Mechanical Parking System

Abstract

To provide a mechanical parking device capable of detecting a person standing on the curb of a carrier. [Solution] The mechanical parking device includes a boarding / de-boarding compartment 7 for vehicles to exit, a pallet 18 that can be placed within the boarding / de-boarding compartment, and a range sensor 30A that can detect objects in a monitoring area set at a height position higher than the top surface of the curb portion of the pallet 18 placed within the boarding / de-boarding compartment.

Description

[Technical field]

[0001] The present disclosure relates to a mechanical parking device. [Background technology]

[0002] Various methods have been proposed to ensure safety in mechanical parking devices. For example, Patent Document 1 discloses a mechanical parking device that has multiple range sensors and photoelectric sensors installed in the boarding / deboarding compartment, and closes the entrance / exit doors after confirming that no one is present in the boarding / deboarding compartment using the range sensors and photoelectric sensors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-143542 A Summary of the Invention [Problem to be solved by the invention]

[0004] Safety standards for mechanical parking devices require the detection of a small child (e.g., a 3-year-old child) lying on the floor of the boarding / disembarking area, and therefore the installation position and monitoring area of ​​the range sensor and photoelectric sensor are necessarily set so that they can detect this height (e.g., a height range of 130 mm or less from the floor) (see paragraph 0047 of Patent Document 1).

[0005] On the other hand, inside the boarding / disembarking compartment, a carrier such as a pallet for transporting vehicles is placed, and this carrier has a raised portion (hereinafter referred to as the "curb portion"). Normally, the curb portion is higher than 130 mm from the floor surface, so if it is assumed that a child is to be detected, the upper surface of the curb portion is higher than the installation height of the sensor, and the light beam is blocked by the curb portion. Therefore, in Patent Document 1, three range sensors are installed with the right side, center, and left side of the carrier (pallet) as their monitoring areas, respectively.

[0006] However, while the mechanical parking device described in Patent Document 1 can detect a small child lying on the floor, there is a possibility that it will not be able to detect a person (such as a child) standing on the curb of a carrier (pallet) as an object to be detected.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide a mechanical parking device that can detect a person standing on the curb portion of a carrier. [Means for solving the problem]

[0008] One aspect of the present disclosure is a vehicle Enter A boarding and disembarking room for the vehicle to leave the depot; An entrance door provided at the entrance of the boarding / deboarding room; A carriage that can be placed in a boarding / deboarding compartment; and a curb top sensor that can detect an object in a monitoring area that is set at a height position higher than an upper surface of a curb portion of the carriage that is placed in the boarding / deboarding compartment. A control means for setting the monitoring area of ​​the curb top sensor; Equipped with The curb top sensor is a range sensor that emits a beam from the front to the rear of the boarding / deboarding room and scans the beam on a horizontal plane, and the control means makes the monitoring area set in a door closing process that closes the entrance / exit door different between when entering the warehouse and when leaving the warehouse, and the monitoring area when leaving the warehouse includes an area outside the boarding / deboarding room. It is a mechanical parking device. Effect of the Invention

[0009] According to the present disclosure, it is possible to detect a person standing on the curb portion of the carrier. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device according to a first embodiment of the present disclosure. [Diagram 2] 1 is a schematic perspective view showing a boarding / deboarding compartment according to a first embodiment of the present disclosure. FIG. [Diagram 3] 2 is a schematic plan view showing an example of an installation position of a range sensor arranged in a boarding / deboarding compartment according to the first embodiment of the present disclosure. FIG. [Figure 4] FIG. 3 is a schematic vertical cross-sectional view of a pallet arranged in the boarding / deboarding compartment shown in FIG. 2. [Diagram 5] 2 is a diagram showing a configuration example of an internal control panel according to the first embodiment of the present disclosure. FIG. [Figure 6] 2 is a diagram showing a configuration example of an external operation panel according to the first embodiment of the present disclosure. FIG. [Figure 7] 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 8] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 9] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 10] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 11] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 12] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 13] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 14] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 15] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 16] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 17] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 18] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 19] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 20] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 21] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 22] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Diagram 23]11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 24] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Diagram 25] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 26] 11 is a flowchart showing an example of a processing procedure of a warehousing process according to the first embodiment of the present disclosure. [Figure 27] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 28] FIG. 2 is a diagram showing an example of a monitoring area of ​​a range measurement sensor; [Figure 29] A vertical cross-sectional view of a mechanical parking device according to a second embodiment of the present disclosure. [Diagram 30] 11 is a schematic plan view showing an example of installation positions of a range sensor and a vehicle width sensor arranged in a boarding / deboarding compartment according to a second embodiment of the present disclosure. FIG. [Diagram 31] A vertical cross-sectional view of a mechanical parking device according to the third embodiment of the present disclosure. [Diagram 32] FIG. 13 is a schematic plan view showing an example of installation positions of a range sensor and a photoelectric sensor arranged in a boarding / deboarding compartment according to a third embodiment of the present disclosure. [Diagram 33] FIG. 13 is a diagram for explaining a baseboard according to a modified example of the present disclosure. [Diagram 34] 13A and 13B are diagrams for explaining a panel according to a modified example of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the mechanical parking device 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 is not limited to this example. The mechanical parking device of the present disclosure may be a vertical circulation type, a horizontal reciprocating type, a horizontal circulation type, a two-tier type, etc. Also, it may be a fork-type mechanical parking device.

[0012] [First embodiment] FIG. 1 is a vertical cross-sectional view of a mechanical parking device 1 according to the first 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, for example, 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 in which 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 rooms 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 accommodates one pallet (carrier) 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] Fig. 2 is a schematic perspective view showing the boarding / de-boarding room 7, Fig. 3 is a schematic plan view showing an example of the installation positions of the range measurement sensors 30A-30D arranged in the boarding / de-boarding room 7, and Fig. 4 is a schematic vertical sectional view of the pallet 18 arranged in the boarding / de-boarding room 7. The following description defines the front-rear direction, left-right direction, and up-down direction based on the vehicle 2 entered in the boarding / de-boarding room 7.

[0017] 2 to 4, there is a space in the center of the boarding / disembarking compartment 7 where a pallet 18 is placed. The pallet 18 is a substantially rectangular shape along the front-to-rear direction, and has curb portions 19 at the right and left ends and a central raised portion 20 in the center (see FIG. 4). On the wall in front of the entrance door 4, there is a mirror (not shown) for the driver (user) to check the position of the vehicle 2, and an electronic parking position indicator light 25 that provides guidance on "go forward," "stop," and "reverse."

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

[0019] An object detection sensor 30 (see FIG. 7) is provided in the boarding / deboarding compartment 7 mainly for detecting people and objects in the boarding / deboarding compartment. In other words, the object detection sensor 30 is a sensor mainly used for checking the presence of no one inside the boarding / deboarding compartment. In this embodiment, the range measurement sensors 30A to 30D shown in FIG. 2 are provided as the object detection sensor 30. The range measurement sensors 30A to 30D output a search wave that has a property of hitting a target and reflecting, such as a laser beam or ultrasonic wave, and detect an object based on the obtained angle information and distance information by scanning in the horizontal direction while receiving the reflected wave. The range measurement sensor 30A can also obtain the position, size, and shape of the detection target.

[0020] The range sensor (curb top sensor) 30A is provided, for example, at the center front of the pallet 18 placed in the boarding / deboarding compartment (see Figs. 2 and 3), and emits a search wave from the front to the rear of the boarding / deboarding compartment. The range sensor 30A detects an object in a monitoring area C1 (see Fig. 4) set at a height position higher than the upper surface of the curb part 19 of the pallet 18 placed in the boarding / deboarding compartment 7. The height position of the monitoring area of ​​the range sensor 30A is set, for example, in a height range of 30 mm to 130 mm from the upper surface of the curb part 19. As an example, when the height of the curb part 19 is 140 mm, the height position of the monitoring area of ​​the range sensor 30A is set at a height range of 170 mm to less than 270 mm from the floor surface of the boarding / deboarding compartment 7.

[0021] The range sensor 30B is provided, for example, at the front center of the pallet 18 arranged in the boarding / deboarding room 7, and emits a search wave from the front to the rear of the boarding / deboarding room. The range sensor 30B detects objects in a monitoring area C2 (see FIG. 4) that is set at a height position that is higher than the middle height portion 20 of the pallet 18 arranged in the boarding / deboarding room 7 and lower than the top surface of the curbstone portion 19, for example. The height position of the monitoring area of ​​the range sensor 30B is set, for example, in a height range of 95 mm or more and less than 130 mm from the floor surface of the boarding / deboarding room 7. The range sensor 30B is a sensor that can detect objects in the monitoring area C2 (see FIG. 4) that is set between the curbstone portions 19.

[0022] The range sensor 30C is provided on the left side of the pallet 18 placed in the boarding / disembarking compartment 7 and behind the rear end of the pallet 18, and mainly detects objects in the left side area and rear area of ​​the pallet 18. The range sensor 30D is provided on the right side of the pallet 18 placed in the boarding / disembarking compartment 7 and behind the rear end of the pallet 18, and mainly detects objects in the right area and rear area of ​​the pallet 18.

[0023] The object detection sensor 30 may include, for example, a human sensor, a photoelectric sensor, etc., in addition to the above-mentioned range sensors 30A to 30D. In addition, a parking position detection sensor (not shown) for detecting the parking position of the vehicle 2, a vehicle presence sensor (not shown) for detecting that the vehicle 2 is placed on the pallet 18, etc. are provided inside the boarding / alighting compartment 7.

[0024] In addition, the above-mentioned camera 35 can be used as a substitute for the object detection sensor 30. In this case, it is possible to confirm whether or not there is anyone in the boarding / deboarding compartment 7 based on image data acquired by the camera 35. A sensor signal from the object detection sensor 30 is transmitted to a sensor control unit 57 (see FIG. 7) which will be described later.

[0025] An entrance / exit detection sensor 32 for detecting the entrance / exit of a person or vehicle from the boarding / de-boarding room 7 is provided at the entrance / exit 3 of the boarding / de-boarding room. The entrance / exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance / exit 3 and a pair of sensors 32B provided outside the entrance / exit 3. The sensors 32A and 32B are, for example, sensors of a type that receives a beam transmitted from a transmitter at a receiver. When the beam is blocked by a vehicle 2, a person, or the like, the sensor is turned on, and the sensor signal is transmitted to a sensor control unit 57 (see FIG. 7) described later.

[0026] 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.

[0027] The method of detecting the exit of a person or vehicle from the boarding / deboarding compartment 7 is not limited to the above example. For example, a sensor for detecting a person in the rear area of ​​the boarding / deboarding 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 / deboarding 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 / deboarding compartment, or may both be provided outside the boarding / deboarding compartment.

[0028] Further, the sensor control unit 57 (see FIG. 7) can determine whether a person or a vehicle is entering or exiting based on the sensor signal from the entry / exit detection sensor 32. For example, when a person is entering or exiting, the on signals are not output from the sensors 32A and 32B at the same time. In contrast, when a vehicle 2 is entering or exiting, since the vehicle has a certain length, there is a temporal overlap between the on signals of the sensors 32A and 32B. In this way, it is possible to determine whether a person is entering or exiting or the vehicle 2 is entering or exiting based on the degree of temporal overlap between the on signals of the sensors 32A and 32B.

[0029] 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.

[0030] An internal operation panel (input means) 26 that receives input information for closing the entrance door 4 is provided inside the boarding / deboarding compartment 7. This internal operation panel 26 is mainly operated by a user (for example, the driver). As an example, the internal operation panel 26 is provided on the left side of the boarding / deboarding compartment 7. A mirror 37 (see FIG. 3) is also provided as an auxiliary means for checking whether the area on the opposite side of the vehicle 2 across from the position of the internal operation panel 26 is unoccupied. The operator (for example, the driver) can check the mirror 37, for example, to check the safety (unoccupied) of the right-hand area of ​​the boarding / deboarding compartment 7, and perform input operations on the internal operation panel 26.

[0031] In this embodiment, the internal operation panel 26 is provided on the left side of the boarding / alighting compartment 7, but this is not limiting. For example, the internal operation panel 26 may be provided on the right side of the boarding / alighting compartment 7, or on both sides. By providing the internal operation panel 26 on both sides, the user can operate the internal operation panel 26 closer to the driver's seat regardless of whether the vehicle is a right-hand drive vehicle or a left-hand drive vehicle, thereby improving convenience.

[0032] FIG. 5 is a diagram showing an example of the configuration of the internal operation panel 26. As shown in FIG. 5, 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.).

[0033] The input unit 260 may also include a door close button 263, an unattended confirmation button 264, etc. The input unit 260 may also include a touch panel 262. The display of the touch panel 262 is controlled by a control device 40 (see FIG. 7) described later, and authentication information read by the IC card reader 261 and information input by operating the door close button 263 and the unattended confirmation 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.

[0034] 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 close door button 263 and the unattended confirmation button 264 can be 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.

[0035] In addition, a notification unit (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.

[0036] An external operation panel 22 that receives input information for closing the entrance door 4 is provided outside the boarding / deboarding room 7. This external operation panel 22 is operated by, for example, a user, a manager, a maintenance person, or the like.

[0037] Fig. 6 is a diagram showing an example of the configuration of the external operation panel 22. As shown in Fig. 6, 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.

[0038] 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.

[0039] 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.

[0040] 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 a control device 40 (see FIG. 7 ) 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 (see FIGS. 2 and 3) is provided near the external operation panel 22 for displaying real-time images captured by cameras 35A to 35D, which will be described later. 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. A control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding / disembarking room 7.

[0041] FIG. 7 is a diagram showing 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 various data required for operating the mechanical parking device 1, such as vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information of persons authorized to use the mechanical parking device 1, 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, etc.

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

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

[0044] The control programs may be stored in advance in an auxiliary storage device 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. Examples of external storage devices include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and semiconductor memories.

[0045] The control device 40 includes a main control unit 50. In addition to the above-mentioned general database 52, the main control unit 50 is connected to an entrance door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning 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.

[0046] 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.

[0047] 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.

[0048] The sensor control unit 57 receives sensor signals from the object detection sensors 30 (range measurement sensors 30A-30D) 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 signals from the entry / exit detection sensors 32 (32A, 32B), and outputs the determination result to the main control unit 50.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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 object detection sensor 30 and the entry / exit detection sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the above-mentioned sensor control unit 57. This makes it possible to implement more rapid control in response to the sensor signals.

[0053] [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. 8 to 15 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

[0054] First, when entering the vehicle, the user moves the vehicle 2 in front of the entrance / exit 3, gets off, and heads toward the external operation panel 22. Then, the user unlocks the vehicle 2 with a special key and opens the lid 44 of the housing 43. When the control device 40 detects that the lid 44 has been opened (SA1 in FIG. 8), it causes the touch panel 45 of the external operation panel 22 to display a first user authentication screen (SA2).

[0055] 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).

[0056] 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).

[0057] 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.

[0058] 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. 9).

[0059] 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.

[0060] After checking the entry guidance screen, the user gets into the vehicle 2, moves the vehicle 2 into the boarding / de-boarding compartment, and places the vehicle 2 on the empty pallet transported into the boarding / de-boarding compartment. When a sensor signal from a parking position detection sensor (not shown) detects that the vehicle has been placed at the designated parking position on the empty pallet (SA16), the control device 40 announces to the user that he or she should disembark, 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 (SA17). Here, the control device 40 may, for example, issue a guidance prompting the user to input authentication information by voice via a speaker, or, if communication with the on-board device mounted on the vehicle is possible, may notify the on-board device via a wireless communication unit.

[0061] Next, the control device 40 judges whether or not exit has been detected by the entrance / exit detection sensor 32 (SA18). As a result, if exit has not been detected (SA18: NO), the control device 40 judges whether or not a user ID has been input from the internal operation panel 26 (SA19). As a result, if a user ID has not been input (SA19: NO), the process returns to step SA18. In this manner, the judgment processes of steps SA18 and SA19 are repeated until exit is detected by the entrance / exit detection sensor 32 or a user ID is input from the internal operation panel 26.

[0062] As a result, if the user inputs the user ID to the internal operation panel 26 (SA19: YES), the system transitions to an internal close door mode (SA20) in which the door is closed from the internal operation panel 26. On the other hand, if the user ID is not input to the internal operation panel 26 and the entry / exit detection sensor 32 detects the exit of a person (SA18: YES), the system transitions to an external close door mode (SA21) in which the door is closed from the external operation panel 22.

[0063] Next, the inner closing door mode will be described with reference to FIG. In the internal closed door mode, the control device 40 performs the second user authentication using the user ID input from the internal operation panel 26 in step SA19 in FIG. 9 (SB1 in FIG. 10). In the second user authentication (second authentication), it is determined whether or not the received user ID (second authentication information) is a user ID registered in advance. As a result, if the second user authentication is not successful (SB2: 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 has failed. On the other hand, if the second user authentication is successful (SB2: YES), it is then performed a comparison process (SB3) to determine whether or not 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.

[0064] In the verification process, it is determined whether the person who opened the entrance door 4 is the same as the person who closes it. The method of determining whether they are the same person is not limited to this example. For example, when the authentication information input in the first user authentication and the authentication information input in the second user authentication have a "predetermined correspondence", 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 when the same authentication information as 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, known technologies can be appropriately adopted for the verification process.

[0065] 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, a notification that the matching has failed may be displayed. On the other hand, if the matching process is successful (SB4: YES), the control device 40 sets a monitoring area (SB5). Specifically, a monitoring area is set for each of the range measurement sensors 30A to 30D.

[0066] FIG. 16 shows an example of a monitoring area of ​​the range sensor 30A, FIG. 17 shows an example of a monitoring area of ​​the range sensor 30B, FIG. 18 shows an example of a monitoring area of ​​the range sensor 30C, and FIG. 19 shows an example of a monitoring area of ​​the range sensor 30D. As shown in FIG. 16-FIG. 17, the front area of ​​the boarding / deboarding room 7 is set for the range sensors 30A and 30B. As shown in FIG. 18, the range sensor 30C is not set to monitor an internal operation panel 26 because the internal operation panel 26 is provided nearby, so that the user who operates the internal operation panel 26 is not mistakenly detected as a detection target. As a result, human detection is not performed by the range sensor 30C. As shown in FIG. 19, the right area and rear area of ​​the boarding / deboarding room 7 are set as monitoring areas for the range sensor 30D.

[0067] Next, the control device 40 checks whether there is anyone in the boarding / deboarding compartment 7 based on a sensor signal from the object detection sensor 30 (SB6). Specifically, it is determined whether an object (person, animal, object, etc.) has been detected in the monitoring area set in step SB5. As a result, if an object is detected in the boarding / deboarding compartment 7 by the object detection sensor 30 (SB6: NO), the process returns to step SB1 and displays the second user authentication screen. At this time, it may be possible to notify the user that an object has been detected in the boarding / deboarding compartment. Furthermore, it may be possible to notify information about the monitoring area in which the object has been detected.

[0068] On the other hand, when no object is detected in the monitoring area (SB6: YES), the control device 40 sets the internal operation panel 26 to an operation permitted state and provides guidance regarding unmanned confirmation such as "Please confirm that no one is in the boarding / deboarding compartment and press the unmanned confirmation button" (SB7). The guidance may be displayed on the touch panel 262 (see FIG. 5), may be notified by voice, or may be a combination of these. This allows the user to visually confirm that no one is in the boarding / deboarding compartment. At this time, for the area (e.g., the right area) on the opposite side of the vehicle 2 from the area (e.g., the left area) where the internal operation panel 26 is installed, the user may confirm that no one is in the area by indirect visual confirmation using the mirror 37 (see FIG. 3), or the user may move to the opposite area and visually confirm that no one is in the area.

[0069] When it is confirmed that no one is present in the boarding / deboarding compartment and the no-person confirmation button 264 is pressed (SB8), the control device 40 provides guidance for the door closing operation. For example, the control device 40 provides guidance such as "Please press the door closing button and quickly exit the boarding / deboarding compartment 7." When the user presses the door closing button 263 (SB9), the control device 40 then determines whether or not the entry / exit detection sensor 32 has detected the intrusion of a person into the boarding / deboarding compartment 7 (SB10). As a result, if the intrusion of a person is detected (SB10: YES), the process returns to step SB1 and the subsequent processes are performed again.

[0070] On the other hand, if no entry of a person is detected (SB10: NO), it is determined whether or not the entry / exit detection sensor 32 has detected the exit of a person (SB11 in FIG. 11). That is, it is determined whether or not a user (e.g., the driver) has exited the boarding / alighting compartment 7. As a result, if no exit of a person is detected (SB11: NO), the system enters a standby state until the exit of a person is detected. Then, if the exit of a person is detected (SB11: YES), the system performs a door closing process (SB12), erases the user ID stored in the memory unit 41 (SB13), and ends the process.

[0071] Next, the door closing process executed in the above step SB12 will be described with reference to Fig. 12. Fig. 12 is a flow chart showing an example of the procedure of the door closing process in the warehousing process. In the door closing process, the control device 40 sets the monitoring area (SC1). Specifically, for the range measurement sensors 30A and 30B, the control device 40 sets the front area of ​​the boarding / deboarding room 7 as shown in Figs. 16 and 17. For the range measurement sensor 30C, the control device 40 sets the left area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in Fig. 20. For the range measurement sensor 30D, the control device 40 sets the right area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in Fig. 21. Here, the monitoring area in the vestibule area is preferably equal to or larger than the rear overhang of the vehicle. Incidentally, whether or not to include the vestibule area as the monitoring area is optional and may be determined according to the operation.

[0072] Next, the control device 40 starts a timer (SC2). Then, the control device 40 judges whether a predetermined period has elapsed since the timer was started (SC3), and if not (SC3: NO), checks whether the monitored area is unoccupied based on a sensor signal from the object detection sensor 30 (SC4). Specifically, it judges whether an object has been detected in the monitored area set in step SC1.

[0073] 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 near the entrance door in the front yard, and the door closing process is started. Specifically, the control device 40 resets the timer (SC5) and starts closing the door (SC6).

[0074] Then, until the entrance door 4 is completely closed, the control device 40 continuously checks whether there is anyone in the monitored area based on the sensor signal from the object detection sensor 30 (SC7: YES). At this time, the control device 40 may issue a guidance for prohibiting entry into the boarding / deboarding compartment and a guidance for encouraging people to evacuate from the monitored area from an alarm unit such as the speaker 47.

[0075] When the object detection sensor 30 detects 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.

[0076] On the other hand, if it is determined in step SC3 that the predetermined period has elapsed (SC3: YES), that is, if no one is found in the monitored area even after the predetermined period has elapsed since the timer was started, the process proceeds to error processing (SC10). Furthermore, if a person is detected by the object detection sensor 30 between the time when the entrance door 4 starts to close and when it is completely closed (SC7: NO), the entrance door 4 is reversed and opened (SC11), and error processing is performed (SC12).

[0077] Next, the error processing executed in the above steps SC10 and SC12 will be described with reference to Fig. 13. Fig. 13 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.

[0078] 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.

[0079] [External door closed mode] Next, the exterior door closing mode executed in step SA21 in Fig. 9 and step SD3 in Fig. 13 will be described with reference to Fig. 14 to Fig. 15. Fig. 14 to Fig. 15 are flowcharts 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 SA21 in FIG. 9), or when an error occurs when the door closing operation is performed from the internal operation panel 26 (step SD3 in FIG. 13). 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.

[0080] 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).

[0081] 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. 10) 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.

[0082] 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 (FIG. 15).

[0083] 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.

[0084] 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 (FIG. 15).

[0085] In step SF9, the control device 40 sets the monitoring area. Specifically, for the range measurement sensors 30A and 30B, the control device 40 sets the front area of ​​the boarding / deboarding room 7 as shown in Figs. 16 and 17. For the range measurement sensor 30C, the control device 40 sets the left area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in Fig. 20. For the range measurement sensor 30D, the control device 40 sets the right area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in Fig. 21. Note that whether or not to include the vestibule area as the monitoring area is optional and may be determined according to the operation.

[0086] Next, the control device 40 checks whether there is anyone in the monitoring area based on the sensor signal from the object detection sensor 30 (SF10). Specifically, it is determined whether an object has been detected in the monitoring area set in step SF9. As a result, if an object has been detected in the monitoring area by the object detection sensor 30 (SF10: NO), the process returns to step SF1 (FIG. 14) and displays the second user authentication screen. At this time, it may be possible to notify the user that an object has been detected in the boarding / de-boarding compartment. Furthermore, it may be possible to notify information about the monitoring area in which the object was detected.

[0087] On the other hand, when it is confirmed that there is no one in the monitoring area (SF10: YES), the control device 40 sets the external operation panel 22 to an operation permitted state (SF11). The control device 40 also displays an unmanned confirmation button on the touch panel 45 of the external operation panel 22, and provides guidance regarding unmanned confirmation such as "Please confirm that there is no one in the boarding / deboarding compartment and press the unmanned confirmation button." At this time, the monitor 28 installed near the external operation panel 22 may display real-time image information of the inside of the boarding / deboarding compartment 7 acquired by the cameras 35A to 35D, and the user may confirm that there is no one in the boarding / deboarding compartment by checking the image displayed on the monitor 28. When the unmanned confirmation button is pressed by the user who has confirmed that there is no one in the boarding / deboarding compartment (SF12), the control device 40 displays a door close button on the touch panel 45, and provides guidance regarding door close such as "Please confirm that there is no one in the boarding / deboarding compartment and press the door close button."

[0088] As a result, when the user presses the door close button (SF13), the control device 40 then determines whether or not the entry / exit detection sensor 32 has detected the intrusion of a person into the boarding / deboarding compartment 7 (SF14). If the intrusion of a person is detected (SF14: YES), the process returns to step SF1 (FIG. 14) and repeats the subsequent processes. On the other hand, if the intrusion of a person is not detected (SF14: NO), the door close process is performed (SF15: see FIG. 12), the user ID stored in the memory unit 41 is erased (SF16), and the process ends.

[0089] [Shipping process] Next, the retrieval processing executed by the control device 40 according to this embodiment will be described with reference to Fig. 22 to Fig. 26. Fig. 22 to Fig. 26 are flowcharts showing an example of the procedure of the retrieval processing executed by the control device 40.

[0090] The processing 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 18 carrying a vehicle 2 is called to the boarding / unloading room 7 instead of an empty pallet, and an unloading start confirmation screen is displayed instead of the entry start confirmation screen (see step SA8 in FIG. 8), so a detailed description 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. 22).

[0091] Next, the control device 40 displays an exit guidance screen on the touch panel 45 that prompts the user to exit (SG14), and further sets the external operation panel 22 to an operation-locked state in which no input is accepted from the touch panel 45 (SG15). 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.

[0092] 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 (SG16). Here, the control device 40 may, for example, issue a guidance prompting the user to input authentication information by voice via a speaker.

[0093] Next, the control device 40 judges whether or not exit has been detected by the entrance / exit detection sensor 32 (SG17). As a result, if exit has not been detected (SG17: NO), it judges whether or not a user ID has been input from the internal operation panel 26 (SG18). As a result, if a user ID has not been input (SG18: NO), the process returns to step SG17. In this manner, the judgment process of steps SG17 and SG18 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.

[0094] As a result, if the user inputs the user ID into the internal operation panel 26 (SG18: YES), the system goes into an internal door close mode (SG19) 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 exit (exit of the vehicle) is detected by the entry / exit detection sensor 32 (SG17: YES), the system goes into an external door close mode in which the door closing operation is performed from the external operation panel 22 (SG20).

[0095] Next, the internal door closing mode in the take-out process will be described with reference to Fig. 23. Fig. 23 is a flowchart showing an example of a processing procedure in the internal door closing mode in the take-out process.

[0096] 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 not successful (SH2: 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 has failed.

[0097] On the other hand, if the second user authentication is successful (SH2: YES), a comparison process is then performed to determine whether the user ID (first authentication information) entered in the first user authentication and the user ID (second authentication information) entered in the second user authentication are the same or have a predetermined relationship (SH3). As a result, if the comparison 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 comparison has failed. On the other hand, if the comparison process is successful (SH4: YES), the control device 40 sets a monitoring area (SH5).

[0098] Specifically, the control device 40 sets the front area of ​​the boarding / deboarding compartment 7 as the monitoring area for the range sensor 30A, as shown in FIG. 16. The control device 40 sets the front area of ​​the boarding / deboarding compartment 7 as the monitoring area for the range sensor 30B, as shown in FIG. 17. The control device 40 does not set a monitoring area for the range sensor 30C, as shown in FIG. 18, because the internal operation panel 26 is provided nearby, in order not to erroneously detect the user who operates the internal operation panel 26 as the detection target. As a result, object detection by the range sensor 30C is not performed. The control device 40 sets the right area and rear area of ​​the boarding / deboarding compartment 7 as the monitoring area for the range sensor 30D, as shown in FIG. 19.

[0099] Next, the control device 40 checks whether there is anyone in the boarding / deboarding compartment 7 based on a sensor signal from the object detection sensor 30 (SH6). Specifically, it is determined whether an object has been detected in the monitoring area set in step SH5. As a result, if an object is detected in the monitoring area by the object detection sensor 30 (SH6: 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 an object has been detected in the boarding / deboarding compartment. Furthermore, it is also possible to notify information about the monitoring area in which the object has been detected.

[0100] On the other hand, when it is confirmed that there is no one in the monitoring area (SH6: YES), the control device 40 sets the internal operation panel 26 to an operation permitted state and provides guidance regarding the confirmation of no one in the boarding / deboarding compartment, such as "Please confirm that there is no one in the boarding / deboarding compartment and press the no-one confirmation button" (SH7). The guidance may be displayed on the touch panel 262, or may be notified by voice or the like, or may be a combination of these. This allows the user to visually confirm that there is no one in the boarding / deboarding compartment. At this time, for the area (e.g., the right area) on the opposite side of the vehicle 2 from the area where the internal operation panel 26 is installed (e.g., the left area), the user may confirm that there is no one in the area by indirect visual confirmation using the mirror 37 (see FIG. 3), or the user may move to the opposite area and visually confirm that there is no one in the area.

[0101] When it is confirmed that no one is present in the boarding / deboarding compartment and the no-person confirmation button 264 is pressed (SH8), the control device 40 provides guidance for the door closing operation. For example, the control device 40 provides guidance such as "Please press the door closing button and quickly exit the boarding / deboarding compartment 7." When the user presses the door closing button 263 (SH9), the control device 40 then determines whether or not the entry / exit detection sensor 32 has detected the intrusion of a person into the boarding / deboarding compartment 7 (SH10). As a result, if the intrusion of a person is detected (SH10: YES), the process returns to step SH1 and the subsequent processes are performed again.

[0102] On the other hand, if no intrusion of a person is detected (SH10: NO), it is determined whether or not the exit of a vehicle is detected by the entrance / exit detection sensor 32 (SH11 in FIG. 24). That is, it is determined whether or not the vehicle has exited from the boarding / alighting compartment 7. As a result, if the exit of a vehicle is not detected (SH11: NO), the system enters a standby state until the exit of the vehicle is detected. Then, if the exit of a vehicle is detected (SH11: YES), the system performs a door closing process (SH12), erases the user ID stored in the memory unit 41 (SH13), and ends the process.

[0103] Next, the door closing process executed in step SH12 will be described with reference to Fig. 25. Fig. 25 is a flow chart showing an example of the procedure of the door closing process in the unloading process.

[0104] In the door closing process, the control device 40 sets the monitoring area (SJ1). Specifically, for the range sensor 30A, the control device 40 sets the entire area of ​​the boarding / deboarding room 7 and the vestibule area as the monitoring area as shown in FIG. 27. For the range sensor 30B, the control device 40 sets the front area, the pallet area, and a part of the rear area of ​​the boarding / deboarding room 7 as the monitoring area as shown in FIG. 28. Here, a part of the rear area is an area in which the pallet area is extended to the rear area. Note that, as in the monitoring area of ​​the range sensor 30A shown in FIG. 27, a monitoring area of ​​the vestibule may be added as the monitoring area of ​​the range sensor 30B. For the range sensor 30C, the control device 40 sets the left area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in FIG. 20. For the range sensor 30D, the control device 40 sets the right area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area as shown in FIG. 21. Whether or not to include the vestibular area in the monitoring area may be determined appropriately depending on the application.

[0105] The process after setting the monitoring area (the process after step SJ1) is the same as the door closing process in the above-mentioned warehousing process, except that the monitoring area is different from when the vehicle is brought into the warehousing. Therefore, the description of the process after that will be omitted.

[0106] Next, the exterior door closing mode executed in step SG20 of Fig. 22 will be described with reference to Fig. 26. Fig. 26 is a flowchart showing an example of a processing procedure of the exterior door closing mode in the unloading process executed by the control device 40.

[0107] The process before the monitoring area setting in step SK1 in the external door closed mode is the same as SF1 to SF8 in the above-mentioned storage process, and therefore a detailed description will be omitted here. As shown in Fig. 14, if the collation process is successful in step SF7 (SF7: YES), or if it is determined in step SF8 that the handling authority exists (SF8: YES), the control device 40 sets the monitoring area (SK1 in Fig. 26).

[0108] Specifically, the control device 40 sets the entire area of ​​the boarding / deboarding room 7 and the vestibule area as the monitoring area for the range sensor 30A, as shown in FIG. 27. The control device 40 sets the front area, pallet area, and part of the rear area of ​​the boarding / deboarding room 7 as the monitoring area for the range sensor 30B, as shown in FIG. 28. Here, part of the rear area is an area in which the pallet area is extended to the rear area. Note that, as the monitoring area of ​​the range sensor 30B, a monitoring area of ​​the vestibule may be added, similar to the monitoring area of ​​the range sensor 30A shown in FIG. 27. The control device 40 sets the left area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area for the range sensor 30C, as shown in FIG. 20. The control device 40 sets the right area, rear area, and vestibule area of ​​the boarding / deboarding room 7 as the monitoring area for the range sensor 30D, as shown in FIG. 21. Note that whether or not to include the vestibule area in the monitoring area may be determined appropriately according to the operation.

[0109] The process after the monitoring area is set is the same as the door closing process in the above-mentioned warehousing process, except that the door closing process in step SK15 is the door closing process shown in Fig. 25. Therefore, the description of the subsequent processes will be omitted.

[0110] As described above, according to this embodiment, the following advantageous effects are obtained. The vehicle is equipped with a boarding / disembarking compartment 7 where the vehicle 2 leaves the parking lot, and a range sensor 30A (sensor for the upper part of the curb) that can detect objects in a monitoring area set at a height position higher than the top surface of the curb portion 19 of the pallet 18 when the pallet 18 is placed in the boarding / disembarking compartment 7.

[0111] This makes it possible to detect the presence of a person on the curb of the pallet 18 when the pallet is taken out of the warehouse, thereby further improving safety.

[0112] Second Embodiment Next, a mechanical parking device 1a according to a second embodiment of the present disclosure will be described with reference to the drawings. In the first embodiment described above, a range sensor 30A is provided as a curb top sensor, and the range sensor 30A monitors the area above the curb part 19 of the pallet 18. However, in this embodiment, a vehicle width sensor 36 (36A, 36B) is used as the curb top sensor. Hereinafter, the same reference numerals will be used to denote the points common to the first embodiment, and a description thereof will be omitted, and differences will be mainly described.

[0113] Figure 29 is a longitudinal cross-sectional view of a mechanical parking device 1a according to the second embodiment of the present disclosure, and Figure 30 is a schematic plan view showing an example of the installation positions of the range measurement sensors 30B to 30D and the vehicle width sensor 36 (36A, 36B) arranged in the boarding / disembarking area 7.

[0114] The mechanical parking device 1a according to this embodiment is equipped with a vehicle width sensor 36 (36A, 36B). This vehicle width sensor 36 is used as one of the parking position detection sensors that detects the parking position of the vehicle 2 in the width direction (left and right direction) on the pallet 18 when entering the parking lot (see step SA16 in FIG. 9), and is also used to detect an object in a monitoring area C3 (see FIG. 29) provided above the curb part 19 of the pallet 18 when leaving the parking lot.

[0115] The vehicle width sensor 36 is installed on a support member attached to the rear wall of the boarding / disembarking compartment 7, for example, as shown in FIG. 29, and outputs a search wave, such as a laser beam or ultrasonic wave, which has the property of hitting a target and being reflected diagonally downward from above, and detects objects in the monitoring area C3 by scanning in a planar manner while receiving the reflected wave (see FIG. 29). As shown in FIG. 30, the vehicle width sensors 36A, 36B are installed on the extensions of the curb portions 19 of the pallet 18, respectively, when the boarding / de-boarding compartment 7 is viewed in plan.

[0116] In this embodiment, when performing unoccupied confirmation using the object detection sensor 30 during the leaving process (step SH6 in Figure 23, steps SC4 and SC7 in Figure 25, and step SF10 in Figure 26), in addition to the above-mentioned range sensors 30B to 30D, unoccupied confirmation of the monitoring area C3 is performed using the vehicle width sensors 36A and 36B. As a result, in this embodiment as well, it is possible to detect the presence of a person on the curb portion 19 of the pallet 18 when the vehicle leaves the depot, thereby further improving safety. In addition, by using the vehicle width sensor 36, which is used as one of the parking position detection sensors, as a curb top sensor, the vehicle width sensor 36 can have multiple roles. This makes it possible to detect a person on the curb portion 19 without the need to install an additional sensor.

[0117] Third Embodiment Next, a mechanical parking device 1b according to a third embodiment of the present disclosure will be described with reference to the drawings. In the first embodiment described above, a range sensor 30A is provided as a curb top sensor, and the range sensor 30A monitors the area above the curb part of the pallet 18. However, in this embodiment, a photoelectric sensor 38 (38A, 38B) is used as the curb top sensor. Hereinafter, the same reference numerals will be used to denote the points common to the first embodiment, and a description thereof will be omitted, and differences will be mainly described.

[0118] Figure 31 is a longitudinal cross-sectional view of a mechanical parking device 1b according to the third embodiment of the present disclosure, and Figure 32 is a schematic plan view showing an example of the installation position of the range sensors 30B to 30D and the photoelectric sensor 38 (38A, 38B) arranged in the boarding / disembarking area 7. The mechanical parking device 1b according to this embodiment is equipped with photoelectric sensors 38A and 38B. The photoelectric sensor 38A detects objects in a monitoring area set at a height position higher than the upper surface of the curbstone portion 19 at the left end of the pallet 18. The photoelectric sensor 38B detects objects in a monitoring area set at a height position higher than the upper surface of the curbstone portion 19 at the right end of the pallet 18.

[0119] The height position of the monitoring area of ​​the photoelectric sensors 38A and 38B is set, for example, in a height range of 30 mm to 130 mm from the top surface of the curbstone 19. As an example, when the height of the curbstone 19 is 140 mm, the height position of the monitoring area of ​​the range sensor 30A is set in a height range of 170 mm to less than 270 mm from the floor surface of the boarding / deboarding room 7.

[0120] Each of the photoelectric sensors 38A, 38B includes a transmitter and a receiver, and is a type of sensor in which a beam transmitted from the transmitter is received by the receiver. When the beam is blocked by the vehicle 2, a person, or the like, the sensor turns off and the sensor signal is transmitted to the sensor control unit 57 (see FIG. 7). In this embodiment, the transmitter is provided on the front wall of the boarding / disembarking compartment 7 and transmits a beam toward the rear, and the light receiving unit is provided, for example, inside the entrance door 4 (inside the boarding / disembarking compartment) (see FIG. 31).

[0121] In such a mechanical parking device 1b, when confirming that no one is present using the object detection sensor 30 during the exit process (step SH6 in Figure 23, steps SC4 and SC7 in Figure 25, and step SF10 in Figure 26), in addition to the above-mentioned range sensors 30B to 30D, unattended confirmation is performed of the monitoring area set above the curb portion 19 using photoelectric sensors 38A and 38B.

[0122] As a result, in this embodiment as well, it is possible to detect the presence of a person on the curb 19 of the pallet 18 when the pallet is taken out of the warehouse, thereby further improving safety. In addition, since the photoelectric sensor is less expensive than the above-mentioned range sensor 30A, it is possible to keep the installation cost low.

[0123] In this embodiment, a transmission type photoelectric sensor having a transmitter and a receiver is used, but instead, for example, a reflection type photoelectric sensor may be used. In this case, one is a transmitting / receiving sensor, and the other is a reflector. Then, the presence or absence of an object may be detected by detecting a reflected wave of a beam emitted from one of the transmitting / receiving sensors and reflected by the reflector. In this case, a long reflector having a length in the vertical direction may be installed in front of the boarding / deboarding room 7, and when the entrance door 4 is closed, a beam may be continuously transmitted from the transmitting / receiving unit. This makes it possible to detect an object at a height according to the opening degree (height position) of the entrance door 4.

[0124] 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 changes or improvements can be made to the above embodiment without departing from the gist of the disclosure, and the form with such changes or improvements is also included in the technical scope of the present disclosure. In addition, the flow of the warehousing process and the warehousing process described in the above embodiment is one example, and it is possible to delete unnecessary steps, add new steps, or change the processing order without departing from the gist of the present disclosure. As an example, the following modification is given.

[0125] 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). In addition, in this embodiment, a mechanical parking device that transports a vehicle using a pallet (a part on which a vehicle is placed) 18 and a lift (transport mechanism) 14 has been described as an example, but is not limited thereto. For example, it may be a fork-type mechanical parking device that transports a vehicle using a carrier in which the transport mechanism and the part on which the vehicle is placed are integrated. As an example, it may be a mechanical parking device that transports a vehicle using a lifting lift having comb teeth as disclosed in JP 2021-085174 A, JP 2023-001935 A, etc. Such a lifting lift also has curb portions (rising portions) at both ends, similar to the pallet 18, and a sensor for the upper part of the curb, such as the above-mentioned range sensor, may be installed according to the height of these.

[0126] In each of the above-described embodiments, the same monitoring area is used to check for unattended presence by the object detection sensor 30 in the door closing process, but the monitoring area may be changed in stages depending on the position of the entrance door 4. As an example, when the height of the entrance door 4 is equal to or greater than a predetermined threshold, the vestibule area may be included in the monitoring area, and when the height of the entrance door is less than the predetermined threshold, the vestibule area may be excluded from the monitoring area. This makes it possible to set an appropriate monitoring area depending on the height position of the entrance door 4.

[0127] In the above embodiment, the range sensors 30A to 30D detect objects in a horizontal (two-dimensional) monitoring area, but this is not limited to the above. For example, the range sensors 30A to 30D may detect objects in a monitoring area in a three-dimensional space by scanning the search wave three-dimensionally. In this case, it is possible to omit one of the range sensors 30A and 30B.

[0128] In addition, as shown in FIG. 33 and FIG. 34, the above-mentioned range sensors 30A to 30D are provided with a dead zone (e.g., about 30 mm to 100 mm) in a part of the detectable area so as not to erroneously detect an object (e.g., a wall, etc.) that is always present in the boarding / deboarding room 7 as a detection target. In this dead zone, even if an object is detected by the range sensors 30A to 30D, the dead zone is treated as not having been detected in data processing. On the other hand, when a dead zone is provided, if a person is standing in the dead zone (e.g., if a child is standing by the wall), the person cannot be detected as a detection target. For this reason, for example, a baseboard 82 (see FIG. 33) or a panel 84 (see FIG. 34) may be installed so that a person cannot stand by the wall. The installation positions of the baseboard 82 and the panel 84 in the height direction may be determined according to the height position at which the object is detected by the range sensors 30A to 30D. Furthermore, the thickness of the baseboard 82 and the panel 84 may be determined, for example, according to the distance of the dead zone.

[0129] 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.

[0130] Furthermore, the timing of unmanned confirmation by the object detection sensor 30 in the above-described embodiment is an example, and object detection by each of the range sensors 30A to 30D may be performed at other timings. For example, when it is detected that the vehicle 2 is not placed on the pallet, monitoring may be performed by the curb top sensor. Whether or not the vehicle 2 is placed on the pallet can be determined, for example, by the output signal of the vehicle weight sensor 73 (FIG. 7), the video data of the camera 35, the output signal of the inventory sensor (not shown), etc.

[0131] The mechanical parking device described in each of the embodiments described above can be understood, for example, as follows.

[0132] The mechanical parking device (1, 1a, 1b) of the present disclosure includes a boarding / de-boarding compartment (7) for allowing a vehicle (2) to exit the parking lot, a carrier (18) that can be placed within the boarding / de-boarding compartment, and a curb top sensor (30A, 36, 38) that can detect objects in a monitoring area (C1) that is set at a height position higher than the top surface of the curb portion (19) of the carrier placed within the boarding / de-boarding compartment.

[0133] According to the mechanical parking device of this aspect, it is possible to detect the presence of a person above the curb portion of the carrier when leaving the parking lot.

[0134] In the mechanical parking device (1, 1a, 1b) according to the second aspect of the present disclosure, in the first aspect, the height position of the monitoring area is set in a height range of 30 mm or more and 130 mm or less from the top surface of the curb portion 19.

[0135] According to this aspect, it is possible to reliably detect a person standing or lying on the curb.

[0136] In the mechanical parking device (1, 1a, 1b) according to the third aspect of the present disclosure, in the first aspect, the height position of the monitoring area is set in a height range of 170 mm or more and less than 270 mm from the floor surface of the boarding / de-boarding compartment.

[0137] According to this aspect, it is possible to reliably detect a person standing or lying on the curb.

[0138] The mechanical parking device (1, 1a, 1b) according to the fourth aspect of the present disclosure, in any of the first to third aspects, is provided with a curb bottom sensor (30B) that is at a height position below the upper surface of the curb part of the carrier and is capable of detecting objects in a monitoring area set between the curb parts provided at both ends of the carrier.

[0139] According to this embodiment, it is possible to detect objects not only above the curb but also in the area between the curbs at both ends of the carrier and below the upper surface of the curb (see, for example, C2 in FIG. 4). This makes it possible to reliably detect an infant lying on the carrier.

[0140] A mechanical parking device (1) according to a fifth aspect of the present disclosure is any one of the first to fourth aspects, in which the sensor for the curb top is a range sensor (30A) that emits a beam from the front to the rear of the boarding / disembarking compartment and scans the beam in a horizontal plane.

[0141] According to this embodiment, a range sensor is used as a sensor for the top of the curb, and a beam is emitted from the front to the rear of the boarding and alighting compartment and scanned in a horizontal plane, making it possible to detect objects not only on the top of the curb, but also in the entire boarding and alighting compartment and the vestibule area.

[0142] A mechanical parking device (1a) according to a sixth aspect of the present disclosure is, in any one of the first to fourth aspects, a curb top sensor which is a vehicle width sensor (36) for detecting the stopping position in the width direction of a vehicle placed on the carrier.

[0143] According to this aspect, the vehicle width sensor, which is used as one of the parking position detection sensors, is also used as the curb top sensor, so that the vehicle width sensor can have multiple roles, making it possible to detect a person standing on the curb without adding a new sensor.

[0144] A mechanical parking device (1b) according to a seventh aspect of the present disclosure is configured in such a manner that in any one of the first to fourth aspects, the curb top sensor is a photoelectric sensor (38).

[0145] According to this aspect, since a photoelectric sensor is used as the curb top sensor, it is possible to keep installation costs low.

[0146] The mechanical parking device (1b) according to the eighth aspect of the present disclosure is, in the seventh aspect, provided with an entrance / exit door at the entrance / exit of the boarding / de-boarding room, and the curb top sensor has a transmitter / receiver and a reflector, the transmitter / receiver being provided at the entrance / exit door and the reflector being installed forward of the front end of the carrier in the boarding / de-boarding room.

[0147] According to this embodiment, when the entrance door is closed, a beam is continuously transmitted from a transmitting / receiving unit provided on the entrance door, and an object is detected by detecting the reflected wave of the beam reflected by a reflector. This makes it possible to continuously detect objects at a height according to the opening degree (height position) of the entrance door 4.

[0148] The mechanical parking device (1b) according to the ninth aspect of the present disclosure is the seventh aspect, which is provided with an entrance door provided at the entrance of the boarding / de-boarding room, and the curb top sensor has a transmitting unit and a receiving unit, one of the transmitting unit and the receiving unit is installed forward of the front end of the carrier in the boarding / de-boarding room, and the other is provided at the entrance door.

[0149] According to this aspect, since either the transmitter or the receiver of the photoelectric sensor is provided on the entrance door, a support member for installing the photoelectric sensor is not required. This makes it possible to realize a sensor for the upper part of the curb with a simple configuration and in a small space.

[0150] A mechanical parking device (1, 1a, 1b) according to a tenth aspect of the present disclosure, in any of the first to ninth aspects, comprises an entrance door (4) provided at the entrance of the boarding / exiting room, and a control means (40) for performing a door-closing process to close the entrance door when no object is detected by the curb top sensor.

[0151] According to this aspect, safety can be ensured.

[0152] The mechanical parking device (1, 1a, 1b) according to the eleventh aspect of the present disclosure, in the tenth aspect, is provided with an input means for a person to input that he / she has confirmed that there is no one in the boarding / de-boarding area, and the control means performs the door closing process when the confirmation that there is no one in the boarding / de-boarding area is input to the input means and no object is detected by the curb top sensor.

[0153] According to this aspect, the door is closed after the curb top sensor detects an object and a person confirms that the door is unoccupied, thereby ensuring higher safety.

[0154] In the mechanical parking device (1, 1a, 1b) relating to the twelfth aspect of the present disclosure, in the eleventh aspect, the input means is in a state where a human can input when no object is detected by the curb top sensor.

[0155] This allows the curb top sensor to detect a person standing on the curb and then have a person perform unattended check, thereby improving the efficiency of unattended check by a person. [Explanation of symbols]

[0156] 1: Mechanical parking system 1a: Mechanical parking device 1b: Mechanical parking device 2: Vehicle 3: Entrance and exit gate 4: Entrance door 7: Boarding and disembarking area 14: Lift 17: Vehicle storage shelf 18: Pallet (carrier) 19: Curb 20: Junior and Senior High School 22: External operation panel 26: Internal operation panel 28: Monitor 30: Object detection sensor 30A: Range finder 30B: Range finder 30C: Range finder 30D: Range finder 32: Entry / exit detection sensor 36: Vehicle width sensor 36A: Vehicle width sensor 36B: Vehicle width sensor 37: Mirror 38: Photoelectric sensor 38A: Photoelectric sensor 38B: Photoelectric 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 58: Camera control unit 59: Image Database 61: Vehicle measurement control unit 62: Swing drive control unit 67: Entrance door sensor 68: Conveyor position sensor 69: Vehicle measuring instruments 73: Vehicle weight sensor 82: Baseboard 84: Panel 260: Input section (input means) 261: IC card reader 262: Touch panel 263: Door close button 264: Unattended confirmation button

Claims

1. A boarding and disembarking room for vehicles entering and leaving the facility; An entrance door provided at the entrance of the boarding / deboarding room; A carriage that can be placed in the boarding / disembarking compartment; a curb top sensor disposed in the boarding / alighting compartment and capable of detecting an object in a monitoring area set at a height position higher than an upper surface of the curb portion of the carrier; A control means for setting the monitoring area of ​​the curb top sensor; Equipped with The curb top sensor is a range sensor that emits a beam from the front to the rear of the boarding / deboarding compartment and scans the beam on a horizontal plane, The control means sets the monitoring area during the door closing process that closes the entrance / exit door to be different when entering and leaving the parking lot, and the monitoring area during leaving the parking lot includes the area outside the boarding / exiting area.

2. 2. The mechanical parking device according to claim 1, wherein the height position of the monitoring area is set within a height range of 30 mm or more and 130 mm or less from the top surface of the curb portion.

3. The mechanical parking device according to claim 1 , wherein the height position of the monitoring area is set within a height range of 170 mm or more and less than 270 mm from the floor surface of the boarding / de-boarding compartment.

4. A mechanical parking device as described in claim 1, further comprising a curb underside sensor that is located at a height position below the top surface of the curb portion of the carrier and is capable of detecting objects in a monitoring area set between the curb portions provided at both ends of the carrier.

5. A mechanical parking device as described in claim 1, wherein the control means closes the entrance / exit door during the door closing process when no object is detected in the monitoring area by the curb top sensor.

6. an input means for inputting that a person has confirmed that there is no person in the boarding / deboarding compartment; A mechanical parking device as described in claim 5, wherein the control means closes the entrance / exit door when confirmation of unoccupied status is input to the input means and no object is detected in the monitoring area by the curb top sensor.

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