicycle B.

[0049] If the position of the front wheel has not moved (NO in step S210), the control unit 100 judges whether the movement of the carrier 5 has been completed (step S211). If the movement of the carrier 5 has not been completed (NO in step S211), the control unit 100 returns the process flow to step S210. If the carrier 5 has moved to the step corresponding to the position of the storage shelf 3 stored in the memory unit, the control unit 100 judges that the movement of the carrier 5 has been completed (YES in step S211) and starts the movement of bicycle B to the storage shelf 3 (step S212). Here, the control unit 100 controls the turning device 7 to rotate the carrier 5 so that bicycle B can be moved to the position of the storage shelf 3 stored in the memory unit, and controls the transfer device 4 to move bicycle B to the storage shelf 3.

[0050] FIG. 13 is a diagram showing the operation when bicycle B is moved from on carrier 5 to storage shelf 3. When bicycle B is moved from carrier 5 to storage shelf 3, control unit 100 controls lifting device 6 to raise carrier 5 to a position a predetermined height higher than storage shelf 3 as shown in FIG. 13(a). Next, control unit 100 moves transfer device 4 to above storage shelf 3 as shown in FIG. 13(b) to move bicycle B to storage shelf 3. The front wheel of bicycle B does not rotate because it is held by transfer device 4, but since carrier 5 is located higher than storage shelf 3 and the rear wheel of bicycle B moves to storage shelf 3, the front wheel is suspended in the air, so bicycle B can be moved to storage shelf 3 with less resistance without dragging the front wheel.

[0051] The control unit 100 determines whether the position of the front wheel has moved until the movement of bicycle B to the storage rack 3 is completed (step S213). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S206. If the position of the front wheel has moved (YES in step S213), the control unit 100 stops the movement of the transfer device 4 (step S222) and issues a warning to the administrator (step S223). In step S223, the control unit 100 transmits a notification to the management device, for example, notifying that an abnormality has occurred in the storage of bicycle B in the storage rack 3. The management device that receives this notification notifies, for example, that an abnormality has occurred in the movement of bicycle B to the storage rack 3.

[0052] If the position of the front wheel has not moved (NO in step S213), the control unit 100 judges whether the movement of the bicycle B to the storage rack 3 has been completed (step S214). If the movement of the bicycle B to the storage rack 3 has not been completed (NO in step S214), the control unit 100 returns the process flow to step S213. If the transfer device 4 has moved to a predetermined position in the X-axis direction, the control unit 100 judges that the movement of the bicycle B has been completed (YES in step S214) and controls the transfer device 4 to release the front wheel of the bicycle B (step S215). Here, as shown in FIG. 13(c), the control unit 100 lowers the lifting device 6 to bring the floating front wheel of the bicycle B into contact with the guide rail of the storage rack 3, and then releases the front wheel of the bicycle B. After releasing the front wheel of the bicycle B, the control unit 100 moves the transfer device 4 onto the carrier 5 as shown in FIG. 13(d) (step S216). Here, the control unit 100 stores the position of the storage shelf 3 in which the bicycle B is stored in association with the user's identification information.

[0053] Next, an example of the operation when bicycle B is removed from storage shed 2 will be described. Fig. 14 is a flow chart showing the flow of processing when bicycle B is removed from storage shed 2. When removing bicycle B from storage shed 2, the user holds IC card 302 over card reader 202. When IC card 302 is held over card reader 202, control unit 100 starts the processing shown in Fig. 14.

[0054] First, the control unit 100 acquires the identification information read by the card reader 202 from the IC card 302 (step S301). Next, the control unit 100 moves the carrier 5 to the storage shelf 3 (step S302). Here, the control unit 100 controls the lifting device 6 to move the carrier 5 to the step of the storage shelf 3 corresponding to the identification information acquired in step S301 and stored in the memory unit. The control unit 100 also controls the turning device 7 to rotate the carrier 5 so that the bicycle B can be moved from the storage shelf 3 at the position stored in the memory unit to the carrier 5.

[0055] Next, the control unit 100 controls the transfer device 4 to grip the front wheel of bicycle B (step S303). Here, as shown in Fig. 13(d), the control unit 100 first controls the lifting device 6 to adjust the vertical height of the transfer device 5 so that the upper end of the guide rail 5a of the transfer device 5 and the upper end of the guide rail of the storage shelf 3 are at the same height. Then, the control unit 100 moves the transfer device 4 to the storage shelf 3, and then controls the transfer device 4 to grip the front wheel of bicycle B with the gripping units 41a, 41b as shown in Fig. 13(c).

[0056] Next, the control unit 100 judges whether the width of the front wheel held by the transfer device 4 is within a predetermined range (step S304). The method of judgment in this step S304 is the same as that in step S103. If the detected width of the front wheel is not within the predetermined range (NO in step S304), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320) and notifies the user via the display unit 203 that bicycle B cannot be taken out (step S321). Note that, if the detected width of the front wheel is not within the predetermined range, the control unit 100 may prohibit storage and removal of bicycle B from the storage shelves 3 around bicycle B whose front wheel is held. Also, the range of storage shelves 3 where storage and removal are prohibited may be set arbitrarily. In addition, if the detected width of the front wheel is not within a predetermined range, the control unit 100 determines whether the difference to the predetermined range is within a predetermined threshold, and if it is not within the threshold, it prohibits storage and removal of bicycle B from the storage shelf 3 around bicycle B whose front wheel is being held, and notifies the user via the display unit 203 that bicycle B cannot be removed, and if it is within the threshold, it may send a notification to the management device that an abnormality has occurred with bicycle B.

[0057] If the detected front wheel width is within a predetermined range (YES in step S304), the control unit 100 judges whether the detected front wheel width is within a predetermined range from the registered front wheel width (step S305). Here, the control unit 100 acquires the front wheel width stored in the memory unit in association with the identification information acquired in step S301. If the front wheel width detected in step S304 is not within the predetermined range from the front wheel width acquired from the memory unit (NO in step S305), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320) and notifies the user on the display unit 203 that bicycle B cannot be taken out (step S321).

[0058] If the width of the front wheel detected in step S304 is within a predetermined range from the width of the front wheel obtained from the memory unit (YES in step S305), the control unit 100 detects the position of the front wheel and judges whether the detected position of the front wheel is within a predetermined range (step S306). The method of judgment in this step S306 is the same as in step S104. If the position of the front wheel is not within the predetermined range (NO in step S306), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320) and notifies the user on the display unit 203 that bicycle B cannot be taken out (step S321).

[0059] If the position of the front wheel is within a predetermined range (YES in step S306), the control unit 100 judges whether the detected position of the front wheel is within a predetermined range from the registered position of the front wheel (step S307). Here, the control unit 100 acquires the position of the front wheel stored in the memory unit in association with the identification information acquired in step S301. If the position of the front wheel detected in step S306 is not within a predetermined range from the position of the front wheel acquired from the memory unit (NO in step S307), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320) and notifies the user on the display unit 203 that bicycle B cannot be taken out (step S321).

[0060] If the detected position of the front wheel is within a predetermined range from the registered position of the front wheel (YES in step S307), the control unit 100 controls the transfer device 4 to move the bicycle B from the storage shelf 3 onto the carrier 5 (step S308). Here, the control unit 100 first controls the lifting device 6 to raise the carrier 5 from when the transfer device 4 grasped the front wheel, as shown in FIG. 13(b). As a result, the front wheel of the bicycle B is released from the guide rail of the storage shelf 3 and is suspended in the air. Next, the control unit 100 moves the transfer device 4 to above the carrier 5 as shown in FIG. 13(a) to pull the bicycle B onto the carrier 5. The front wheel of the bicycle B does not rotate because it is grasped by the transfer device 4, but since it is suspended in the air when it is moved from the storage shelf 3 onto the carrier 5, the rear wheel can be rotated to reduce resistance and move the bicycle B onto the carrier 5 without dragging the front wheel.

[0061] When the movement of the bicycle B onto the carrier 5 is completed, the control unit 100 starts the movement of the carrier 5 to the first floor of the bicycle parking facility 1000 (step S309). The control unit 100 judges whether the position of the front wheel has moved until the movement of the carrier 5 is completed (step S310). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and judges whether the position of the front wheel in the X-axis direction has moved from the position detected in step S306. If the position of the front wheel has moved (YES in step S310), the control unit 100 controls the lifting device 6 to stop the movement of the carrier 5 (step S317) and notifies the administrator (step S318). In step S318, the control unit 100 transmits a notice to the management device notifying that an abnormality has occurred in the removal of the bicycle B. The management device that receives this notice notifies, for example, that an abnormality has occurred in the removal of the bicycle B.

[0062] If the position of the front wheel has not moved (NO in step S310), the control unit 100 judges whether the movement of the carrier 5 has been completed (step S311). If the movement of the carrier 5 has not been completed (NO in step S311), the control unit 100 returns the process flow to step S310. If the carrier 5 has moved to the first floor of the bicycle parking facility 1000, the control unit 100 judges that the movement of the carrier 5 has been completed (YES in step S311) and starts the movement of bicycle B to the loading / unloading section 1 (step S312). Here, the control unit 100 controls the turning device 7 to rotate the carrier 5 so that the wheels of bicycle B can be moved into the guide groove 12 and positioning groove 13 of the loading / unloading section 1, and controls the transfer device 4 to move bicycle B to the loading / unloading section 1.

[0063] When the control unit 100 moves the bicycle B from the carrier 5 to the loading / unloading section 1, it controls the lifting device 6 to raise the carrier 5 to a predetermined height so that the upper end of the guide rail 5a of the carrier 5 is higher than the upper end of the guide groove 12 of the loading / unloading section 1, as shown in FIG. 9(d). Next, the control unit 100 moves the transfer device 4 to the loading / unloading section 1, as shown in FIG. 9(c). The front wheel of the bicycle B is not rotated because it is held by the transfer device 4, but since the carrier 5 is higher than the upper end of the guide groove 12 and the rear wheel of the bicycle B moves to the loading / unloading section 1, the front wheel is suspended in the air, so the rear wheel can be rotated without dragging the front wheel, reducing resistance and allowing the bicycle B to move to the loading / unloading section 1.

[0064] The control unit 100 determines whether the position of the front wheel has moved until the movement of bicycle B to the loading / unloading section 1 is completed (step S313). Here, the control unit 100 detects the position of the front wheel from the measurement results of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S306. If the position of the front wheel has moved (YES in step S313), the control unit 100 reduces the movement speed of the transfer device 4 and moves the process flow to step S314.

[0065] If the position of the front wheel has not moved (NO in step S313), the control unit 100 judges whether the movement of the bicycle B to the loading / unloading section 1 has been completed (step S314). If the movement of the bicycle B to the loading / unloading section 1 has not been completed (NO in step S314), the control unit 100 returns the process flow to step S313. If the transfer device 4 has moved to a predetermined position in the X-axis direction, the control unit 100 judges that the movement of the bicycle B has been completed (YES in step S314) and controls the transfer device 4 to release the front wheel of the bicycle B (step S315). Here, as shown in FIG. 9(b), the control unit 100 lowers the lifting device 6 to place the floating front wheel of the bicycle B in the guide groove 12 of the loading / unloading section 1, thereby releasing the front wheel of the bicycle B. After releasing the front wheel of the bicycle B, the control unit 100 moves the transfer device 4 onto the carrier 5 as shown in FIG. 9(a) (step S316).

[0066] According to this embodiment, the quick release and disc brake devices near the front wheel are not gripped by the gripping parts 41a and 41b, so the front wheel can be gripped more stably than in a configuration where the axle is gripped. Also, according to this embodiment, the elastic body 413 contacts the front wheel of the bicycle B with a surface, so wear of the elastic body 413 can be reduced compared to a configuration where the axle is gripped. Also, according to this embodiment, the bicycle B can be scanned, so errors in measuring the bicycle B can be reduced compared to a case where a person measures the bicycle B using a jig. Also, according to this embodiment, it is possible to detect whether the bicycle B has moved while the carrier 5 is being moved, so it is possible to detect abnormalities in the bicycle B while it is being moved.

[0067] In this embodiment, the gripping parts 41a and 41b are provided with the second gripping part 412 that is long in the vertical direction and the first gripping part 411 that is long in the horizontal direction, so that it is possible to grip front wheels of various sizes and bicycles B of various overall lengths. FIG. 15 is a diagram showing a state in which front wheels FW of different sizes are gripped. As shown in FIG. 15(a), even if the front wheel FW has a large diameter, the gripping parts 41a and 41b grip the front side and lower side of the axle of the front wheel FW, so that it is possible to grip the front wheel FW stably. Also, according to this embodiment, as shown in FIG. 15(b) and FIG. 15(c), the front wheel FW is gripped while avoiding the light and front fork, so that it is possible to grip the front wheel FW stably. Also, according to this embodiment, even if the bicycle B has a long overall length as shown in FIG. 15(d), the gripping parts 41a and 41b grip the front side and lower side of the axle of the front wheel FW, so that it is possible to grip the front wheel FW stably. Furthermore, according to this embodiment, even in the case of a child's bicycle B having a short overall length and a small diameter front wheel FW, as shown in FIG. 15(e), the front wheel FW can be stably gripped because the front wheel FW is gripped below the axle by the gripping portions 41a, 41b.

[0068] Also, according to this embodiment, when the bicycle B is taken out of the hangar 2, if the position of the front wheel when the front wheel is grasped is different from the stored position, it can be determined that an abnormality has occurred in the bicycle B during storage. Also, according to this embodiment, when the bicycle B is taken out of the hangar 2, if the width of the front wheel is different from that when it was registered, it can be determined that the tire air pressure has dropped. Also, according to this embodiment, the width and position of the front wheel are recorded at the time of registration, and when the bicycle B is stored, the width and position of the front wheel are detected to determine the difference, so that it can be determined whether a bicycle B different from the registered bicycle B is being stored. Also, according to this embodiment, it can be determined that the bicycle B is not set correctly in the storage / retrieval section 1 by detecting the width and position of the front wheel when it is stored.

[0069] [Variations] Although the embodiment of the present invention has been described above, the present invention is not limited to the above-mentioned embodiment and can be implemented in various other forms. For example, the above-mentioned embodiment may be modified as follows to implement the present invention. The above-mentioned embodiment and the following modifications may be combined with each other. The present invention also includes a configuration in which the components of the above-mentioned embodiments and modifications are appropriately combined. Further effects and modifications can be easily derived by a person skilled in the art. Therefore, the broader aspects of the present invention are not limited to the above-mentioned embodiment and modifications, and various modifications are possible.

[0070] In the above-described embodiment, the bicycle parking facility 1000 is an above-ground cylindrical type, but it may be an above-ground horizontal type, an underground cylindrical type, an underground horizontal type, or a building-embedded type.

[0071] In the above-described embodiment, the sensor that detects the position and width of the front wheel of bicycle B is not limited to 3D-LiDAR, and the position and width of the front wheel of bicycle B may be detected, for example, by a laser rangefinder or an ultrasonic sensor.

[0072] In the above-described embodiment, the gripping portions 41a, 41b are moved by the link mechanism 43, but the configuration for moving the gripping portions 41a, 41b is not limited to the link mechanism 43, and may be, for example, a configuration for moving the gripping portions 41a, 41b by a linear guide actuator or a ball screw.

[0073] In the above-described embodiment, when the entry button 204 or the measurement button 205 is pressed, the control unit 100 detects the presence or absence of bicycle B using the sensor 49, and if bicycle B is not detected, the control unit 100 may notify the user via the display unit 203 to set bicycle B in the guide groove 12 and the positioning groove 13.

[0074] In the present invention, the sensor 49 may detect the widthwise position of the front wheel of the bicycle B. In a configuration in which the widthwise position of the front wheel is detected, the control unit 100 may inform the user that the bicycle B cannot be stored in the bicycle parking facility 1000 if the widthwise position of the front wheel is outside a predetermined range when the bicycle B is held by the transfer device 4 during storage or registration of the bicycle B. In addition, in the present invention, the widthwise position detected by the sensor 49 of the front wheel may be stored in a memory unit, and when the bicycle B is being moved from the storage unit 1 to the carrier 5 and when the bicycle B is being moved from the storage shelf 3 to the carrier 5, the movement of the carrier 5 may be stopped. In addition, the widthwise position detected by the sensor 49 of the front wheel may be stored in a memory unit, and when the widthwise position of the front wheel is moved from the stored position during the movement of the carrier 5, the movement of the carrier 5 may be stopped. In addition, the widthwise position of the front wheel detected by sensor 49 may be stored in a memory unit, and if the widthwise position of the front wheel is not within a specified range from the stored position when the front wheel is grasped by the transfer device 4 to store bicycle B, the front wheel may be released and the user may be notified that bicycle B cannot be stored in the bicycle parking facility 1000. [Explanation of symbols]

[0075] 1. Entry and exit area 2 Hangar 3 Storage Shelves 4 Transfer equipment 5 Transporter 5a Guide rail 6 Lifting device 7 Swivel 11 Door 12 Guide groove 13 Positioning groove 41a, 41b grip part 42a, 42b Arm 43 Link mechanism 44 Drive unit 45a, 45b shaft 46a, 46b bushing 47a, 47b connection part 48 Encoder 49 Sensors 201 Antenna 202 Card Reader 203 Display section 204 Stock Entry Button 205 Measurement button 1000 Bicycle parking facilities

Claims

1. A storage shelf for storing bicycles; A hangar including a plurality of the storage shelves; an entrance / exit section provided in an area adjacent to the storehouse via a door for storing and retrieving bicycles between the storehouse and the entrance / exit section, the entrance / exit section having a guide groove for guiding bicycles so that they can move forward toward the storehouse and backward toward the storehouse, and a positioning section for positioning the rear wheel of the bicycle guided by the guide groove at a predetermined position; a transport device that grips a front wheel of the bicycle and moves the bicycle in the forward and rearward directions; A lifting device that lifts and lowers the transport device within the hangar; A control unit that controls the transport device and the lifting device; A bicycle parking system having The conveying device is A guide section is provided in the storage facility and guides the bicycle so that the bicycle can move forward and backward relative to the loading / unloading section; A transfer device configured to be movable in the forward direction and the rearward direction on the guide portion; a first shaped portion provided on the transfer device for gripping the front wheel of the bicycle below the axle from the rear to the front of the axle, and a second shaped portion for gripping the front wheel forward of the axle from the lower to upper side of the axle; and a gripping portion for gripping the front wheel of the bicycle from both sides in the width direction; A sensor provided at a portion of the transfer device that is forward of the gripping portion and detects the bicycle being gripped by the gripping portion; Equipped with The control unit is The transfer device is moved to a predetermined position in the loading / unloading section, and the front wheel of the bicycle whose rear wheel has been positioned in the positioning section is gripped by the gripping section. Then, a length determination is made as to whether or not the distance between the sensor and the front wheel obtained by detecting the positioned front wheel of the bicycle with the sensor is within a predetermined distance range, and if it is determined that the distance is not within the distance range, the gripping section releases the gripping of the front wheel and issues a warning. Bicycle parking system.

2. A storage shelf for storing bicycles; A hangar including a plurality of the storage shelves; an entrance / exit section provided in an area adjacent to the storehouse via a door for storing and retrieving bicycles between the storehouse and the entrance / exit section, the entrance / exit section having a guide groove for guiding bicycles so that they can move forward toward the storehouse and backward toward the storehouse, and a positioning section for positioning the rear wheel of the bicycle guided by the guide groove at a predetermined position; a transport device that grips a front wheel of the bicycle and moves the bicycle in the forward and rearward directions; A lifting device that lifts and lowers the transport device within the hangar; A control unit having a memory unit that controls the transport device and the lifting device; A bicycle parking system having The conveying device is A guide section is provided in the storage facility and guides the bicycle so that the bicycle can move forward and backward relative to the loading / unloading section; A transfer device configured to be movable in the forward direction and the rearward direction on the guide portion; a first shaped portion provided on the transfer device for gripping the front wheel of the bicycle below the axle from the rear to the front of the axle, and a second shaped portion for gripping the front wheel forward of the axle from the lower to upper side of the axle; and a gripping portion for gripping the front wheel of the bicycle from both sides in the width direction; A sensor provided on the forward side of the gripping portion of the transfer device for detecting the bicycle being gripped by the gripping portion; Equipped with the bicycle entry / exit section has an antenna capable of reading identification information stored in an identification section provided on the bicycle to be entered; the storage unit stores a position of the front wheel of the bicycle associated with the identification information read by the antenna, The control unit is After acquiring identification information by reading with the antenna the identification part of the bicycle whose rear wheel has been positioned by the positioning unit, the transfer device is moved to a predetermined position in the loading / unloading unit, and the front wheel of the bicycle whose rear wheel has been positioned is grasped by the gripping unit, and a determination is made as to whether the position of the front wheel obtained by detecting the front wheel of the positioned bicycle with the sensor is within a predetermined range from the position of the front wheel of the bicycle stored in the memory unit in association with the identification information, and if it is determined that the position is not within the predetermined range, a notification is issued to encourage the user to reposition the bicycle in the positioning unit. Bicycle parking system.

3. The gripping portion has a link mechanism that converts rotation of a servo motor into linear movement in the width direction of the front wheel of the bicycle, and is configured to grip the front wheel of the bicycle from both sides in the width direction with the first shape portion and the second shape portion via an arm connected to the link mechanism, After the gripping unit grips the front wheel, the control unit performs a width determination as to whether or not the width of the front wheel obtained based on a detection result of an encoder that detects a rotation angle of the servo motor is within a predetermined range before the length determination, and when it is determined that the width is not within the predetermined range, the control unit releases the gripping unit from the front wheel and issues a warning. A bicycle parking system as claimed in claim 1.

4. The memory unit stores a width of a front wheel of the bicycle associated with the identification information read by the antenna, the gripping portion has a link mechanism that converts rotation of a servo motor into linear movement in a width direction of the front wheel of the bicycle, and is configured to grip the front wheel of the bicycle from both sides in the width direction with the first shaped portion and the second shaped portion via an arm connected to the link mechanism, After the gripping unit grips the front wheel, the control unit determines whether the width of the front wheel obtained based on the detection result of the encoder that detects the rotation angle of the servo motor is within a predetermined range from the width of the front wheel of the bicycle stored in the storage unit in association with the identification information, and if it is determined that the width is not within the predetermined range, the control unit releases the gripping unit from the front wheel and issues a warning. A bicycle parking system as claimed in claim 2.

5. A storage shelf for storing bicycles; A hangar including a plurality of the storage shelves; an entrance / exit section provided in an area adjacent to the storehouse via a door for storing and retrieving bicycles from the storehouse, the entrance / exit section having a guide groove for guiding bicycles so that they can move forward toward the storehouse and backward toward the storehouse, and a positioning section for positioning the rear wheel of the bicycle guided by the guide groove at a predetermined position; a transport device that grips a front wheel of the bicycle and moves the bicycle in the forward and rearward directions; A lifting device that lifts and lowers the transport device within the hangar; A control unit having a memory unit that controls the transport device and the lifting device; A bicycle parking system having The conveying device is A guide section is provided in the storage facility and guides the bicycle so that the bicycle can move forward and backward relative to the loading / unloading section; A transfer device configured to be movable in the forward direction and the rearward direction on the guide portion; a first shaped portion provided on the transfer device for gripping the front wheel of the bicycle below the axle from the rear to the front of the axle, and a second shaped portion for gripping the front wheel forward of the axle from the lower to upper side of the axle; and a gripping portion for gripping the front wheel of the bicycle from both sides in the width direction; A sensor provided at a portion of the transfer device that is forward of the gripping portion and detects the bicycle being gripped by the gripping portion; Equipped with the bicycle entry / exit section has an antenna capable of reading identification information stored in an identification section provided on the bicycle to be entered; the storage unit stores a position of the front wheel of the bicycle associated with the identification information read by the antenna, The control unit is After obtaining identification information by reading the identification part of the bicycle whose rear wheel has been positioned by the positioning unit with the antenna, the transfer device is moved to a predetermined position in the loading / unloading unit and the front wheel of the bicycle whose rear wheel has been positioned is grasped by the gripping unit, and a length determination is made as to whether the distance between the sensor and the front wheel obtained by detecting the front wheel of the positioned bicycle with the sensor is within a predetermined distance range, and if it is determined that the front wheel is not within the distance range, the gripping unit releases the gripping of the front wheel and issues a warning, If it is within the distance range, it is determined whether the position of the front wheel of the bicycle is within a predetermined range from the position of the front wheel of the bicycle stored in the storage unit in association with the identification information, and if it is determined that it is not within the predetermined range, a notification is issued to the positioning unit to prompt the positioning unit to reposition the bicycle. Bicycle parking system.

6. The gripping portion has a link mechanism that converts rotation of a servo motor into linear movement in the width direction of the front wheel of the bicycle, and is configured to grip the front wheel of the bicycle from both sides in the width direction with the first shape portion and the second shape portion via an arm connected to the link mechanism, After the gripping unit grips the front wheel, the control unit performs a width determination as to whether or not the width of the front wheel obtained based on a detection result of an encoder that detects a rotation angle of the servo motor is within a predetermined range before the length determination, and when it is determined that the width is not within the predetermined range, the control unit releases the gripping unit from the front wheel and issues a warning. A bicycle parking system as claimed in claim 5.

7. The memory unit stores a width of a front wheel of the bicycle associated with the identification information read by the antenna, The control unit, after the width determination and before the length determination, determines whether the width of the front wheel obtained based on the detection result of the encoder is within a predetermined range from the width of the front wheel of the bicycle stored in the storage unit in association with the identification information, and if it determines that the width is not within the predetermined range, releases the grip of the front wheel by the gripping unit and issues a warning. A bicycle parking system as claimed in claim 6.

Images